======================================================================== Opus 5.5 / Open / Episode 000 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 0, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "wall_seconds": 183.66, "usage": { "input_tokens": 64, "output_tokens": 11031, "cache_read_input_tokens": 478358, "cache_creation_input_tokens": 27420, "thinking_tokens": 7019, "cost_usd": 0.5359076 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0165cGrqaMCLV3YLtiYs74Co", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1211, "cache_read_input_tokens": 814, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1211 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VDKSDTomrwzt6frZc4BL95", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75 }, "note": "Lowering to get better view of drawers/handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 485 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Eu4x4Xdm4VqfmMq2DSv1RQ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57, "z": 0.6 }, "note": "Rotate gripper to point forward to view drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 765, "cache_read_input_tokens": 2510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 765 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014CmWtHTDWoMMEPJHtdZSpn", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "x": 0.45, "z": 0.65 }, "note": "Tilt gripper forward to see drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1005, "cache_read_input_tokens": 3275, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1005 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013AQxTCgw9cULwwXBnaUyJN", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5 }, "note": "Small pitch test to learn direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 4280, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 714 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Every pitch change I've tried so far has failed inverse kinematics, so I'm testing the other direction." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 668, "cache_read_input_tokens": 4994, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 668 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A6eFeX9sPhDD1fJGEHHnXV", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.5 }, "note": "Test opposite pitch direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 668, "cache_read_input_tokens": 4994, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 668 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FpzFpES3BXxR2YnTPUUAut", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "y": 0.2 }, "note": "Move +y to learn exterior camera frame orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 719, "cache_read_input_tokens": 5662, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 719 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Q89s3yG7ngQftEpg5Spgsq", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.57, "y": 0.1, "z": 0.65, "x": 0.4 }, "note": "Counter is at +y; roll to point gripper toward +y with vertical fingers for horizontal handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1026, "cache_read_input_tokens": 6381, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1026 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Qyu6DFF1U97xNk83uxF5NE", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 0.5 }, "note": "Handle appears closer to camera (smaller x) and lower; move there to look." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1096, "cache_read_input_tokens": 7407, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1096 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A8LC5SUW91L17EXf7NF3Tn", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": 0, "z": 0.55, "roll": 1.57, "pitch": 0, "yaw": 0 }, "note": "Back off from counter for a wider wrist view of drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 890, "cache_read_input_tokens": 8503, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 890 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018yWajiksebcznuMmFaUwPh", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 0.45 }, "note": "Handle likely lower and slightly toward -x on the +y facing drawer front; approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1030, "cache_read_input_tokens": 9393, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1030 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm checking the drawer fronts from lower down with the wrist camera; now I'll move toward the handle I can see from the outside camera." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1227, "cache_read_input_tokens": 10423, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1227 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BUzQM2nJ5fSYCHqJoDSYHN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.15, "y": 0.05, "z": 0.55 }, "note": "No handle visible here; move toward -x where exterior shows the long handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1227, "cache_read_input_tokens": 10423, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1227 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HFBACzUptByWg434MH7zLJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": -0.05, "z": 0.75, "roll": 1, "pitch": 0, "yaw": 0 }, "note": "Go up and look diagonally down at the cabinet face for a wider view to find the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1047, "cache_read_input_tokens": 11650, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1047 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0121xj9k6ufyc4KEBFCbhmkG", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.1, "y": 0.2, "z": 0.6, "roll": 1.57 }, "note": "Exterior suggests handle is near camera side (low x, beside base); try to go there facing +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1086, "cache_read_input_tokens": 12697, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1086 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PXfccZSk23KJ8vbe9iqUSJ", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.74, "y": 0.08 }, "note": "Wrist shows a seam and small object just above gripper; move up slightly to inspect." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1352, "cache_read_input_tokens": 13783, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1352 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QhAFYxsMDQ7BFDQJsHmiFf", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.78 }, "note": "Handle bar visible slightly above gripper center in wrist view; align height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1313, "cache_read_input_tokens": 15135, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1313 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E5DPXnU8uzcWMAKNm5D186", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.16, "x": 0.18, "z": 0.8 }, "note": "Advance toward handle along approach direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 922, "cache_read_input_tokens": 16448, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 922 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've found what looks like a drawer handle in the wrist camera, but the arm is cramped. I'm moving to a pose it can reach more easily." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 839, "cache_read_input_tokens": 17370, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 839 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GjTvnZuv4DgFbYd2vpEZB7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.25, "y": 0.12, "z": 0.72, "roll": 1.57, "pitch": 0, "yaw": 0 }, "note": "Arm cramped near joint limit; move to a more reachable pose facing +y near the handle area." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 839, "cache_read_input_tokens": 17370, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 839 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fr76ZCFZcWes97GN32tBEz", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Handle appears toward image right (world up); raise gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 18209, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019ELchohgadTgU5nP7M7s6k", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.855 }, "note": "Align finger center with the handle (still slightly above)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 18997, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 841 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XMKosnzYAzEgGFDj23rKPp", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.22 }, "note": "Handle aligned between fingers; advance toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 935, "cache_read_input_tokens": 19838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 935 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0135XePBfYyLsSdiByN4UtGD", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.28 }, "note": "Handle still ahead; continue advancing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 738, "cache_read_input_tokens": 20773, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 738 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Tx9AiubPMiBF4CZhXi7ucn", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.25 }, "note": "Smaller advance toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 735, "cache_read_input_tokens": 21511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 735 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm is close to its joint limits, so I'm turning the gripper slightly to reach the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 767, "cache_read_input_tokens": 22246, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 767 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UmHYqXfLQS2NRaXe7wbYez", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": -0.4, "y": 0.24 }, "note": "IK stuck; add yaw to relieve joint limits while approaching handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 767, "cache_read_input_tokens": 22246, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 767 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A7QzbNwQpHd3PjoNJt1oXv", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": -0.3 }, "note": "Try yaw alone to find a less constrained configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 23013, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01G3ZvoHpvdT8gWF4JNYyrC7", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0.3 }, "note": "Try opposite yaw." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 648, "cache_read_input_tokens": 23832, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 648 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UP7T6CNAEoSDV9MZ2vWdhm", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.28, "x": 0.235 }, "note": "Yaw relieved joint limit; advance toward the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 619, "cache_read_input_tokens": 24480, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 619 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WPSodqHS9pdAKLp1zNrxNM", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.33, "x": 0.22 }, "note": "Handle near finger in view; continue advancing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 688, "cache_read_input_tokens": 25099, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 688 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QySqs5YrseRyEgqrndrgtr", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.4, "x": 0.2 }, "note": "Scene barely changing; handle still ahead, keep advancing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 692, "cache_read_input_tokens": 25787, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 692 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm nearly out of motion time, so I'll try closing the gripper on the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 821, "cache_read_input_tokens": 26479, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 821 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QXuEk5b4EcLE48E3mwUdTK", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Near cabinet face in exterior view; attempt grasp of handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 821, "cache_read_input_tokens": 26479, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 821 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TVWDd5SGHpfTytdu1ojFio", "name": "mcp__robot__give_up", "input": { "note": "Could not reach and grasp the drawer handle; gripper closed on nothing and simulated time is nearly exhausted." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 744, "cache_read_input_tokens": 27300, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 744 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the drawer and ended the episode with give_up.\n\n1. **Finding the cabinet:** The drawers were on the robot's left (+y) side. I turned the gripper to point at them with its fingers vertical, ready for a horizontal handle.\n2. **Finding a handle:** I searched the drawer fronts with the wrist camera and found what looked like a handle at about 0.85 m height.\n3. **Getting there:** Many moves were rejected because the target was out of reach and the arm was near its joint limits. Turning the gripper about 0.3 rad around the vertical axis freed it up, and I moved it forward toward the handle.\n4. **The grasp:** The wrist camera view hardly changed as I moved in, so I probably wasn't getting closer to the handle. With little time left I closed the gripper anyway. It shut all the way, so it had grabbed nothing.\n\nAbout 3.8 seconds of motion time were left, which wasn't enough to find the handle again and pull the drawer. A lot of the time went on moves the arm couldn't reach and on working out which way the camera views were oriented." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 190, "cache_read_input_tokens": 28044, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 190 }, "output_tokens": 360, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 64, "cache_creation_input_tokens": 27420, "cache_read_input_tokens": 478358, "output_tokens": 11031, "output_tokens_details": { "thinking_tokens": 7019 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 27420, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 360, "cache_read_input_tokens": 28044, "cache_creation_input_tokens": 190, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 190 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 64, "outputTokens": 11031, "cacheReadInputTokens": 478358, "cacheCreationInputTokens": 27420, "webSearchRequests": 0, "costUSD": 0.5359076, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7019, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.5359076, "num_turns": 32, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.01417, -0.75426, -0.02259, -2.42381, 0.0644, 1.70442, -0.10257 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33118, 0.01407, 0.98596 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99498, 0.09373, 0.03512 ], [ 0.09073, -0.99273, 0.07912 ], [ 0.04228, -0.07554, -0.99625 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.805900152772665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Lowering to get better view of drawers/handles." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02869, -0.54658, -0.03005, -2.9116, 0.0939, 2.39805, -0.1579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33109, 0.01408, 0.75127 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00041, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99499, 0.09373, 0.03471 ], [ 0.09075, -0.99272, 0.07914 ], [ 0.04188, -0.0756, -0.99626 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 56 }, "api_seconds": 6.20609937235713, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57, "z": 0.6 }, "note": "Rotate gripper to point forward to view drawer fronts." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02869, -0.54658, -0.03005, -2.9116, 0.0939, 2.39805, -0.1579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33109, 0.01408, 0.75127 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00041, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99499, 0.09373, 0.03471 ], [ 0.09075, -0.99272, 0.07914 ], [ 0.04188, -0.0756, -0.99626 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 55 }, "api_seconds": 3.403745634481311, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "x": 0.45, "z": 0.65 }, "note": "Tilt gripper forward to see drawer fronts." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02869, -0.54658, -0.03005, -2.9116, 0.0939, 2.39805, -0.1579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33109, 0.01408, 0.75127 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00041, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99499, 0.09373, 0.03471 ], [ 0.09075, -0.99272, 0.07914 ], [ 0.04188, -0.0756, -0.99626 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 54 }, "api_seconds": 2.2025629868730903, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5 }, "note": "Small pitch test to learn direction." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02869, -0.54658, -0.03005, -2.9116, 0.0939, 2.39805, -0.1579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33109, 0.01408, 0.75127 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00041, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99499, 0.09373, 0.03471 ], [ 0.09075, -0.99272, 0.07914 ], [ 0.04188, -0.0756, -0.99626 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 53 }, "api_seconds": 2.8030144702643156, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.5 }, "note": "Test opposite pitch direction." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02582, -0.22433, -0.03079, -2.55074, 0.0764, 1.88986, -0.12132 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31569, 0.01659, 0.76207 ], "tcp_roll_pitch_yaw": [ 0.00381, 0.47045, 0.00593 ], "tcp_rotation_matrix": [ [ 0.90566, 0.05348, -0.42062 ], [ 0.09594, -0.99213, 0.08043 ], [ -0.41301, -0.11319, -0.90366 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 52 }, "api_seconds": 6.406154687516391, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "y": 0.2 }, "note": "Move +y to learn exterior camera frame orientation." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.26923, -0.45691, 0.29393, -2.80218, 0.27712, 2.41411, 0.23758 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31566, 0.19902, 0.76205 ], "tcp_roll_pitch_yaw": [ 0.00361, 0.0027, 0.00622 ], "tcp_rotation_matrix": [ [ 0.99451, 0.0997, 0.03192 ], [ 0.09677, -0.99185, 0.08291 ], [ 0.03993, -0.07937, -0.99605 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 51 }, "api_seconds": 6.606434698216617, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.57, "y": 0.1, "z": 0.65, "x": 0.4 }, "note": "Counter is at +y; roll to point gripper toward +y with vertical fingers for horizontal handle." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00275, 0.82015, -0.3888, -2.22023, 1.36124, 1.19268, -1.58535 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39974, 0.10025, 0.65013 ], "tcp_roll_pitch_yaw": [ 1.56502, 0.00308, 0.00629 ], "tcp_rotation_matrix": [ [ 0.9955, 0.09024, 0.02907 ], [ -0.03549, 0.07036, 0.99689 ], [ 0.08791, -0.99343, 0.07325 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 50 }, "api_seconds": 4.604756275191903, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 0.5 }, "note": "Handle appears closer to camera (smaller x) and lower; move there to look." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.10162, 1.04622, -0.34024, -2.23966, 1.25292, 1.10653, -2.10446 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30695, 0.0971, 0.60087 ], "tcp_roll_pitch_yaw": [ 1.70278, -0.23812, -0.06079 ], "tcp_rotation_matrix": [ [ 0.94198, 0.33277, 0.0441 ], [ -0.11129, 0.18564, 0.97629 ], [ 0.31669, -0.92456, 0.21191 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 49 }, "api_seconds": 6.205931342206895, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0, "z": 0.55, "roll": 1.57, "pitch": 0, "yaw": 0 }, "note": "Back off from counter for a wider wrist view of drawer fronts." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.17561, 1.17673, -0.44632, -1.96046, 1.23047, 1.08984, -1.76118 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34965, 0.00078, 0.55043 ], "tcp_roll_pitch_yaw": [ 1.57098, -0.00232, -0.00052 ], "tcp_rotation_matrix": [ [ 0.99474, 0.09608, 0.03546 ], [ -0.04282, 0.07566, 0.99621 ], [ 0.09303, -0.99249, 0.07938 ] ], "simulated_seconds_remaining": 20.262, "calls_remaining_including_this": 48 }, "api_seconds": 9.008856076747179, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 0.45 }, "note": "Handle likely lower and slightly toward -x on the +y facing drawer front; approach." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.11312, 1.38506, -0.28884, -1.94573, 1.36423, 1.2446, -1.8997 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30283, 0.09792, 0.45141 ], "tcp_roll_pitch_yaw": [ 1.56808, -0.00805, 0.00077 ], "tcp_rotation_matrix": [ [ 0.99425, 0.10167, 0.03374 ], [ -0.04127, 0.07291, 0.99648 ], [ 0.09885, -0.99214, 0.07669 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 47 }, "api_seconds": 6.806898794136941, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "y": 0.05, "z": 0.55 }, "note": "No handle visible here; move toward -x where exterior shows the long handle." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.10627, 1.23231, -0.3483, -2.08127, 1.34907, 1.20895, -2.2305 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31512, 0.07723, 0.50534 ], "tcp_roll_pitch_yaw": [ 1.55013, -0.35437, -0.06304 ], "tcp_rotation_matrix": [ [ 0.89704, 0.43546, 0.07546 ], [ -0.09711, 0.02763, 0.99489 ], [ 0.43115, -0.89979, 0.06707 ] ], "simulated_seconds_remaining": 17.424, "calls_remaining_including_this": 46 }, "api_seconds": 7.2067176746204495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.05, "z": 0.75, "roll": 1, "pitch": 0, "yaw": 0 }, "note": "Go up and look diagonally down at the cabinet face for a wider view to find the handle." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.42422, 0.00346, -1.17708, -2.59355, 0.73832, 1.67057, -1.28104 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30016, -0.04959, 0.74924 ], "tcp_roll_pitch_yaw": [ 1.00208, -0.00202, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99477, 0.09559, 0.03591 ], [ 0.01342, -0.47097, 0.88205 ], [ 0.10123, -0.87696, -0.46979 ] ], "simulated_seconds_remaining": 15.312, "calls_remaining_including_this": 45 }, "api_seconds": 10.009089935570955, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.1, "y": 0.2, "z": 0.6, "roll": 1.57 }, "note": "Exterior suggests handle is near camera side (low x, beside base); try to go there facing +y." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.09878, 1.02072, -0.6138, -2.75457, 1.21902, 1.01066, -2.61364 ], "gripper_open": 0.9916, "tcp_xyz": [ 0.16259, 0.11125, 0.6627 ], "tcp_roll_pitch_yaw": [ 1.62467, -0.3131, -0.28479 ], "tcp_rotation_matrix": [ [ 0.86913, 0.41362, 0.27116 ], [ -0.30352, 0.0132, 0.95273 ], [ 0.39049, -0.91036, 0.13702 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 44 }, "api_seconds": 9.409143347293139, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74, "y": 0.08 }, "note": "Wrist shows a seam and small object just above gripper; move up slightly to inspect." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.21064, 0.79515, -0.93781, -2.86811, 1.01615, 0.96945, -2.4914 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.16265, 0.08044, 0.73879 ], "tcp_roll_pitch_yaw": [ 1.62456, -0.31327, -0.28484 ], "tcp_rotation_matrix": [ [ 0.86906, 0.41375, 0.27121 ], [ -0.30353, 0.01303, 0.95273 ], [ 0.39065, -0.9103, 0.13691 ] ], "simulated_seconds_remaining": 11.814, "calls_remaining_including_this": 43 }, "api_seconds": 5.6054208585992455, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Handle bar visible slightly above gripper center in wrist view; align height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.38051, 0.66205, -1.18757, -2.94494, 0.9458, 0.94681, -2.38254 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.16268, 0.08041, 0.77887 ], "tcp_roll_pitch_yaw": [ 1.62447, -0.31341, -0.28482 ], "tcp_rotation_matrix": [ [ 0.86901, 0.41384, 0.27121 ], [ -0.3035, 0.01292, 0.95275 ], [ 0.39079, -0.91026, 0.13682 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 42 }, "api_seconds": 4.404597781598568, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.16, "x": 0.18, "z": 0.8 }, "note": "Advance toward handle along approach direction." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.38051, 0.66205, -1.18757, -2.94494, 0.9458, 0.94681, -2.38254 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.16268, 0.08041, 0.77887 ], "tcp_roll_pitch_yaw": [ 1.62447, -0.31341, -0.28482 ], "tcp_rotation_matrix": [ [ 0.86901, 0.41384, 0.27121 ], [ -0.3035, 0.01292, 0.95275 ], [ 0.39079, -0.91026, 0.13682 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 41 }, "api_seconds": 3.403762388974428, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.12, "z": 0.72, "roll": 1.57, "pitch": 0, "yaw": 0 }, "note": "Arm cramped near joint limit; move to a more reachable pose facing +y near the handle area." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.55038, 0.76304, -0.94102, -2.69134, 1.27946, 0.92953, -1.87701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24935, 0.11968, 0.72043 ], "tcp_roll_pitch_yaw": [ 1.57005, -0.00264, -0.0018 ], "tcp_rotation_matrix": [ [ 0.99466, 0.09649, 0.0367 ], [ -0.044, 0.07462, 0.99624 ], [ 0.09339, -0.99253, 0.07847 ] ], "simulated_seconds_remaining": 10.164, "calls_remaining_including_this": 40 }, "api_seconds": 4.604849360883236, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Handle appears toward image right (world up); raise gripper." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.854, 0.47601, -1.3525, -2.81472, 1.19047, 0.98429, -1.65321 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24941, 0.11965, 0.79879 ], "tcp_roll_pitch_yaw": [ 1.56992, -0.00293, -0.00181 ], "tcp_rotation_matrix": [ [ 0.99463, 0.09678, 0.0367 ], [ -0.04401, 0.07449, 0.99625 ], [ 0.09368, -0.99251, 0.07835 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 39 }, "api_seconds": 5.605405150912702, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.855 }, "note": "Align finger center with the handle (still slightly above)." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.25874, 0.52684, -1.81473, -2.85916, 1.18793, 0.85721, -1.51434 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24944, 0.1196, 0.85358 ], "tcp_roll_pitch_yaw": [ 1.56965, -0.00274, -0.00189 ], "tcp_rotation_matrix": [ [ 0.99464, 0.0966, 0.03679 ], [ -0.04406, 0.07421, 0.99627 ], [ 0.09351, -0.99255, 0.07807 ] ], "simulated_seconds_remaining": 8.646, "calls_remaining_including_this": 38 }, "api_seconds": 3.4037024043500423, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.22 }, "note": "Handle aligned between fingers; advance toward it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.77674, 0.71703, -1.9099, -3.03484, 1.67362, 0.80832, -1.29541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24937, 0.21876, 0.85351 ], "tcp_roll_pitch_yaw": [ 1.56948, -0.00254, -0.00157 ], "tcp_rotation_matrix": [ [ 0.99468, 0.09638, 0.03649 ], [ -0.04373, 0.07408, 0.99629 ], [ 0.09332, -0.99258, 0.0779 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 37 }, "api_seconds": 4.004232342354953, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.28 }, "note": "Handle still ahead; continue advancing." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 22, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.77674, 0.71703, -1.9099, -3.03484, 1.67362, 0.80832, -1.29541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24937, 0.21876, 0.85351 ], "tcp_roll_pitch_yaw": [ 1.56948, -0.00254, -0.00157 ], "tcp_rotation_matrix": [ [ 0.99468, 0.09638, 0.03649 ], [ -0.04373, 0.07408, 0.99629 ], [ 0.09332, -0.99258, 0.0779 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 36 }, "api_seconds": 3.6038529789075255, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "Smaller advance toward handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 23, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.77674, 0.71703, -1.9099, -3.03484, 1.67362, 0.80832, -1.29541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24937, 0.21876, 0.85351 ], "tcp_roll_pitch_yaw": [ 1.56948, -0.00254, -0.00157 ], "tcp_rotation_matrix": [ [ 0.99468, 0.09638, 0.03649 ], [ -0.04373, 0.07408, 0.99629 ], [ 0.09332, -0.99258, 0.0779 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 35 }, "api_seconds": 4.404522540979087, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.4, "y": 0.24 }, "note": "IK stuck; add yaw to relieve joint limits while approaching handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 24, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.77674, 0.71703, -1.9099, -3.03484, 1.67362, 0.80832, -1.29541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24937, 0.21876, 0.85351 ], "tcp_roll_pitch_yaw": [ 1.56948, -0.00254, -0.00157 ], "tcp_rotation_matrix": [ [ 0.99468, 0.09638, 0.03649 ], [ -0.04373, 0.07408, 0.99629 ], [ 0.09332, -0.99258, 0.0779 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 34 }, "api_seconds": 2.603133068419993, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.3 }, "note": "Try yaw alone to find a less constrained configuration." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 25, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.77674, 0.71703, -1.9099, -3.03484, 1.67362, 0.80832, -1.29541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24937, 0.21876, 0.85351 ], "tcp_roll_pitch_yaw": [ 1.56948, -0.00254, -0.00157 ], "tcp_rotation_matrix": [ [ 0.99468, 0.09638, 0.03649 ], [ -0.04373, 0.07408, 0.99629 ], [ 0.09332, -0.99258, 0.0779 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 33 }, "api_seconds": 2.0022732755169272, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.3 }, "note": "Try opposite yaw." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.50483, 0.5978, -1.65117, -2.76212, 1.38823, 0.80447, -1.42086 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24943, 0.21881, 0.8535 ], "tcp_roll_pitch_yaw": [ 1.56942, -0.00252, 0.29605 ], "tcp_rotation_matrix": [ [ 0.96377, 0.07042, -0.25728 ], [ 0.24989, 0.09902, 0.9632 ], [ 0.0933, -0.99259, 0.07783 ] ], "simulated_seconds_remaining": 6.93, "calls_remaining_including_this": 32 }, "api_seconds": 2.8029255783185363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.28, "x": 0.235 }, "note": "Yaw relieved joint limit; advance toward the handle." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.79592, 0.63306, -1.7214, -2.8469, 1.63339, 0.84013, -1.30028 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.23523, 0.27881, 0.85346 ], "tcp_roll_pitch_yaw": [ 1.56935, -0.00242, 0.29634 ], "tcp_rotation_matrix": [ [ 0.9637, 0.0703, -0.25755 ], [ 0.25018, 0.09894, 0.96313 ], [ 0.09319, -0.99261, 0.07776 ] ], "simulated_seconds_remaining": 6.204, "calls_remaining_including_this": 31 }, "api_seconds": 2.8031250033527613, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.33, "x": 0.22 }, "note": "Handle near finger in view; continue advancing." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the drawer.", "joint_positions": [ 2.03689, 0.64245, -1.75226, -2.89719, 1.85405, 0.9125, -1.19443 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22028, 0.32885, 0.85343 ], "tcp_roll_pitch_yaw": [ 1.56926, -0.00236, 0.29666 ], "tcp_rotation_matrix": [ [ 0.96363, 0.07025, -0.25785 ], [ 0.25049, 0.09886, 0.96306 ], [ 0.09314, -0.99262, 0.07767 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 30 }, "api_seconds": 4.004077340476215, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4, "x": 0.2 }, "note": "Scene barely changing; handle still ahead, keep advancing." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the drawer.", "joint_positions": [ 2.30866, 0.61689, -1.73217, -2.89967, 2.13504, 1.07323, -1.08396 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20028, 0.39879, 0.85341 ], "tcp_roll_pitch_yaw": [ 1.5692, -0.00239, 0.29701 ], "tcp_rotation_matrix": [ [ 0.96353, 0.07025, -0.2582 ], [ 0.25084, 0.09884, 0.96297 ], [ 0.09317, -0.99262, 0.07761 ] ], "simulated_seconds_remaining": 4.752, "calls_remaining_including_this": 29 }, "api_seconds": 3.4038223950192332, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Near cabinet face in exterior view; attempt grasp of handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the drawer.", "joint_positions": [ 2.30866, 0.61689, -1.73217, -2.89967, 2.13504, 1.07323, -1.08396 ], "gripper_open": 0.0, "tcp_xyz": [ 0.20028, 0.39881, 0.85341 ], "tcp_roll_pitch_yaw": [ 1.5692, -0.00239, 0.29701 ], "tcp_rotation_matrix": [ [ 0.96354, 0.07025, -0.25819 ], [ 0.25083, 0.09884, 0.96297 ], [ 0.09317, -0.99262, 0.07761 ] ], "simulated_seconds_remaining": 3.828, "calls_remaining_including_this": 28 }, "api_seconds": 2.602785940282047, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reach and grasp the drawer handle; gripper closed on nothing and simulated time is nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 001 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 1, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "wall_seconds": 178.04, "usage": { "input_tokens": 64, "output_tokens": 9912, "cache_read_input_tokens": 467208, "cache_creation_input_tokens": 25564, "thinking_tokens": 6001, "cost_usd": 0.49644959999999994 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MnZeh9rGPcnQM1oJ7oF6u9", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HYoz897xGfQuRVp2eB3DUS", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Oven ahead; lower gripper to find door handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XPaFbfKogBSYSay85DiFW5", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "x": 0.4, "yaw": 1.5708 }, "note": "Rotate yaw so fingers open along x to grasp horizontal handle from above; raise to above handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 929, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 929 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DJwaEZ17oVJpP6bJq4F72F", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.93 }, "note": "Descend toward handle height, check alignment." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1191, "cache_read_input_tokens": 3438, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1191 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0124hteSeNRAG1TRSfeyMzg7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.95, "roll": 1.5708, "pitch": 0, "yaw": -1.5708 }, "note": "Reorient gripper to point forward (+x) with fingers opening vertically for horizontal handle grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 810, "cache_read_input_tokens": 4629, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 810 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Reorienting the gripper so it points forward, with the fingers opening up and down to close around the oven's horizontal handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1960, "cache_read_input_tokens": 5439, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1960 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BbJR5vi8BwG5zqgKFtLccG", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.95, "roll": -1.5708, "pitch": 0, "yaw": 1.5708 }, "note": "Alternative orientation: gripper forward, fingers vertical." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1960, "cache_read_input_tokens": 5439, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1960 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UfiZ851y2YBiegQJmcYLdp", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.95, "yaw": 0, "pitch": -0.8 }, "note": "Incremental reorientation: tilt gripper toward forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 947, "cache_read_input_tokens": 7399, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 947 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DoohhMZJX1QfoQiQ4DJ9MT", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5 }, "note": "Small pitch-only test." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 703, "cache_read_input_tokens": 8346, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 703 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016LN9hHoytj138vHT6ZYzA8", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "roll": -0.6 }, "note": "Incremental roll toward forward-pointing orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 664, "cache_read_input_tokens": 9049, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 664 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0193eUWAdrNCeiQzjiQgJm6T", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -1.2, "x": 0.3 }, "note": "Continue rolling toward forward-pointing, back away from oven." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 956, "cache_read_input_tokens": 9713, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 956 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UYdnepwUjjxNu1AjUP4ywQ", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -1 }, "note": "Smaller roll increment." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 664, "cache_read_input_tokens": 10669, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 664 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm trying to point the gripper forward, but the arm is too folded up near its joint limits. I'll extend it forward and down first." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 11333, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YVxrbRT8NSpsoh23ii4hnA", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0, "x": 0.35, "z": 1 }, "note": "Undo roll and back off to reconsider; wrist near joint limits." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 11333, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01US5Jo6RHSQwautbTSeYWgT", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Advance toward oven face to locate handle below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 767, "cache_read_input_tokens": 12062, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 767 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XikBpWeBf2fALacoRzQ2eF", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.53 }, "note": "Continue advancing toward oven face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 876, "cache_read_input_tokens": 12829, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 876 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013Kgnj3sWrtxRQHVc1AHaUW", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 1, "roll": 0, "pitch": 0, "yaw": 1.5708 }, "note": "Contact with oven face at x~0.46. Back off slightly and restore orientation before descending onto handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 673, "cache_read_input_tokens": 13705, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 673 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017YMz7M1aM3XsaUGiZZPGcT", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92 }, "note": "Descend over expected handle location." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 870, "cache_read_input_tokens": 14378, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 870 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SUXMywJTBT4XjW3z3NqzWR", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Try closing on handle possibly between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 15248, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 636 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The first grasp closed on nothing. I'll open the gripper and search lower for the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 15884, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VM3GRN33McnJRUoUU7L24Q", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.86 }, "note": "Missed; open and probe lower for handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 15884, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MsPT2uyidF9Nhqte1kALDp", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Probe forward at door level to find door plane." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 744, "cache_read_input_tokens": 16589, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 744 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V8eyXwryTYVMzCLKshQWFD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.46, "z": 0.97, "roll": 0, "pitch": 0, "yaw": 1.5708 }, "note": "Hit something near x~0.45 at z~0.87 (likely handle). Reset orientation above it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 17333, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 798 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013X3K4NWt2jgADns77BPGiE", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "y": 0.15, "z": 0.95, "roll": 0 }, "note": "Test y direction mapping in camera, backing off from face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 852, "cache_read_input_tokens": 18131, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 852 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X8c631pXzBUtbw4hV74bNK", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3 }, "note": "Probe +y further to understand scene geometry." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 929, "cache_read_input_tokens": 18983, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 929 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KKgNBfqk5rfgepQRi9TZse", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 0.89 }, "note": "Now centered on oven; descend over handle with fingers straddling along x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 820, "cache_read_input_tokens": 19912, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 820 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've moved to the middle of the oven door, about where the handle should be. Closing the gripper to test for a grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 993, "cache_read_input_tokens": 20732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 993 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TM54LJxvkySDVuCq533a8r", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 993, "cache_read_input_tokens": 20732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 993 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DZiCypARaFVLquddjXh2Q4", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 1.08 }, "note": "Handle likely higher (~z 0.97-1.0, where contacts occurred). Rise above it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 727, "cache_read_input_tokens": 21725, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 727 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015Mzz38WVcG8xA3EM5wD8kc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.465 }, "note": "Move over the handle line before descending." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1004, "cache_read_input_tokens": 22452, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1004 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MVQPr3spnQsxi6Z5a94fow", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.97 }, "note": "Descend onto handle to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 739, "cache_read_input_tokens": 23456, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 739 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Moved down to handle height without hitting anything. Closing the gripper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 24195, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 608 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RyAQb25mexFUBh3z9k8bdX", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Grasp handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 24195, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 608 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "No grasp again, and only about 6 s of motion time is left. I'll try hooking the closed fingers behind the handle and pulling back instead." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 24803, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 650 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01333BZRNXobfkc7rHpW7KSH", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Lower closed fingers to try to hook behind the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 24803, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 650 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01REZnZa5bEKYDFb9QJuhMSA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.85 }, "note": "Pull back and down to try to drag door open if hooked." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 855, "cache_read_input_tokens": 25453, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 855 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JUgBsZLhdzN2ibqbxEEgjG", "name": "mcp__robot__give_up", "input": { "note": "Could not locate/grasp the oven handle reliably; several grasps closed on nothing and hook attempt failed. Motion time nearly exhausted." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 620, "cache_read_input_tokens": 26308, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 620 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the oven, and I ended the episode with the door still closed and about 4 s of motion time left.\n\n- **Finding the handle:** The arm couldn't point the gripper straight at the oven front because the pose was out of reach near its joint limits. Instead I came down from above, with the gripper rotated so its fingers would close front-to-back across the handle.\n- **Grasp attempts:** I closed the gripper at three places and it closed on nothing each time. I also bumped into something at roughly 0.43–0.46 m forward, but never worked out whether that was the handle or the door itself. The wrist camera mostly showed the floor, so it didn't help locate the handle.\n- **Last try:** With the fingers closed, I lowered them and pulled back and down to hook the handle. The door didn't move.\n\nI spent too much of the time budget on setup: working out which way the arm's y-axis ran in the side camera view, and orientation moves the controller rejected." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 189, "cache_read_input_tokens": 26928, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 189 }, "output_tokens": 309, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 64, "cache_creation_input_tokens": 25564, "cache_read_input_tokens": 467208, "output_tokens": 9912, "output_tokens_details": { "thinking_tokens": 6001 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 25564, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 309, "cache_read_input_tokens": 26928, "cache_creation_input_tokens": 189, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 189 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 64, "outputTokens": 9912, "cacheReadInputTokens": 467208, "cacheCreationInputTokens": 25564, "webSearchRequests": 0, "costUSD": 0.49644959999999994, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6001, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.49644959999999994, "num_turns": 32, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the oven.", "joint_positions": [ 0.02484, -0.78918, 0.02534, -2.30574, 0.07859, 1.65311, -0.17456 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33435, 0.0367, 1.05012 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.96682, 0.21806, 0.1331 ], [ 0.21085, -0.97527, 0.06621 ], [ 0.14425, -0.03595, -0.98889 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.606484218500555, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Oven ahead; lower gripper to find door handle height." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the oven.", "joint_positions": [ 0.03419, -0.7969, 0.04044, -2.82135, 0.10404, 2.15994, -0.20491 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3343, 0.0367, 0.85123 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00033, 1e-05 ], "tcp_rotation_matrix": [ [ 0.96686, 0.21806, 0.13277 ], [ 0.21087, -0.97527, 0.06619 ], [ 0.14392, -0.036, -0.98893 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 9.008348912000656, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "x": 0.4, "yaw": 1.5708 }, "note": "Rotate yaw so fingers open along x to grasp horizontal handle from above; raise to above handle." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the oven.", "joint_positions": [ 0.4378, -0.48158, -0.33986, -2.15324, -0.0138, 1.64827, -1.64437 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39985, 0.03671, 0.99961 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00035, 1.56611 ], "tcp_rotation_matrix": [ [ -0.20634, 0.97629, -0.0655 ], [ 0.96784, 0.21348, 0.13307 ], [ 0.14389, -0.03594, -0.98894 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 55 }, "api_seconds": 4.004311894997954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Descend toward handle height, check alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the oven.", "joint_positions": [ 0.43029, -0.48003, -0.35583, -2.32546, -0.02209, 1.82083, -1.66151 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39981, 0.03671, 0.93113 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00041, 1.56613 ], "tcp_rotation_matrix": [ [ -0.20631, 0.97627, -0.06577 ], [ 0.96785, 0.21349, 0.13301 ], [ 0.14389, -0.03622, -0.98893 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 54 }, "api_seconds": 15.61335197929293, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.95, "roll": 1.5708, "pitch": 0, "yaw": -1.5708 }, "note": "Reorient gripper to point forward (+x) with fingers opening vertically for horizontal handle grasp." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the oven.", "joint_positions": [ 0.43029, -0.48003, -0.35583, -2.32546, -0.02209, 1.82083, -1.66151 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39981, 0.03671, 0.93113 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00041, 1.56613 ], "tcp_rotation_matrix": [ [ -0.20631, 0.97627, -0.06577 ], [ 0.96785, 0.21349, 0.13301 ], [ 0.14389, -0.03622, -0.98893 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 53 }, "api_seconds": 4.604456270113587, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.95, "roll": -1.5708, "pitch": 0, "yaw": 1.5708 }, "note": "Alternative orientation: gripper forward, fingers vertical." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the oven.", "joint_positions": [ 0.43029, -0.48003, -0.35583, -2.32546, -0.02209, 1.82083, -1.66151 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39981, 0.03671, 0.93113 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00041, 1.56613 ], "tcp_rotation_matrix": [ [ -0.20631, 0.97627, -0.06577 ], [ 0.96785, 0.21349, 0.13301 ], [ 0.14389, -0.03622, -0.98893 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 52 }, "api_seconds": 2.602918401360512, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.95, "yaw": 0, "pitch": -0.8 }, "note": "Incremental reorientation: tilt gripper toward forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the oven.", "joint_positions": [ 0.43029, -0.48003, -0.35583, -2.32546, -0.02209, 1.82083, -1.66151 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39981, 0.03671, 0.93113 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00041, 1.56613 ], "tcp_rotation_matrix": [ [ -0.20631, 0.97627, -0.06577 ], [ 0.96785, 0.21349, 0.13301 ], [ 0.14389, -0.03622, -0.98893 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 51 }, "api_seconds": 2.602913965471089, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5 }, "note": "Small pitch-only test." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the oven.", "joint_positions": [ 0.49226, -0.48952, -0.65069, -2.35758, 0.34142, 1.81328, -1.98775 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39978, 0.03662, 0.93106 ], "tcp_roll_pitch_yaw": [ 0.00051, -0.49582, 1.56582 ], "tcp_rotation_matrix": [ [ -0.20689, 0.97628, -0.06379 ], [ 0.78276, 0.20428, 0.58784 ], [ 0.58693, 0.07169, -0.80646 ] ], "simulated_seconds_remaining": 24.222, "calls_remaining_including_this": 50 }, "api_seconds": 5.605037430301309, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "roll": -0.6 }, "note": "Incremental roll toward forward-pointing orientation." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the oven.", "joint_positions": [ 0.2074, -0.90634, -0.16011, -2.84246, -0.04816, 2.48046, -1.72077 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39973, 0.03665, 0.931 ], "tcp_roll_pitch_yaw": [ -0.59644, -0.00264, 1.56667 ], "tcp_rotation_matrix": [ [ -0.25148, 0.82796, 0.50124 ], [ 0.96786, 0.21328, 0.13329 ], [ 0.00345, 0.51865, -0.85498 ] ], "simulated_seconds_remaining": 22.902, "calls_remaining_including_this": 49 }, "api_seconds": 2.8028946379199624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -1.2, "x": 0.3 }, "note": "Continue rolling toward forward-pointing, back away from oven." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the oven.", "joint_positions": [ 0.2074, -0.90634, -0.16011, -2.84246, -0.04816, 2.48046, -1.72077 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39973, 0.03665, 0.931 ], "tcp_roll_pitch_yaw": [ -0.59644, -0.00264, 1.56667 ], "tcp_rotation_matrix": [ [ -0.25148, 0.82796, 0.50124 ], [ 0.96786, 0.21328, 0.13329 ], [ 0.00345, 0.51865, -0.85498 ] ], "simulated_seconds_remaining": 22.902, "calls_remaining_including_this": 48 }, "api_seconds": 3.0027966676279902, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -1 }, "note": "Smaller roll increment." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "open the oven.", "joint_positions": [ 0.2074, -0.90634, -0.16011, -2.84246, -0.04816, 2.48046, -1.72077 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39973, 0.03665, 0.931 ], "tcp_roll_pitch_yaw": [ -0.59644, -0.00264, 1.56667 ], "tcp_rotation_matrix": [ [ -0.25148, 0.82796, 0.50124 ], [ 0.96786, 0.21328, 0.13329 ], [ 0.00345, 0.51865, -0.85498 ] ], "simulated_seconds_remaining": 22.902, "calls_remaining_including_this": 47 }, "api_seconds": 4.203955105505884, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "x": 0.35, "z": 1 }, "note": "Undo roll and back off to reconsider; wrist near joint limits." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the oven.", "joint_positions": [ 0.25458, -0.61796, -0.18413, -2.27646, 0.03601, 1.61966, -1.68049 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35049, 0.03665, 0.99951 ], "tcp_roll_pitch_yaw": [ -0.00452, -0.0027, 1.56657 ], "tcp_rotation_matrix": [ [ -0.20742, 0.97634, -0.06116 ], [ 0.96731, 0.21402, 0.13603 ], [ 0.1459, -0.03095, -0.98882 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 46 }, "api_seconds": 5.204589585773647, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Advance toward oven face to locate handle below." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the oven.", "joint_positions": [ 0.27665, -0.31126, -0.23157, -2.02223, 0.06974, 1.66478, -1.73499 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44873, 0.03665, 0.99946 ], "tcp_roll_pitch_yaw": [ -0.00438, -0.00268, 1.56656 ], "tcp_rotation_matrix": [ [ -0.20739, 0.97634, -0.0613 ], [ 0.96732, 0.21401, 0.13601 ], [ 0.14591, -0.03109, -0.98881 ] ], "simulated_seconds_remaining": 20.79, "calls_remaining_including_this": 45 }, "api_seconds": 3.0029515139758587, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53 }, "note": "Continue advancing toward oven face." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the oven.", "joint_positions": [ 0.27391, -0.0945, -0.26666, -1.74192, 0.12293, 1.37707, -1.78414 ], "gripper_open": 0.9927, "tcp_xyz": [ 0.45655, 0.03494, 1.0136 ], "tcp_roll_pitch_yaw": [ 0.20591, -0.01657, 1.59728 ], "tcp_rotation_matrix": [ [ -0.20236, 0.94111, -0.27085 ], [ 0.95861, 0.24692, 0.14177 ], [ 0.2003, -0.23094, -0.95213 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 44 }, "api_seconds": 4.60406740102917, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 1, "roll": 0, "pitch": 0, "yaw": 1.5708 }, "note": "Contact with oven face at x~0.46. Back off slightly and restore orientation before descending onto handle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the oven.", "joint_positions": [ 0.26958, -0.39162, -0.21914, -2.09147, 0.05541, 1.64723, -1.72523 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42058, 0.03492, 1.00039 ], "tcp_roll_pitch_yaw": [ 0.0037, -0.00031, 1.57129 ], "tcp_rotation_matrix": [ [ -0.21079, 0.97503, -0.06993 ], [ 0.96667, 0.21855, 0.13337 ], [ 0.14533, -0.03949, -0.9886 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 43 }, "api_seconds": 2.603564878925681, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Descend over expected handle location." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the oven.", "joint_positions": [ 0.26556, -0.38416, -0.22705, -2.28636, 0.05521, 1.84777, -1.74797 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42053, 0.03492, 0.92115 ], "tcp_roll_pitch_yaw": [ 0.004, -0.00027, 1.5713 ], "tcp_rotation_matrix": [ [ -0.21077, 0.97501, -0.07023 ], [ 0.96667, 0.21857, 0.13333 ], [ 0.14535, -0.03979, -0.98858 ] ], "simulated_seconds_remaining": 18.48, "calls_remaining_including_this": 42 }, "api_seconds": 2.602573466487229, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Try closing on handle possibly between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the oven.", "joint_positions": [ 0.26556, -0.38416, -0.22705, -2.28636, 0.05521, 1.84777, -1.74797 ], "gripper_open": 0.0, "tcp_xyz": [ 0.42053, 0.03492, 0.92114 ], "tcp_roll_pitch_yaw": [ 0.004, -0.00027, 1.5713 ], "tcp_rotation_matrix": [ [ -0.21077, 0.97501, -0.07023 ], [ 0.96667, 0.21857, 0.13333 ], [ 0.14535, -0.03979, -0.98858 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 41 }, "api_seconds": 3.4029344357550144, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.86 }, "note": "Missed; open and probe lower for handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the oven.", "joint_positions": [ 0.2664, -0.34332, -0.23696, -2.4051, 0.0636, 2.00507, -1.7717 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.42049, 0.03492, 0.86126 ], "tcp_roll_pitch_yaw": [ 0.0042, -0.00024, 1.57132 ], "tcp_rotation_matrix": [ [ -0.21075, 0.975, -0.07043 ], [ 0.96667, 0.21858, 0.13331 ], [ 0.14537, -0.03999, -0.98857 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 40 }, "api_seconds": 3.8034672029316425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Probe forward at door level to find door plane." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the oven.", "joint_positions": [ 0.26914, -0.03483, -0.27808, -1.97734, 0.15963, 1.3743, -1.85124 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39399, 0.0402, 0.90403 ], "tcp_roll_pitch_yaw": [ 0.48943, -0.07665, 1.62503 ], "tcp_rotation_matrix": [ [ -0.16943, 0.82881, -0.53325 ], [ 0.93883, 0.30033, 0.1685 ], [ 0.29981, -0.47209, -0.829 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 39 }, "api_seconds": 5.6050360687077045, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "z": 0.97, "roll": 0, "pitch": 0, "yaw": 1.5708 }, "note": "Hit something near x~0.45 at z~0.87 (likely handle). Reset orientation above it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the oven.", "joint_positions": [ 0.27657, -0.26903, -0.22842, -2.06657, 0.07791, 1.6309, -1.74795 ], "gripper_open": 0.9681, "tcp_xyz": [ 0.43042, 0.04137, 0.95965 ], "tcp_roll_pitch_yaw": [ 0.11265, 0.00324, 1.58832 ], "tcp_rotation_matrix": [ [ -0.21023, 0.96109, -0.1792 ], [ 0.96382, 0.23447, 0.12682 ], [ 0.1639, -0.14605, -0.9756 ] ], "simulated_seconds_remaining": 14.454, "calls_remaining_including_this": 38 }, "api_seconds": 5.405028843320906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.15, "z": 0.95, "roll": 0 }, "note": "Test y direction mapping in camera, backing off from face." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the oven.", "joint_positions": [ 0.35846, -0.39736, -0.07102, -2.23989, 0.11982, 1.81186, -1.54288 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40032, 0.14882, 0.95012 ], "tcp_roll_pitch_yaw": [ 0.00133, 0.0033, 1.58861 ], "tcp_rotation_matrix": [ [ -0.22786, 0.97119, -0.06983 ], [ 0.96338, 0.23527, 0.12861 ], [ 0.14133, -0.03796, -0.98923 ] ], "simulated_seconds_remaining": 13.398, "calls_remaining_including_this": 37 }, "api_seconds": 5.004830068908632, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Probe +y further to understand scene geometry." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the oven.", "joint_positions": [ 0.46441, -0.20747, 0.09898, -2.06547, 0.17441, 1.86411, -1.29475 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40028, 0.29875, 0.95009 ], "tcp_roll_pitch_yaw": [ 0.00136, 0.00336, 1.58884 ], "tcp_rotation_matrix": [ [ -0.22808, 0.97113, -0.06989 ], [ 0.96334, 0.2355, 0.12853 ], [ 0.14128, -0.03801, -0.98924 ] ], "simulated_seconds_remaining": 12.078, "calls_remaining_including_this": 36 }, "api_seconds": 6.005510337650776, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.89 }, "note": "Now centered on oven; descend over handle with fingers straddling along x." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the oven.", "joint_positions": [ 0.45851, -0.12997, 0.09356, -2.13377, 0.17523, 2.00599, -1.32852 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41958, 0.29871, 0.89107 ], "tcp_roll_pitch_yaw": [ 0.00167, 0.00352, 1.58881 ], "tcp_rotation_matrix": [ [ -0.228, 0.97113, -0.07018 ], [ 0.96337, 0.23546, 0.12838 ], [ 0.1412, -0.03834, -0.98924 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 35 }, "api_seconds": 3.403173432685435, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at handle height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the oven.", "joint_positions": [ 0.45851, -0.12997, 0.09356, -2.13377, 0.17523, 2.00599, -1.32852 ], "gripper_open": 0.0, "tcp_xyz": [ 0.41958, 0.29871, 0.89106 ], "tcp_roll_pitch_yaw": [ 0.00166, 0.00351, 1.58881 ], "tcp_rotation_matrix": [ [ -0.228, 0.97113, -0.07017 ], [ 0.96337, 0.23546, 0.12838 ], [ 0.1412, -0.03833, -0.98924 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 34 }, "api_seconds": 6.60600735899061, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 1.08 }, "note": "Handle likely higher (~z 0.97-1.0, where contacts occurred). Rise above it." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the oven.", "joint_positions": [ 0.45213, -0.11977, 0.08333, -1.64208, 0.15684, 1.52868, -1.26397 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41962, 0.29873, 1.07879 ], "tcp_roll_pitch_yaw": [ 0.00139, 0.00335, 1.58879 ], "tcp_rotation_matrix": [ [ -0.22803, 0.97114, -0.06991 ], [ 0.96335, 0.23545, 0.12855 ], [ 0.1413, -0.03803, -0.98924 ] ], "simulated_seconds_remaining": 8.844, "calls_remaining_including_this": 33 }, "api_seconds": 3.4034587256610394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.465 }, "note": "Move over the handle line before descending." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the oven.", "joint_positions": [ 0.43583, 0.00788, 0.06551, -1.49235, 0.14671, 1.50129, -1.29417 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46381, 0.29868, 1.0787 ], "tcp_roll_pitch_yaw": [ 0.00156, 0.00342, 1.58865 ], "tcp_rotation_matrix": [ [ -0.22787, 0.97117, -0.07005 ], [ 0.96339, 0.23531, 0.12849 ], [ 0.14127, -0.03821, -0.98923 ] ], "simulated_seconds_remaining": 8.25, "calls_remaining_including_this": 32 }, "api_seconds": 2.2023645574226975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Descend onto handle to straddle it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the oven.", "joint_positions": [ 0.43809, -0.0409, 0.0681, -1.8266, 0.15315, 1.78401, -1.33226 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46378, 0.29867, 0.97125 ], "tcp_roll_pitch_yaw": [ 0.00189, 0.00359, 1.58867 ], "tcp_rotation_matrix": [ [ -0.22784, 0.97115, -0.07038 ], [ 0.96341, 0.23532, 0.12832 ], [ 0.14118, -0.03857, -0.98923 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 31 }, "api_seconds": 2.602431323379278, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Grasp handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the oven.", "joint_positions": [ 0.43809, -0.0409, 0.0681, -1.8266, 0.15315, 1.78401, -1.33226 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46378, 0.29867, 0.97124 ], "tcp_roll_pitch_yaw": [ 0.00188, 0.00358, 1.58867 ], "tcp_rotation_matrix": [ [ -0.22784, 0.97115, -0.07037 ], [ 0.96341, 0.23532, 0.12832 ], [ 0.14118, -0.03856, -0.98923 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 30 }, "api_seconds": 4.603922934271395, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lower closed fingers to try to hook behind the handle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the oven.", "joint_positions": [ 0.44064, -0.02087, 0.07091, -1.98161, 0.16028, 1.95739, -1.35504 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46373, 0.29865, 0.90111 ], "tcp_roll_pitch_yaw": [ 0.00218, 0.00373, 1.58869 ], "tcp_rotation_matrix": [ [ -0.22781, 0.97114, -0.07067 ], [ 0.96343, 0.23533, 0.12817 ], [ 0.1411, -0.03889, -0.98923 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 29 }, "api_seconds": 2.2023202534765005, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.85 }, "note": "Pull back and down to try to drag door open if hooked." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the oven.", "joint_positions": [ 0.49936, -0.26742, 0.13393, -2.38462, 0.21367, 2.1275, -1.28952 ], "gripper_open": 0.0, "tcp_xyz": [ 0.35116, 0.29869, 0.85054 ], "tcp_roll_pitch_yaw": [ 0.00225, 0.00379, 1.58886 ], "tcp_rotation_matrix": [ [ -0.22797, 0.97109, -0.07075 ], [ 0.9634, 0.2355, 0.1281 ], [ 0.14106, -0.03896, -0.98923 ] ], "simulated_seconds_remaining": 4.422, "calls_remaining_including_this": 28 }, "api_seconds": 3.4033706728368998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not locate/grasp the oven handle reliably; several grasps closed on nothing and hook attempt failed. Motion time nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 002 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 2, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 40, "wall_seconds": 233.23, "usage": { "input_tokens": 86, "output_tokens": 13495, "cache_read_input_tokens": 791581, "cache_creation_input_tokens": 34828, "thinking_tokens": 8567, "cost_usd": 0.7071842 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01R7QPGXGB12Ws96ipEYtiFq", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BRF963V8CHenqU8Hg6zSas", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "z": 0.8 }, "note": "Tilt gripper toward forward to look at cabinet with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SyAidVt6nZjMZ1qp2BQe2u", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Tilt gripper partially forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 888, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 888 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HuSw2epu7oaisMqc7HQzqo", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.45, "z": 0.75 }, "note": "Point gripper forward toward cabinet front and lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 812, "cache_read_input_tokens": 3400, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 812 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017PDvcgqetxEHzTisQpW8Fs", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7, "x": 0.35 }, "note": "Lower gripper to see cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 4212, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 686 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Some of my moves were rejected as unreachable, so I'm now lowering the gripper in smaller steps." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 4898, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 677 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FC2yJskdHfJ9oYmtKcaKJi", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.88, "x": 0.4 }, "note": "Small step forward/down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 4898, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 677 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01S8XpCdDFyvAuNwfuMscg1H", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "x": 0.45, "z": 0.82 }, "note": "Continue tilting forward and lowering toward cabinet doors." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 5575, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 721 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014VVHK54huU5P5k5bFxshBx", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Try tilting only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 870, "cache_read_input_tokens": 6296, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 870 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BbmJNtYkxtVAfsciT8apNm", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Move forward to relieve elbow joint limit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 775, "cache_read_input_tokens": 7166, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 775 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TTm8ZTqUwhBhBPa1SteSvX", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper more toward horizontal facing cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 7941, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WfyVZMuYGePTy3umKJkwB5", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.84 }, "note": "Lower slightly to check how handle moves in wrist image." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 864, "cache_read_input_tokens": 8717, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 864 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Lowering the gripper moved the handle out of view, so the wrist image seems to be upside down. I'm raising the gripper to find the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 861, "cache_read_input_tokens": 9581, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 861 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018zr7gxt4MTtN3dox4rMBTS", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95 }, "note": "Handle moved out of view when lowering; raise to find it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 861, "cache_read_input_tokens": 9581, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 861 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VGouEGnzb9BHx2rgk5jwNX", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05 }, "note": "Two handles visible bottom-right; test lateral direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 884, "cache_read_input_tokens": 10442, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 884 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BmnGjHQKGrMnXZxLvsovnN", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.085 }, "note": "Center handle between fingers laterally." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 900, "cache_read_input_tokens": 11326, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 900 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fd8mweVbT34j5gcMFT6aJB", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1, "x": 0.545, "z": 0.93 }, "note": "Align with right handle and approach along gripper axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 858, "cache_read_input_tokens": 12226, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 858 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HXRdEMA9ajidR2DeQTXJ7K", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.108, "x": 0.59, "z": 0.91 }, "note": "Approach further toward right handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1115, "cache_read_input_tokens": 13084, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1115 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DpKfmnmYEVyLki1L943Res", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.97 }, "note": "Handles appear above grasp point; raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 719, "cache_read_input_tokens": 14199, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 719 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Both handles are now between the open fingers. I'm moving closer along the gripper's axis." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 938, "cache_read_input_tokens": 14918, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 938 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0171cd1Hk3YLnRYaJHsYZC3H", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.635, "z": 0.95, "y": 0.112 }, "note": "Approach handle along gripper axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 938, "cache_read_input_tokens": 14918, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 938 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FRSBLAt5dDdsqx8fJCVzYV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.66, "z": 0.94, "y": 0.108 }, "note": "Push fingers around right handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 752, "cache_read_input_tokens": 15856, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 752 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DZGXxeiaZ2eXFsaychxsXp", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "In contact near handles; close gripper to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 736, "cache_read_input_tokens": 16608, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 736 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014gRHTwXRagAULbYRQzV1UG", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 706, "cache_read_input_tokens": 17344, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 706 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AMephcweWt93hA6bNFDv1f", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.625, "z": 0.955, "gripper": 1 }, "note": "Gripper didn't close; back off slightly from door to free fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 520, "cache_read_input_tokens": 18050, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 520 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GrpPimxL7xfjn5td7pLdCM", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Try closing again." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 794, "cache_read_input_tokens": 18570, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 794 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper didn't close near the door. I'm backing away to test whether it closes in free space." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 19364, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 691 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Sdv3EKVT556ynpDoMBiz8h", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 0.98, "gripper": 0 }, "note": "Test closing gripper in free space after backing off." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 19364, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 691 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BGqjhoih4qK5PHUvS1y2HA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.98, "pitch": -1, "roll": 0, "yaw": 0 }, "note": "Motion was blocked; pull straight back to free." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 20055, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The fingers seem hooked around both door handles, so the arm can't pull back. I'll lift the gripper to slide it off the handles." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 923, "cache_read_input_tokens": 20831, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 923 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01P5ATzrfXVTtWQAcFPywwTz", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.08, "x": 0.6 }, "note": "Stuck straddling both handles; slide up to free the fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 923, "cache_read_input_tokens": 20831, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 923 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AhD27TFoWoF4QpgiGwdA2i", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.88, "x": 0.6, "pitch": -1 }, "note": "Up failed; try sliding down off the handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2576, "cache_read_input_tokens": 21754, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 2576 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YETBvfzqUfbwzAhvaftvih", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92 }, "note": "Try small downward slide to free fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 24330, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 768 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kzs454GWXHVo3tHBDZ66Ne", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.08 }, "note": "Test lateral freedom." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 610, "cache_read_input_tokens": 25098, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 610 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QCQi3bDJ5ZJ3MWGHp63yqp", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.65, "y": 0.107 }, "note": "Test pushing forward to unjam." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 25708, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 674 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FjqW8tS4M1eGioC8YbJRGq", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "roll": 0, "yaw": 0 }, "note": "Restore approach orientation to unjam fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 918, "cache_read_input_tokens": 26382, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 918 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper is still stuck in place. I'm restoring its orientation in smaller steps to free it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 898, "cache_read_input_tokens": 27300, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 898 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01K64fbbMuBJ65ZHdjjDTTNB", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9, "yaw": 0 }, "note": "Smaller orientation correction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 898, "cache_read_input_tokens": 27300, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 898 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VBmCBbmkhHf84XyK3LyX8a", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 0.99 }, "note": "Pull back along current approach axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 716, "cache_read_input_tokens": 28198, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 716 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013q53MFAanoabf4rwF2trHY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57, "y": 0.06 }, "note": "Hooked on handles; try pulling back and to the right to swing right door open." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 28914, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 647 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PU1uiu1jXYTnoyUqiRBvEM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57, "y": 0.16 }, "note": "Try pulling back and to the left to swing left door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1169, "cache_read_input_tokens": 29561, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1169 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FNhCyhopq27QVc25whMmuw", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0.3 }, "note": "Wiggle by rolling to unjam." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 30730, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 636 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RHfhAKKxfmAMnLStrJnpa8", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0.12, "z": 0.93 }, "note": "Small roll wiggle plus slight lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 913, "cache_read_input_tokens": 31366, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 913 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Small orientation changes are being rejected, so I'm trying a very small pitch adjustment." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 32279, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014Qi7Fie6uBy2YjEauMjBE4", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.75, "yaw": 0 }, "note": "Tiny orientation change to test unjamming." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 32279, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017H5nScoNanvwwLZ9VvkBpM", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.87 }, "note": "Try sliding down firmly to free fingers from handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 715, "cache_read_input_tokens": 33098, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 715 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019HFzGd1ddq4wjBsWVUB8eY", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Retry closing gripper at slightly different pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 810, "cache_read_input_tokens": 33813, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 810 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Vt1ALfD8R7w5c5MXrNncam", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52, "y": 0.09 }, "note": "Attempt pull back to open a door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 874, "cache_read_input_tokens": 34623, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 874 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0178qKQohHkaDssy9tH9nSon", "name": "mcp__robot__give_up", "input": { "note": "Gripper became jammed around both cabinet door handles; the grasp point cannot translate in any direction, the gripper won't close, and orientation changes are rejected. Unable to open the cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 35497, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I couldn't open the cabinet, so I ended the episode with give_up.\n\nI found the two-door cabinet in front of the robot and tilted the gripper forward toward the handles, which stand upright next to each other at the center where the doors meet. The open gripper was wide enough to fit around both handles at once. As I moved in close, it got stuck at about x ≈ 0.61–0.64 m. After that, the grasp point wouldn't move in any direction, so it couldn't back out, lift, lower or shift sideways. The gripper also stayed fully open every time I told it to close, and most orientation changes were rejected as unreachable or as requiring too large a joint jump.\n\nMy best guess is that the fingers got hooked around both handles. The doors swing open in opposite directions, so holding both handles would stop either door from opening, but I couldn't confirm this from the cameras. The mistake was lining the gripper up with both handles instead of fitting it around only one. When I stopped, I had about 7 seconds of motion time left and no working way to free the gripper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 200, "cache_read_input_tokens": 36181, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 200 }, "output_tokens": 338, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 86, "cache_creation_input_tokens": 34828, "cache_read_input_tokens": 791581, "output_tokens": 13495, "output_tokens_details": { "thinking_tokens": 8567 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 34828, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 338, "cache_read_input_tokens": 36181, "cache_creation_input_tokens": 200, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 200 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 86, "outputTokens": 13495, "cacheReadInputTokens": 791581, "cacheCreationInputTokens": 34828, "webSearchRequests": 0, "costUSD": 0.7071842, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 8567, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.7071842, "num_turns": 43, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00148, -0.747, 0.03948, -2.42962, -0.04851, 1.62331, 0.14131 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3092, -0.00142, 0.97379 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99282, -0.10509, -0.05721 ], [ -0.10933, -0.99102, -0.07692 ], [ -0.04862, 0.08262, -0.99539 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.205679064616561, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "z": 0.8 }, "note": "Tilt gripper toward forward to look at cabinet with wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00148, -0.747, 0.03948, -2.42962, -0.04851, 1.62331, 0.14131 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3092, -0.00142, 0.97379 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99282, -0.10509, -0.05721 ], [ -0.10933, -0.99102, -0.07692 ], [ -0.04862, 0.08262, -0.99539 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.803304241038859, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Tilt gripper partially forward." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01276, -1.41699, 0.0465, -2.9708, -0.06367, 2.18808, 0.19014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30915, -0.00142, 0.97374 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.69566, 2e-05 ], "tcp_rotation_matrix": [ [ 0.79327, -0.13364, 0.59402 ], [ -0.10932, -0.99102, -0.07696 ], [ 0.59897, -0.00388, -0.80076 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 55 }, "api_seconds": 2.6027312306687236, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.45, "z": 0.75 }, "note": "Point gripper forward toward cabinet front and lower." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01276, -1.41699, 0.0465, -2.9708, -0.06367, 2.18808, 0.19014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30915, -0.00142, 0.97374 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.69566, 2e-05 ], "tcp_rotation_matrix": [ [ 0.79327, -0.13364, 0.59402 ], [ -0.10932, -0.99102, -0.07696 ], [ 0.59897, -0.00388, -0.80076 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 54 }, "api_seconds": 2.4023544741794467, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7, "x": 0.35 }, "note": "Lower gripper to see cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01276, -1.41699, 0.0465, -2.9708, -0.06367, 2.18808, 0.19014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30915, -0.00142, 0.97374 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.69566, 2e-05 ], "tcp_rotation_matrix": [ [ 0.79327, -0.13364, 0.59402 ], [ -0.10932, -0.99102, -0.07696 ], [ 0.59897, -0.00388, -0.80076 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 53 }, "api_seconds": 3.0028054686263204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88, "x": 0.4 }, "note": "Small step forward/down." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.04274, -0.90082, 0.07557, -3.03171, -0.08753, 2.76658, 0.23004 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39905, -0.00145, 0.88083 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.69525, -1e-05 ], "tcp_rotation_matrix": [ [ 0.79351, -0.13371, 0.59368 ], [ -0.10934, -0.99101, -0.07704 ], [ 0.59865, -0.00378, -0.801 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 52 }, "api_seconds": 4.60431863181293, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "x": 0.45, "z": 0.82 }, "note": "Continue tilting forward and lowering toward cabinet doors." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.04274, -0.90082, 0.07557, -3.03171, -0.08753, 2.76658, 0.23004 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39905, -0.00145, 0.88083 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.69525, -1e-05 ], "tcp_rotation_matrix": [ [ 0.79351, -0.13371, 0.59368 ], [ -0.10934, -0.99101, -0.07704 ], [ 0.59865, -0.00378, -0.801 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 51 }, "api_seconds": 3.6033948976546526, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Try tilting only." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.04274, -0.90082, 0.07557, -3.03171, -0.08753, 2.76658, 0.23004 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39905, -0.00145, 0.88083 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.69525, -1e-05 ], "tcp_rotation_matrix": [ [ 0.79351, -0.13371, 0.59368 ], [ -0.10934, -0.99101, -0.07704 ], [ 0.59865, -0.00378, -0.801 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 50 }, "api_seconds": 4.003465823829174, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Move forward to relieve elbow joint limit." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.12201, -0.47466, 0.12964, -2.76469, -0.12182, 2.92833, 0.25892 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49871, -0.00146, 0.88084 ], "tcp_roll_pitch_yaw": [ -0.00014, -0.69519, -3e-05 ], "tcp_rotation_matrix": [ [ 0.79354, -0.13374, 0.59363 ], [ -0.10936, -0.99101, -0.07708 ], [ 0.59861, -0.00376, -0.80104 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 49 }, "api_seconds": 4.604008032940328, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper more toward horizontal facing cabinet." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.5425, -0.27392, 0.60403, -3.0002, 0.07371, 3.89806, 0.21481 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49878, -0.00135, 0.8804 ], "tcp_roll_pitch_yaw": [ 0.00053, -1.1946, -0.00027 ], "tcp_rotation_matrix": [ [ 0.40999, -0.11523, 0.90478 ], [ -0.10941, -0.99104, -0.07664 ], [ 0.9055, -0.06758, -0.41893 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 48 }, "api_seconds": 4.604123247787356, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Lower slightly to check how handle moves in wrist image." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.5798, -0.04641, 0.68632, -2.98314, 0.19842, 4.08349, 0.06448 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49878, -0.00135, 0.84102 ], "tcp_roll_pitch_yaw": [ 0.00102, -1.19433, -0.00068 ], "tcp_rotation_matrix": [ [ 0.41024, -0.1152, 0.90467 ], [ -0.10956, -0.99103, -0.07652 ], [ 0.90537, -0.06772, -0.41918 ] ], "simulated_seconds_remaining": 25.014, "calls_remaining_including_this": 47 }, "api_seconds": 5.204539507627487, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Handle moved out of view when lowering; raise to find it." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.37794, -0.53704, 0.35299, -2.96843, -0.14011, 3.60555, 0.36713 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49884, -0.00132, 0.94886 ], "tcp_roll_pitch_yaw": [ 0.00085, -1.19468, -0.00045 ], "tcp_rotation_matrix": [ [ 0.40993, -0.11511, 0.90482 ], [ -0.10947, -0.99104, -0.07648 ], [ 0.90552, -0.0677, -0.41886 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 46 }, "api_seconds": 5.4047355288639665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Two handles visible bottom-right; test lateral direction." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.44174, -0.59816, 0.60557, -2.95513, 0.01138, 3.55557, 0.42711 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49886, 0.04889, 0.94891 ], "tcp_roll_pitch_yaw": [ 0.00053, -1.19475, 6e-05 ], "tcp_rotation_matrix": [ [ 0.40989, -0.11489, 0.90487 ], [ -0.10928, -0.99108, -0.07634 ], [ 0.90557, -0.06759, -0.41878 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 45 }, "api_seconds": 4.604300758801401, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.085 }, "note": "Center handle between fingers laterally." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.48268, -0.64608, 0.76223, -2.93082, 0.09046, 3.50825, 0.48259 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49886, 0.08386, 0.94897 ], "tcp_roll_pitch_yaw": [ 0.00022, -1.19484, 0.00055 ], "tcp_rotation_matrix": [ [ 0.40983, -0.11468, 0.90493 ], [ -0.10909, -0.99111, -0.0762 ], [ 0.90562, -0.06749, -0.41869 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 44 }, "api_seconds": 8.206665312871337, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "x": 0.545, "z": 0.93 }, "note": "Align with right handle and approach along gripper axis." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.78183, -0.52319, 1.06774, -2.80078, 0.14902, 3.58376, 0.47733 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54394, 0.09962, 0.93045 ], "tcp_roll_pitch_yaw": [ -0.0001, -1.1948, 0.00083 ], "tcp_rotation_matrix": [ [ 0.40986, -0.1147, 0.90491 ], [ -0.10899, -0.99111, -0.07626 ], [ 0.90561, -0.06737, -0.41872 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 43 }, "api_seconds": 3.202984808012843, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.108, "x": 0.59, "z": 0.91 }, "note": "Approach further toward right handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.14935, -0.46022, 1.4157, -2.66767, 0.17572, 3.63542, 0.46968 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58893, 0.1078, 0.9105 ], "tcp_roll_pitch_yaw": [ -0.00039, -1.19481, 0.0011 ], "tcp_rotation_matrix": [ [ 0.40985, -0.11472, 0.90491 ], [ -0.1089, -0.99112, -0.07632 ], [ 0.90563, -0.06726, -0.4187 ] ], "simulated_seconds_remaining": 21.45, "calls_remaining_including_this": 42 }, "api_seconds": 5.204396682791412, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Handles appear above grasp point; raise." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.86527, -0.48116, 1.09756, -2.63174, 0.13962, 3.47111, 0.43666 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58897, 0.10783, 0.96889 ], "tcp_roll_pitch_yaw": [ -0.00051, -1.19503, 0.00122 ], "tcp_rotation_matrix": [ [ 0.40966, -0.11468, 0.905 ], [ -0.10885, -0.99112, -0.07632 ], [ 0.90572, -0.06725, -0.4185 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 41 }, "api_seconds": 3.604605986736715, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.635, "z": 0.95, "y": 0.112 }, "note": "Approach handle along gripper axis." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.23176, -0.43556, 1.42675, -2.50907, 0.14184, 3.51671, 0.44437 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63377, 0.1057, 0.95207 ], "tcp_roll_pitch_yaw": [ -0.00533, -1.20059, -0.00381 ], "tcp_rotation_matrix": [ [ 0.40357, -0.12374, 0.90654 ], [ -0.11113, -0.99011, -0.08568 ], [ 0.90817, -0.06616, -0.41333 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 40 }, "api_seconds": 3.603540019132197, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "z": 0.94, "y": 0.108 }, "note": "Push fingers around right handle." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.43874, -0.44409, 1.61599, -2.51339, 0.12897, 3.72398, 0.4704 ], "gripper_open": 1.0, "tcp_xyz": [ 0.64202, 0.10507, 0.951 ], "tcp_roll_pitch_yaw": [ -0.00702, -1.31348, 0.03172 ], "tcp_rotation_matrix": [ [ 0.30226, -0.08191, 0.9497 ], [ -0.10013, -0.99352, -0.05382 ], [ 0.94795, -0.07883, -0.3085 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 39 }, "api_seconds": 3.2027924386784434, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "In contact near handles; close gripper to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.43297, -0.44851, 1.61315, -2.52056, 0.13308, 3.73539, 0.46617 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63992, 0.10551, 0.95135 ], "tcp_roll_pitch_yaw": [ -0.03266, -1.32012, 0.05904 ], "tcp_rotation_matrix": [ [ 0.29593, -0.07889, 0.95195 ], [ -0.09356, -0.99419, -0.05331 ], [ 0.95062, -0.07329, -0.30159 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 38 }, "api_seconds": 5.6048129592090845, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.625, "z": 0.955, "gripper": 1 }, "note": "Gripper didn't close; back off slightly from door to free fingers." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.32894, -0.44716, 1.52839, -2.54737, 0.14724, 3.69207, 0.44486 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62952, 0.10776, 0.95129 ], "tcp_roll_pitch_yaw": [ -0.06481, -1.29332, 0.08686 ], "tcp_rotation_matrix": [ [ 0.32037, -0.08384, 0.94358 ], [ -0.08478, -0.99462, -0.05959 ], [ 0.94349, -0.0609, -0.32575 ] ], "simulated_seconds_remaining": 18.282, "calls_remaining_including_this": 37 }, "api_seconds": 2.60239786375314, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Try closing again." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.3312, -0.4502, 1.5285, -2.5411, 0.147, 3.68008, 0.44184 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63117, 0.10724, 0.95147 ], "tcp_roll_pitch_yaw": [ -0.08323, -1.28758, 0.10205 ], "tcp_rotation_matrix": [ [ 0.3251, -0.08664, 0.9417 ], [ -0.08029, -0.99473, -0.0638 ], [ 0.94226, -0.05487, -0.33034 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 36 }, "api_seconds": 4.003728478215635, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.98, "gripper": 0 }, "note": "Test closing gripper in free space after backing off." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.81367, -0.35066, 1.00389, -2.49721, -0.00711, 3.20343, 0.4078 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61079, 0.11093, 0.94787 ], "tcp_roll_pitch_yaw": [ -0.02976, -0.98699, 0.06874 ], "tcp_rotation_matrix": [ [ 0.5913, -0.0832, 0.80215 ], [ -0.07028, -0.9962, -0.05153 ], [ 0.80339, -0.02591, -0.5949 ] ], "simulated_seconds_remaining": 16.434, "calls_remaining_including_this": 35 }, "api_seconds": 5.004581891931593, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.98, "pitch": -1, "roll": 0, "yaw": 0 }, "note": "Motion was blocked; pull straight back to free." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.43693, -0.23946, 0.60872, -2.43241, -0.14996, 3.04008, 0.38012 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61161, 0.11168, 0.94721 ], "tcp_roll_pitch_yaw": [ -0.00904, -0.87222, 0.12658 ], "tcp_rotation_matrix": [ [ 0.68344, -0.0116, 0.72992 ], [ -0.02367, -0.9997, 0.00628 ], [ 0.72962, -0.02157, -0.68351 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 34 }, "api_seconds": 24.81910606753081, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.08, "x": 0.6 }, "note": "Stuck straddling both handles; slide up to free the fingers." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.25793, -0.15835, 0.43652, -2.24223, -0.09566, 2.69117, 0.26035 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61982, 0.10777, 0.94759 ], "tcp_roll_pitch_yaw": [ -0.00172, -0.65683, 0.14168 ], "tcp_rotation_matrix": [ [ 0.82309, 0.00656, 0.56788 ], [ 0.00688, -0.99998, 0.00157 ], [ 0.56787, 0.00262, -0.82311 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 33 }, "api_seconds": 3.603367160074413, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88, "x": 0.6, "pitch": -1 }, "note": "Up failed; try sliding down off the handles." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.25793, -0.15835, 0.43652, -2.24223, -0.09566, 2.69117, 0.26035 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61982, 0.10777, 0.94759 ], "tcp_roll_pitch_yaw": [ -0.00172, -0.65683, 0.14168 ], "tcp_rotation_matrix": [ [ 0.82309, 0.00656, 0.56788 ], [ 0.00688, -0.99998, 0.00157 ], [ 0.56787, 0.00262, -0.82311 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 32 }, "api_seconds": 2.0019496753811836, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Try small downward slide to free fingers." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.27243, -0.15404, 0.44542, -2.26489, -0.13761, 2.76327, 0.31481 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62544, 0.10652, 0.94724 ], "tcp_roll_pitch_yaw": [ 0.00131, -0.70463, 0.12189 ], "tcp_rotation_matrix": [ [ 0.7954, -0.01124, 0.60598 ], [ -0.01265, -0.99992, -0.00195 ], [ 0.60595, -0.00611, -0.79548 ] ], "simulated_seconds_remaining": 13.728, "calls_remaining_including_this": 31 }, "api_seconds": 2.8026436753571033, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08 }, "note": "Test lateral freedom." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.25026, -0.16096, 0.42355, -2.27745, -0.09541, 2.77555, 0.25458 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62328, 0.10716, 0.94731 ], "tcp_roll_pitch_yaw": [ 0.00233, -0.70765, 0.14865 ], "tcp_rotation_matrix": [ [ 0.79371, 0.0162, 0.60809 ], [ 0.00842, -0.99984, 0.01563 ], [ 0.60824, -0.00729, -0.79372 ] ], "simulated_seconds_remaining": 13.266, "calls_remaining_including_this": 30 }, "api_seconds": 5.604692544788122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "y": 0.107 }, "note": "Test pushing forward to unjam." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.2652, -0.12159, 0.44213, -2.19209, -0.14593, 2.64543, 0.32753 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62839, 0.10527, 0.94643 ], "tcp_roll_pitch_yaw": [ 0.00332, -0.63351, 0.10144 ], "tcp_rotation_matrix": [ [ 0.83595, -0.03059, 0.54795 ], [ -0.02464, -0.99953, -0.01822 ], [ 0.54825, 0.00173, -0.83632 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 29 }, "api_seconds": 4.804228923283517, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "roll": 0, "yaw": 0 }, "note": "Restore approach orientation to unjam fingers." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 30, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.2652, -0.12159, 0.44213, -2.19209, -0.14593, 2.64543, 0.32753 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62839, 0.10527, 0.94643 ], "tcp_roll_pitch_yaw": [ 0.00332, -0.63351, 0.10144 ], "tcp_rotation_matrix": [ [ 0.83595, -0.03059, 0.54795 ], [ -0.02464, -0.99953, -0.01822 ], [ 0.54825, 0.00173, -0.83632 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 28 }, "api_seconds": 3.0095885479822755, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9, "yaw": 0 }, "note": "Smaller orientation correction." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 31, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.2652, -0.12159, 0.44213, -2.19209, -0.14593, 2.64543, 0.32753 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62839, 0.10527, 0.94643 ], "tcp_roll_pitch_yaw": [ 0.00332, -0.63351, 0.10144 ], "tcp_rotation_matrix": [ [ 0.83595, -0.03059, 0.54795 ], [ -0.02464, -0.99953, -0.01822 ], [ 0.54825, 0.00173, -0.83632 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 27 }, "api_seconds": 2.6029746383428574, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.99 }, "note": "Pull back along current approach axis." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.18888, -0.1983, 0.37136, -2.33438, -0.1598, 2.81341, 0.37382 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61041, 0.11065, 0.94578 ], "tcp_roll_pitch_yaw": [ 0.02496, -0.7344, 0.08719 ], "tcp_rotation_matrix": [ [ 0.77778, -0.02988, 0.62782 ], [ -0.04051, -0.99918, 0.00263 ], [ 0.62723, -0.02748, -0.77835 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 26 }, "api_seconds": 8.408573046326637, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "y": 0.06 }, "note": "Hooked on handles; try pulling back and to the right to swing right door open." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.09772, -0.19102, 0.25903, -2.398, -0.25769, 2.98052, 0.42961 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61455, 0.11035, 0.9455 ], "tcp_roll_pitch_yaw": [ 0.03376, -0.83359, 0.11044 ], "tcp_rotation_matrix": [ [ 0.71366, 0.00311, 0.70048 ], [ -0.02915, -0.99899, 0.03413 ], [ 0.69989, -0.04478, -0.71285 ] ], "simulated_seconds_remaining": 11.154, "calls_remaining_including_this": 25 }, "api_seconds": 2.2024365719407797, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "y": 0.16 }, "note": "Try pulling back and to the left to swing left door." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.195, -0.21797, 0.35981, -2.40398, -0.3509, 2.95041, 0.58811 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60754, 0.11147, 0.94567 ], "tcp_roll_pitch_yaw": [ 0.0364, -0.83107, 0.0426 ], "tcp_rotation_matrix": [ [ 0.712, -0.06278, 0.69936 ], [ -0.07723, -0.99695, -0.01087 ], [ 0.69792, -0.04628, -0.71468 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 24 }, "api_seconds": 5.80487048253417, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.3 }, "note": "Wiggle by rolling to unjam." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 35, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.195, -0.21797, 0.35981, -2.40398, -0.3509, 2.95041, 0.58811 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60754, 0.11147, 0.94567 ], "tcp_roll_pitch_yaw": [ 0.0364, -0.83107, 0.0426 ], "tcp_rotation_matrix": [ [ 0.712, -0.06278, 0.69936 ], [ -0.07723, -0.99695, -0.01087 ], [ 0.69792, -0.04628, -0.71468 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 23 }, "api_seconds": 4.204109824262559, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.12, "z": 0.93 }, "note": "Small roll wiggle plus slight lower." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 36, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.195, -0.21797, 0.35981, -2.40398, -0.3509, 2.95041, 0.58811 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60754, 0.11147, 0.94567 ], "tcp_roll_pitch_yaw": [ 0.0364, -0.83107, 0.0426 ], "tcp_rotation_matrix": [ [ 0.712, -0.06278, 0.69936 ], [ -0.07723, -0.99695, -0.01087 ], [ 0.69792, -0.04628, -0.71468 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 22 }, "api_seconds": 3.6042119190096855, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.75, "yaw": 0 }, "note": "Tiny orientation change to test unjamming." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.17669, -0.1966, 0.35742, -2.33509, -0.30771, 2.81644, 0.5788 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61084, 0.1098, 0.94566 ], "tcp_roll_pitch_yaw": [ 0.03879, -0.75554, -0.0004 ], "tcp_rotation_matrix": [ [ 0.75885, -0.10715, 0.6424 ], [ -0.10767, -0.99344, -0.03852 ], [ 0.64231, -0.03993, -0.7654 ] ], "simulated_seconds_remaining": 10.032, "calls_remaining_including_this": 21 }, "api_seconds": 4.203822932206094, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Try sliding down firmly to free fingers from handles." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 38, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.3171, -0.16512, 0.43552, -2.37179, -0.64152, 3.02499, 0.87411 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62447, 0.1073, 0.94065 ], "tcp_roll_pitch_yaw": [ 0.0454, -0.89397, -0.00142 ], "tcp_rotation_matrix": [ [ 0.6634, -0.09651, 0.74202 ], [ -0.10795, -0.99362, -0.03272 ], [ 0.74044, -0.0584, -0.66958 ] ], "simulated_seconds_remaining": 9.24, "calls_remaining_including_this": 20 }, "api_seconds": 5.004296506755054, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Retry closing gripper at slightly different pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 39, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.317, -0.16599, 0.43561, -2.37226, -0.64119, 3.02416, 0.8747 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62424, 0.10722, 0.94068 ], "tcp_roll_pitch_yaw": [ 0.04538, -0.89371, -0.00229 ], "tcp_rotation_matrix": [ [ 0.66349, -0.0974, 0.74182 ], [ -0.10853, -0.99353, -0.03338 ], [ 0.74027, -0.05836, -0.66977 ] ], "simulated_seconds_remaining": 8.316, "calls_remaining_including_this": 19 }, "api_seconds": 3.002967736683786, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.09 }, "note": "Attempt pull back to open a door." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 40, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.08433, -0.20317, 0.22387, -2.42674, -0.52133, 3.01932, 0.71504 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60713, 0.11164, 0.94082 ], "tcp_roll_pitch_yaw": [ 0.04545, -0.8702, 0.05219 ], "tcp_rotation_matrix": [ [ 0.68562, -0.04445, 0.7266 ], [ -0.07134, -0.99743, 0.0063 ], [ 0.72445, -0.05615, -0.68703 ] ], "simulated_seconds_remaining": 7.326, "calls_remaining_including_this": 18 }, "api_seconds": 3.403238727711141, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Gripper became jammed around both cabinet door handles; the grasp point cannot translate in any direction, the gripper won't close, and orientation changes are rejected. Unable to open the cabinet." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 003 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 3, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 29, "wall_seconds": 180.36, "usage": { "input_tokens": 64, "output_tokens": 10494, "cache_read_input_tokens": 453376, "cache_creation_input_tokens": 26212, "thinking_tokens": 6734, "cost_usd": 0.5105072 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Qdw7SDECzJA9DZMkz2jpJH", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012UKuH3PnDfB6h2ncVVkyWu", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57, "z": 0.8 }, "note": "Rotate gripper to face forward toward the cabinets and lower to look for handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 488, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 488 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KNDga7p8ZGfSkYnCTP7R66", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "z": 0.85, "x": 0.4 }, "note": "Partial tilt toward forward-facing to view cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1175, "cache_read_input_tokens": 2513, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1175 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WqzMrBjEv5EMQPEwQY8XaT", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.6 }, "note": "Testing pitch direction with a modest rotation only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 3688, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015drb8jL7BwGKMgAAhKctVL", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Tilt approach toward +x to see what is in front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 4363, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 647 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Cabinets are in front of the robot (+x) and below the gripper. Next I'm lowering the gripper and tilting it forward so I can find the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1247, "cache_read_input_tokens": 5010, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1247 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0197uKYDhr75VvHJnMVrBGva", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "z": 0.6, "x": 0.35 }, "note": "Cabinet front seen ahead/below; lower and tilt more forward to find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1247, "cache_read_input_tokens": 5010, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1247 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JFWsTVXZshbpN7AdgwdvGq", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7, "x": 0.4 }, "note": "Lower and move forward keeping orientation, to get nearer cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 824, "cache_read_input_tokens": 6257, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 824 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WLbFLPGM2WgSw24P5tnrbR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.9 }, "note": "Smaller step forward/down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 688, "cache_read_input_tokens": 7081, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 688 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Wb16NpzTTBvfou6afA2svM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Continue forward/down toward cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 662, "cache_read_input_tokens": 7769, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 662 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0126BuZUJLohKxYjhzYP43ZD", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1 }, "note": "Tilt approach more horizontal toward cabinet door handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 782, "cache_read_input_tokens": 8431, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 782 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SLeUyqZu9utbvaqjYhB79n", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Handle appears above gripper in exterior view; raise to find it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 988, "cache_read_input_tokens": 9213, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 988 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've found the handles: two vertical bars just in front of the gripper. Now I'm lining the gripper up sideways so one handle sits between the fingers." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1204, "cache_read_input_tokens": 10201, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1204 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UFdPyQtDm4V7MfMUTh3jEp", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.045 }, "note": "Two vertical handles visible left of gripper center in wrist view; shift laterally to test alignment direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1204, "cache_read_input_tokens": 10201, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1204 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RNqbBhBAYxRHrUPMxpEmep", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.03 }, "note": "+y shifted handles left in image; move -y to center the right handle between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 916, "cache_read_input_tokens": 11405, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 916 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LgXfUBn7dXqdw9B1LtRdBL", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.075 }, "note": "Continue -y to center the right handle between the fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 873, "cache_read_input_tokens": 12321, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 873 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Anm8dha5PAoif7ChwQp1sR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 0.866 }, "note": "Right handle roughly centered between fingers; advance along approach direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 865, "cache_read_input_tokens": 13194, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 865 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RULpgQbtFB5Wy58GLJLKaS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.59, "z": 0.84 }, "note": "Handles getting closer, still centered; advance further." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 770, "cache_read_input_tokens": 14059, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 770 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NPPDzJUh17Z5cAptnMjrib", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.61, "z": 0.827 }, "note": "Handle near fingertips; small advance before closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 14829, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 740 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper is at the handle, so I'm closing it now to grab the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 801, "cache_read_input_tokens": 15569, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 801 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PsBQy5kte5GHwFVuNiX3xp", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "At handle; close gripper to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 801, "cache_read_input_tokens": 15569, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 801 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01M6xeXcTM837sKHUJYq3rPA", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 16370, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 677 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Atu5qbL5pNyC1D6zvSWbd1", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.585, "z": 0.845 }, "note": "Gripper failed to close (likely jammed against door). Open and back off slightly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 524, "cache_read_input_tokens": 17047, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 524 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CMfAko86JYLotrJYQK4UBK", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Retry closing slightly backed off from door, handle between fingertips." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 848, "cache_read_input_tokens": 17571, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 848 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018AuJ4dkeDpqwumfHAGM9pJ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.57, "z": 0.9 }, "note": "Missed handle (closed fully). Open, back off and raise; handle likely higher than grasp point." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 982, "cache_read_input_tokens": 18419, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 982 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YDpX7gdnwsZ5RN1U4CUYCK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "z": 0.88 }, "note": "Handles visible centered; advance along approach at higher height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 944, "cache_read_input_tokens": 19401, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 944 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm moving the open gripper toward the handle again, this time a little higher." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1198, "cache_read_input_tokens": 20345, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1198 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017ox6QRGFjwrK8G2fBzn9Km", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.625, "z": 0.865 }, "note": "Continue approach toward handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1198, "cache_read_input_tokens": 20345, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1198 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017MrMtSo4LBdB2gEKsoh2LX", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Motion blocked near handle; attempt grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 680, "cache_read_input_tokens": 21543, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 680 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01K1aB2e8C6P5jwQonKqHVVw", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.595, "z": 0.884 }, "note": "Fingers jammed; back off 1cm and reopen before retrying close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 22223, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Jo4nTBMvN59MXWhcoHth4m", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Retry close after backing off." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 902, "cache_read_input_tokens": 23051, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 902 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I have the handle (gripper closed to about 0.11). Next I'm pulling back to start swinging the door open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 23953, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 607 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Jzmqio93td3apq6STN5Unz", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52 }, "note": "Grasped handle (gripper 0.106). Pull back to start opening door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 23953, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 607 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FXzdH2fdAysdVjRBGwmeqG", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.43, "y": -0.01, "yaw": -0.3 }, "note": "Door swinging with hinge on +y side; follow arc and rotate yaw with door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 867, "cache_read_input_tokens": 24560, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 867 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TcMniEkPWtPFvjKNs9hsfv", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47, "y": -0.03 }, "note": "Smaller arc step without yaw change due to IK limits." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1200, "cache_read_input_tokens": 25427, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1200 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BRtEcpCsYpnSztD7d6EAKZ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": -0.04, "pitch": -0.85 }, "note": "Reduce tilt to relieve wrist joint limits while pulling door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 731, "cache_read_input_tokens": 26627, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 731 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The episode ended before the cabinet was open. The door is only partly open (roughly 15–20°).\n\nI found the cabinet's two vertical door handles and got a grip on one after a few tries: the first close missed the handle entirely and two others jammed. Pulling straight back moved the handle about 7 cm and started swinging the door. After that, the arm couldn't pull any further along the door's swing because two of its joints (the elbow and the wrist) were at their limits. Two attempts to continue the pull were rejected as unreachable. On the last attempt I also tilted the gripper less steeply to take strain off the wrist, and the episode ended during that move.\n\nThe root cause was the grasp angle. I held the handle with the gripper tilted about 60° downward because a level approach was out of reach. That tilt left the wrist too little room to follow the door." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 407, "cache_read_input_tokens": 27358, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 407 }, "output_tokens": 270, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 64, "cache_creation_input_tokens": 26212, "cache_read_input_tokens": 453376, "output_tokens": 10494, "output_tokens_details": { "thinking_tokens": 6734 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 26212, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 270, "cache_read_input_tokens": 27358, "cache_creation_input_tokens": 407, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 407 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 64, "outputTokens": 10494, "cacheReadInputTokens": 453376, "cacheCreationInputTokens": 26212, "webSearchRequests": 0, "costUSD": 0.5105072, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6734, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.5105072, "num_turns": 32, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02176, -0.82087, 0.07061, -2.44601, 0.0163, 1.6187, 0.04161 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.299, 0.01593, 0.98705 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99985, -0.01612, -0.00675 ], [ -0.01635, -0.99923, -0.03555 ], [ -0.00617, 0.03566, -0.99935 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.609445709735155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57, "z": 0.8 }, "note": "Rotate gripper to face forward toward the cabinets and lower to look for handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02176, -0.82087, 0.07061, -2.44601, 0.0163, 1.6187, 0.04161 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.299, 0.01593, 0.98705 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99985, -0.01612, -0.00675 ], [ -0.01635, -0.99923, -0.03555 ], [ -0.00617, 0.03566, -0.99935 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.402601731941104, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "z": 0.85, "x": 0.4 }, "note": "Partial tilt toward forward-facing to view cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02176, -0.82087, 0.07061, -2.44601, 0.0163, 1.6187, 0.04161 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.299, 0.01593, 0.98705 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99985, -0.01612, -0.00675 ], [ -0.01635, -0.99923, -0.03555 ], [ -0.00617, 0.03566, -0.99935 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.202674684114754, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.6 }, "note": "Testing pitch direction with a modest rotation only." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.03386, -0.30791, 0.07797, -2.05504, 0.00753, 1.1445, 0.03942 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29903, 0.01592, 0.98695 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.59594, -2e-05 ], "tcp_rotation_matrix": [ [ 0.82403, 0.00664, -0.56651 ], [ -0.01637, -0.99923, -0.03552 ], [ -0.56631, 0.03855, -0.82329 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 54 }, "api_seconds": 7.80655004363507, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Tilt approach toward +x to see what is in front." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0029, -1.39748, 0.08252, -2.90126, 0.02596, 2.09202, 0.06279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29898, 0.01593, 0.98691 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.59557, 2e-05 ], "tcp_rotation_matrix": [ [ 0.83116, -0.03336, 0.55503 ], [ -0.01634, -0.99923, -0.03559 ], [ 0.55579, 0.02051, -0.83107 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 53 }, "api_seconds": 3.8039455292746425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "z": 0.6, "x": 0.35 }, "note": "Cabinet front seen ahead/below; lower and tilt more forward to find handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0029, -1.39748, 0.08252, -2.90126, 0.02596, 2.09202, 0.06279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29898, 0.01593, 0.98691 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.59557, 2e-05 ], "tcp_rotation_matrix": [ [ 0.83116, -0.03336, 0.55503 ], [ -0.01634, -0.99923, -0.03559 ], [ 0.55579, 0.02051, -0.83107 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 52 }, "api_seconds": 2.6027369564399123, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7, "x": 0.4 }, "note": "Lower and move forward keeping orientation, to get nearer cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0029, -1.39748, 0.08252, -2.90126, 0.02596, 2.09202, 0.06279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29898, 0.01593, 0.98691 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.59557, 2e-05 ], "tcp_rotation_matrix": [ [ 0.83116, -0.03336, 0.55503 ], [ -0.01634, -0.99923, -0.03559 ], [ 0.55579, 0.02051, -0.83107 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 51 }, "api_seconds": 2.4028533305972815, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.9 }, "note": "Smaller step forward/down." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02881, -0.91028, 0.10957, -2.95275, 0.03071, 2.63112, 0.06956 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39895, 0.01592, 0.90077 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.59518, -1e-05 ], "tcp_rotation_matrix": [ [ 0.83138, -0.03339, 0.5547 ], [ -0.01636, -0.99923, -0.03563 ], [ 0.55547, 0.02054, -0.83129 ] ], "simulated_seconds_remaining": 25.806, "calls_remaining_including_this": 50 }, "api_seconds": 3.8036589892581105, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Continue forward/down toward cabinet front." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.19983, -0.27901, 0.24792, -2.8074, -0.04901, 3.12205, 0.13519 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49902, 0.01588, 0.80087 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.59491, -1e-05 ], "tcp_rotation_matrix": [ [ 0.83153, -0.03346, 0.55448 ], [ -0.01636, -0.99923, -0.03576 ], [ 0.55525, 0.02067, -0.83143 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 49 }, "api_seconds": 6.4062963761389256, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1 }, "note": "Tilt approach more horizontal toward cabinet door handle." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.49978, -0.02539, 0.62998, -2.95955, 0.19154, 3.9282, -0.03485 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49903, 0.01602, 0.80047 ], "tcp_roll_pitch_yaw": [ 0.00076, -0.9948, -0.00034 ], "tcp_rotation_matrix": [ [ 0.54976, -0.03839, 0.83444 ], [ -0.01654, -0.99925, -0.03508 ], [ 0.83516, 0.00549, -0.54999 ] ], "simulated_seconds_remaining": 23.694, "calls_remaining_including_this": 48 }, "api_seconds": 7.406911131925881, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Handle appears above gripper in exterior view; raise to find it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.29717, -0.46044, 0.30849, -2.95189, -0.15589, 3.50519, 0.26492 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49911, 0.01604, 0.89886 ], "tcp_roll_pitch_yaw": [ 0.00066, -0.99516, -0.0002 ], "tcp_rotation_matrix": [ [ 0.54947, -0.03833, 0.83464 ], [ -0.01646, -0.99925, -0.03506 ], [ 0.83535, 0.00553, -0.54968 ] ], "simulated_seconds_remaining": 22.704, "calls_remaining_including_this": 47 }, "api_seconds": 5.605025847442448, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.045 }, "note": "Two vertical handles visible left of gripper center in wrist view; shift laterally to test alignment direction." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.34783, -0.4837, 0.46323, -2.94529, -0.07166, 3.4869, 0.29575 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49912, 0.04381, 0.8989 ], "tcp_roll_pitch_yaw": [ 0.00049, -0.99521, 0.00015 ], "tcp_rotation_matrix": [ [ 0.54943, -0.03813, 0.83467 ], [ -0.01627, -0.99926, -0.03494 ], [ 0.83538, 0.00562, -0.54964 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 46 }, "api_seconds": 4.804592068307102, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.03 }, "note": "+y shifted handles left in image; move -y to center the right handle between fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.20761, -0.42692, 0.04287, -2.94369, -0.31621, 3.52113, 0.23353 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49914, -0.02878, 0.89893 ], "tcp_roll_pitch_yaw": [ 0.00075, -0.99524, -0.00032 ], "tcp_rotation_matrix": [ [ 0.5494, -0.03838, 0.83468 ], [ -0.01653, -0.99925, -0.03507 ], [ 0.8354, 0.00548, -0.54962 ] ], "simulated_seconds_remaining": 21.45, "calls_remaining_including_this": 45 }, "api_seconds": 4.804302126169205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.075 }, "note": "Continue -y to center the right handle between the fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.0988, -0.39721, -0.24181, -2.90974, -0.50481, 3.52117, 0.23314 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49916, -0.0738, 0.89897 ], "tcp_roll_pitch_yaw": [ 0.00103, -0.99532, -0.00082 ], "tcp_rotation_matrix": [ [ 0.54933, -0.03864, 0.83471 ], [ -0.0168, -0.99924, -0.03521 ], [ 0.83544, 0.00532, -0.54956 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 44 }, "api_seconds": 3.403140985406935, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.866 }, "note": "Right handle roughly centered between fingers; advance along approach direction." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.12514, -0.13959, -0.1468, -2.78567, -0.37357, 3.65091, 0.17908 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54898, -0.07378, 0.86661 ], "tcp_roll_pitch_yaw": [ 0.00098, -0.99515, -0.00071 ], "tcp_rotation_matrix": [ [ 0.54947, -0.03858, 0.83462 ], [ -0.01674, -0.99924, -0.03517 ], [ 0.83534, 0.00535, -0.5497 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 43 }, "api_seconds": 3.403069586493075, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.59, "z": 0.84 }, "note": "Handles getting closer, still centered; advance further." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11108, 0.03778, -0.12166, -2.66945, -0.30383, 3.70882, 0.15028 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58887, -0.07377, 0.84069 ], "tcp_roll_pitch_yaw": [ 0.00098, -0.995, -0.00066 ], "tcp_rotation_matrix": [ [ 0.5496, -0.03853, 0.83454 ], [ -0.01671, -0.99924, -0.03512 ], [ 0.83526, 0.00536, -0.54982 ] ], "simulated_seconds_remaining": 19.536, "calls_remaining_including_this": 42 }, "api_seconds": 3.803636508062482, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.61, "z": 0.827 }, "note": "Handle near fingertips; small advance before closing." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10522, 0.11096, -0.11865, -2.62165, -0.27997, 3.754, 0.14573 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60523, -0.07533, 0.83286 ], "tcp_roll_pitch_yaw": [ 0.01011, -1.01578, -0.01267 ], "tcp_rotation_matrix": [ [ 0.53201, -0.04288, 0.84565 ], [ -0.02303, -0.99908, -0.03617 ], [ 0.84643, -0.00023, -0.53251 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 41 }, "api_seconds": 2.8032208969816566, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At handle; close gripper to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10551, 0.10532, -0.1191, -2.62962, -0.28018, 3.7577, 0.14631 ], "gripper_open": 0.9804, "tcp_xyz": [ 0.60286, -0.07502, 0.83337 ], "tcp_roll_pitch_yaw": [ 0.01334, -1.0173, -0.01592 ], "tcp_rotation_matrix": [ [ 0.53069, -0.04338, 0.84645 ], [ -0.02472, -0.99906, -0.0357 ], [ 0.8472, -0.00198, -0.53127 ] ], "simulated_seconds_remaining": 18.15, "calls_remaining_including_this": 40 }, "api_seconds": 7.006227641366422, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.585, "z": 0.845 }, "note": "Gripper failed to close (likely jammed against door). Open and back off slightly." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11246, 0.03592, -0.12461, -2.6823, -0.29907, 3.7417, 0.15087 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.58617, -0.07503, 0.84428 ], "tcp_roll_pitch_yaw": [ 0.01333, -1.01737, -0.01593 ], "tcp_rotation_matrix": [ [ 0.53063, -0.0434, 0.84649 ], [ -0.02472, -0.99906, -0.03572 ], [ 0.84724, -0.00198, -0.5312 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 39 }, "api_seconds": 6.405149961821735, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Retry closing slightly backed off from door, handle between fingertips." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.1115, 0.03733, -0.12338, -2.68447, -0.30015, 3.74032, 0.15082 ], "gripper_open": 0.0029, "tcp_xyz": [ 0.58531, -0.07336, 0.84198 ], "tcp_roll_pitch_yaw": [ 0.01355, -1.01238, -0.0131 ], "tcp_rotation_matrix": [ [ 0.53492, -0.04039, 0.84394 ], [ -0.02328, -0.99918, -0.03307 ], [ 0.84458, -0.00195, -0.53543 ] ], "simulated_seconds_remaining": 16.764, "calls_remaining_including_this": 38 }, "api_seconds": 5.605657565407455, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.57, "z": 0.9 }, "note": "Missed handle (closed fully). Open, back off and raise; handle likely higher than grasp point." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10698, -0.1646, -0.16621, -2.70584, -0.4462, 3.57047, 0.26391 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.57036, -0.07338, 0.89885 ], "tcp_roll_pitch_yaw": [ 0.01354, -1.0126, -0.01312 ], "tcp_rotation_matrix": [ [ 0.53474, -0.04042, 0.84405 ], [ -0.02328, -0.99918, -0.0331 ], [ 0.8447, -0.00195, -0.53524 ] ], "simulated_seconds_remaining": 15.84, "calls_remaining_including_this": 37 }, "api_seconds": 8.207092488184571, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.88 }, "note": "Handles visible centered; advance along approach at higher height." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10591, -0.04063, -0.13798, -2.62969, -0.37953, 3.61418, 0.22814 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.599, -0.07336, 0.88058 ], "tcp_roll_pitch_yaw": [ 0.01352, -1.01245, -0.01305 ], "tcp_rotation_matrix": [ [ 0.53486, -0.04036, 0.84398 ], [ -0.02325, -0.99918, -0.03305 ], [ 0.84462, -0.00194, -0.53536 ] ], "simulated_seconds_remaining": 15.312, "calls_remaining_including_this": 36 }, "api_seconds": 2.602944546379149, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.625, "z": 0.865 }, "note": "Continue approach toward handles." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10568, 0.04634, -0.1403, -2.62449, -0.3364, 3.78876, 0.21415 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60747, -0.07499, 0.8785 ], "tcp_roll_pitch_yaw": [ 0.07945, -1.10597, -0.07325 ], "tcp_rotation_matrix": [ [ 0.45248, -0.0413, 0.89082 ], [ -0.04906, -0.99857, -0.02138 ], [ 0.89043, -0.03403, -0.45385 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 35 }, "api_seconds": 4.604083895683289, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Motion blocked near handle; attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10571, 0.03997, -0.14036, -2.63397, -0.33742, 3.79336, 0.21477 ], "gripper_open": 0.9995, "tcp_xyz": [ 0.60466, -0.07387, 0.87877 ], "tcp_roll_pitch_yaw": [ 0.08423, -1.1075, -0.07632 ], "tcp_rotation_matrix": [ [ 0.45104, -0.04004, 0.8916 ], [ -0.05031, -0.99855, -0.01939 ], [ 0.89108, -0.03611, -0.4524 ] ], "simulated_seconds_remaining": 13.86, "calls_remaining_including_this": 34 }, "api_seconds": 5.204512978903949, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.595, "z": 0.884 }, "note": "Fingers jammed; back off 1cm and reopen before retrying close." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10915, 0.00601, -0.14361, -2.66058, -0.3474, 3.78639, 0.21694 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.59592, -0.07384, 0.88349 ], "tcp_roll_pitch_yaw": [ 0.08423, -1.10748, -0.07627 ], "tcp_rotation_matrix": [ [ 0.45106, -0.03999, 0.8916 ], [ -0.05029, -0.99855, -0.01935 ], [ 0.89108, -0.03611, -0.45241 ] ], "simulated_seconds_remaining": 13.464, "calls_remaining_including_this": 33 }, "api_seconds": 2.0022804252803326, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Retry close after backing off." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10815, 0.0057, -0.14234, -2.66086, -0.34856, 3.78677, 0.21645 ], "gripper_open": 0.1063, "tcp_xyz": [ 0.59599, -0.07218, 0.8836 ], "tcp_roll_pitch_yaw": [ 0.0823, -1.10782, -0.07096 ], "tcp_rotation_matrix": [ [ 0.45098, -0.0364, 0.89179 ], [ -0.04789, -0.99872, -0.01655 ], [ 0.89125, -0.03524, -0.45215 ] ], "simulated_seconds_remaining": 12.54, "calls_remaining_including_this": 32 }, "api_seconds": 5.205224617384374, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "Grasped handle (gripper 0.106). Pull back to start opening door." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13425, -0.18273, -0.16572, -2.88737, -0.4485, 3.82814, 0.18798 ], "gripper_open": 0.1017, "tcp_xyz": [ 0.52165, -0.05265, 0.88374 ], "tcp_roll_pitch_yaw": [ 0.02885, -1.10777, 0.03981 ], "tcp_rotation_matrix": [ [ 0.45281, 0.0265, 0.89121 ], [ 0.00186, -0.99958, 0.02878 ], [ 0.8916, -0.01138, -0.45267 ] ], "simulated_seconds_remaining": 11.748, "calls_remaining_including_this": 31 }, "api_seconds": 8.607644296251237, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43, "y": -0.01, "yaw": -0.3 }, "note": "Door swinging with hinge on +y side; follow arc and rotate yaw with door." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13425, -0.18273, -0.16572, -2.88737, -0.4485, 3.82814, 0.18798 ], "gripper_open": 0.1017, "tcp_xyz": [ 0.52165, -0.05265, 0.88374 ], "tcp_roll_pitch_yaw": [ 0.02885, -1.10777, 0.03981 ], "tcp_rotation_matrix": [ [ 0.45281, 0.0265, 0.89121 ], [ 0.00186, -0.99958, 0.02878 ], [ 0.8916, -0.01138, -0.45267 ] ], "simulated_seconds_remaining": 11.748, "calls_remaining_including_this": 30 }, "api_seconds": 3.4035376785323024, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": -0.03 }, "note": "Smaller arc step without yaw change due to IK limits." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 29, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13425, -0.18273, -0.16572, -2.88737, -0.4485, 3.82814, 0.18798 ], "gripper_open": 0.1017, "tcp_xyz": [ 0.52165, -0.05265, 0.88374 ], "tcp_roll_pitch_yaw": [ 0.02885, -1.10777, 0.03981 ], "tcp_rotation_matrix": [ [ 0.45281, 0.0265, 0.89121 ], [ 0.00186, -0.99958, 0.02878 ], [ 0.8916, -0.01138, -0.45267 ] ], "simulated_seconds_remaining": 11.748, "calls_remaining_including_this": 29 }, "api_seconds": 5.004820230416954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.04, "pitch": -0.85 }, "note": "Reduce tilt to relieve wrist joint limits while pulling door." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 004 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 4, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 26, "wall_seconds": 172.88, "usage": { "input_tokens": 56, "output_tokens": 10084, "cache_read_input_tokens": 374854, "cache_creation_input_tokens": 23746, "thinking_tokens": 6671, "cost_usd": 0.46684279999999995 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019kVv5x11qfoWJWkh28c91N", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011h38W7CCZDFttk88ZQDpds", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Lower to get a better view of the cabinet front and drawer handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013LjDCr1J98JMTnhgPWt7p4", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper forward to look at cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 767, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 767 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BBjMWZjSp5HypvCzMZvqJZ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Smaller forward tilt to view cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 888, "cache_read_input_tokens": 3278, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 888 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KXpK43ufKRsXw47qmqKVEL", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.6 }, "note": "Try opposite tilt sign." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 4166, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 694 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Tilting the wrist camera to find the drawer, since I can't see where the counter is yet." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 660, "cache_read_input_tokens": 4860, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 660 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016Snm3F5EABLm7AfaVfWstD", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 1.3 }, "note": "Tilt further to look horizontally and locate the drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 660, "cache_read_input_tokens": 4860, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 660 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TYPRuXtZD7d2qhb5ybYiSZ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5, "x": 0.4, "z": 0.95 }, "note": "Camera was looking back at the robot; tilt the other way to face the counter ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1005, "cache_read_input_tokens": 5520, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1005 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Mh3vMJDugJ35phf3fCwZ2o", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 1.05, "pitch": -0.6 }, "note": "Back off and up for a wider view of the cabinet front to find the drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1113, "cache_read_input_tokens": 6525, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1113 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0188E7xXyiWmjaNhACGnSBgD", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8, "x": 0.3 }, "note": "Lower to see the region just below the countertop where a drawer should be." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 7638, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 803 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RPrULhhUxeu2FpFKVeoFwu", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 1, "pitch": -0.9 }, "note": "Try a more forward-facing orientation to view cabinet front straight on." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1119, "cache_read_input_tokens": 8441, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1119 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AUaw28FWSq929n7pepKj59", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 1, "pitch": -0.9 }, "note": "Extend forward so the arm is less folded, allowing a forward-facing gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1330, "cache_read_input_tokens": 9560, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1330 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Found what looks like a horizontal drawer handle; shifting sideways to center it in the wrist view." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 753, "cache_read_input_tokens": 10890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 753 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XTWUi96d7RPRTbjb1Hnd4p", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.1 }, "note": "Horizontal handle seen at lower-left of wrist image; shift in y to check image-to-world mapping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 753, "cache_read_input_tokens": 10890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 753 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ShuiLMa4d4jP7szX5kbe89", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "z": 0.94 }, "note": "Handle is centered near finger axis; advance along gripper axis toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1203, "cache_read_input_tokens": 11643, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1203 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KsqwqtEFTCrs7UDKYHAaUw", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 1, "roll": -1.013, "pitch": 0, "yaw": 1.571 }, "note": "Reorient so fingers open vertically (to grip horizontal handle) while keeping same approach direction; back off slightly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1181, "cache_read_input_tokens": 12846, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1181 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012KCdDyLohTijswcjVqGRRQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.66, "z": 0.9 }, "note": "Handle aligned with finger center; advance along gripper axis toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2000, "cache_read_input_tokens": 14027, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 2000 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rce3tTmtPZWBaq1qnfJrSc", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle appears between the fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 886, "cache_read_input_tokens": 16027, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 886 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WvFVgvH5EKBu3GXjEBP32V", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.62 }, "note": "Grasp closed empty; reopen and back off slightly to re-approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 16913, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Re-approaching the handle; the first grasp closed on nothing." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 904, "cache_read_input_tokens": 17611, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 904 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ArXtfi5hTjue84nM37VkKa", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.7, "z": 0.9 }, "note": "Push further forward toward the handle bar seen between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 904, "cache_read_input_tokens": 17611, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 904 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TEEesewwALe9FcrQ3cLXrC", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at drawer front with handle near fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 876, "cache_read_input_tokens": 18515, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 876 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grasped something (gripper stopped at 0.21). Pulling back." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 19391, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rext3VPiRSmFL8WbMZQovs", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42 }, "note": "Gripper stopped partially closed, likely on handle; pull straight back to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 19391, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MW8wtemv9AdLxQeyBdx7hN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Smaller pull back step to stay reachable." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 20089, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N8H5AZ6PMtS8BRn28wBrgW", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.67 }, "note": "Grip slipped off handle; reopen and advance deeper to engage it fully." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 662, "cache_read_input_tokens": 20765, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 662 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DAYPuoWuuwpaPPFfaZv4ua", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "At the handle again; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 837, "cache_read_input_tokens": 21427, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 837 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FGAYXFsegi3UCEL2dDD1a7", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.65, "z": 0.95, "roll": -1.55, "pitch": -0.13, "yaw": 1.54 }, "note": "Missed; reopen and return to the pose that previously grasped the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 22264, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 691 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V1ETZtJbTMb6ckw93s1epv", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0, "z": 0.95 }, "note": "Close on handle at the previously successful pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 858, "cache_read_input_tokens": 22955, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 858 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Holding something again (gripper 0.105); pulling back slowly." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 23813, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 650 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QnMsnKTdRzHxEbk4txPgDk", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.53 }, "note": "Gripper partially closed on something; pull back to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 23813, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 650 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X3JohsBG5zRW8Ceia29E6c", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.53, "roll": -1.55 }, "note": "Pull back with slightly corrected roll for reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 24463, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The drawer isn't confirmed open: the episode ended while the robot was still trying to pull it.\n\nI found a horizontal drawer handle just below the countertop and turned the gripper so the fingers closed vertically around it. I got a grip on the handle twice. The first time, the grip slipped after pulling back about 9 cm. I saw nothing afterward that showed the drawer had moved. The second time, the arm couldn't reach the pull-back pose. My last pull, with a small correction to the wrist angle, was sent just before the episode ended, so I never saw whether it worked.\n\nTwo things slowed me down. At first I misread the wrist camera, which shows the image upside down. And the arm ended up near a joint limit in the pose needed to reach the handle, so several moves were rejected. Together these used up most of the 30 seconds of motion time." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 161, "cache_read_input_tokens": 25138, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 161 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 56, "cache_creation_input_tokens": 23746, "cache_read_input_tokens": 374854, "output_tokens": 10084, "output_tokens_details": { "thinking_tokens": 6671 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 23746, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 286, "cache_read_input_tokens": 25138, "cache_creation_input_tokens": 161, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 161 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 56, "outputTokens": 10084, "cacheReadInputTokens": 374854, "cacheCreationInputTokens": 23746, "webSearchRequests": 0, "costUSD": 0.46684279999999995, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6671, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.46684279999999995, "num_turns": 28, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01595, -0.80441, 0.02568, -2.29148, 0.03674, 1.60203, -0.16756 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32278, 0.01276, 1.05566 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97868, 0.17054, 0.11445 ], [ 0.16954, -0.98535, 0.01856 ], [ 0.11594, 0.00124, -0.99326 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.0054731676355, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lower to get a better view of the cabinet front and drawer handles." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01163, -0.86216, 0.03405, -2.72025, 0.04676, 1.97268, -0.17527 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32273, 0.01276, 0.90127 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.0003, 1e-05 ], "tcp_rotation_matrix": [ [ 0.97871, 0.17055, 0.11415 ], [ 0.16954, -0.98535, 0.01855 ], [ 0.11564, 0.0012, -0.99329 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 4.604895594529808, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper forward to look at cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01163, -0.86216, 0.03405, -2.72025, 0.04676, 1.97268, -0.17527 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32273, 0.01276, 0.90127 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.0003, 1e-05 ], "tcp_rotation_matrix": [ [ 0.97871, 0.17055, 0.11415 ], [ 0.16954, -0.98535, 0.01855 ], [ 0.11564, 0.0012, -0.99329 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 55 }, "api_seconds": 2.603055253624916, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Smaller forward tilt to view cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01163, -0.86216, 0.03405, -2.72025, 0.04676, 1.97268, -0.17527 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32273, 0.01276, 0.90127 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.0003, 1e-05 ], "tcp_rotation_matrix": [ [ 0.97871, 0.17055, 0.11415 ], [ 0.16954, -0.98535, 0.01855 ], [ 0.11564, 0.0012, -0.99329 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 54 }, "api_seconds": 2.002299653366208, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.6 }, "note": "Try opposite tilt sign." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.02042, -0.32094, 0.03392, -2.26883, 0.03368, 1.46701, -0.1614 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32275, 0.01276, 0.90119 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.59585, -1e-05 ], "tcp_rotation_matrix": [ [ 0.87509, 0.14183, -0.4627 ], [ 0.16952, -0.98535, 0.01857 ], [ -0.45329, -0.09469, -0.88632 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 53 }, "api_seconds": 6.0061319544911385, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 1.3 }, "note": "Tilt further to look horizontally and locate the drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.02103, 0.24581, 0.03404, -1.84072, 0.03374, 0.90572, -0.13733 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32273, 0.01275, 0.90106 ], "tcp_roll_pitch_yaw": [ 1e-05, 1.29593, -4e-05 ], "tcp_rotation_matrix": [ [ 0.37723, 0.04743, -0.9249 ], [ 0.16952, -0.98535, 0.01861 ], [ -0.91047, -0.16381, -0.37975 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 52 }, "api_seconds": 6.806269456632435, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5, "x": 0.4, "z": 0.95 }, "note": "Camera was looking back at the robot; tilt the other way to face the counter ahead." } } } ] } } ] }, "execution": { "steps": 41, "motion_seconds": 2.706, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00418, -0.96306, 0.03736, -2.86528, 0.05754, 2.51235, -0.18528 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39977, 0.01277, 0.94975 ], "tcp_roll_pitch_yaw": [ -0.0, -0.49522, -0.0 ], "tcp_rotation_matrix": [ [ 0.80601, 0.14946, 0.57272 ], [ 0.16953, -0.98535, 0.01856 ], [ 0.56711, 0.08214, -0.81954 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 51 }, "api_seconds": 4.004416390322149, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.05, "pitch": -0.6 }, "note": "Back off and up for a wider view of the cabinet front to find the drawer handle." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00335, -1.42426, 0.02989, -2.81781, 0.04684, 2.1078, -0.17422 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30096, 0.01277, 1.04921 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.59936, 0.0 ], "tcp_rotation_matrix": [ [ 0.74269, 0.14012, 0.65481 ], [ 0.16954, -0.98535, 0.01857 ], [ 0.64782, 0.09723, -0.75557 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 50 }, "api_seconds": 7.807530920021236, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "x": 0.3 }, "note": "Lower to see the region just below the countertop where a drawer should be." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00335, -1.42426, 0.02989, -2.81781, 0.04684, 2.1078, -0.17422 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30096, 0.01277, 1.04921 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.59936, 0.0 ], "tcp_rotation_matrix": [ [ 0.74269, 0.14012, 0.65481 ], [ 0.16954, -0.98535, 0.01857 ], [ 0.64782, 0.09723, -0.75557 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 49 }, "api_seconds": 10.409199172630906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1, "pitch": -0.9 }, "note": "Try a more forward-facing orientation to view cabinet front straight on." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00335, -1.42426, 0.02989, -2.81781, 0.04684, 2.1078, -0.17422 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30096, 0.01277, 1.04921 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.59936, 0.0 ], "tcp_rotation_matrix": [ [ 0.74269, 0.14012, 0.65481 ], [ 0.16954, -0.98535, 0.01857 ], [ 0.64782, 0.09723, -0.75557 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 48 }, "api_seconds": 3.0033203158527613, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 1, "pitch": -0.9 }, "note": "Extend forward so the arm is less folded, allowing a forward-facing gripper." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.01409, -0.67825, 0.02749, -2.84296, 0.06624, 3.17768, -0.20315 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49899, 0.01277, 1.00011 ], "tcp_roll_pitch_yaw": [ 4e-05, -0.89799, -1e-05 ], "tcp_rotation_matrix": [ [ 0.51922, 0.10533, 0.84813 ], [ 0.16952, -0.98535, 0.01859 ], [ 0.83766, 0.13413, -0.52947 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 47 }, "api_seconds": 8.608438414521515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.1 }, "note": "Horizontal handle seen at lower-left of wrist image; shift in y to check image-to-world mapping." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.18175, -0.69525, -0.4183, -2.80017, 0.01131, 3.13933, -0.48167 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49899, -0.09875, 1.00016 ], "tcp_roll_pitch_yaw": [ 0.00028, -0.89807, -0.0004 ], "tcp_rotation_matrix": [ [ 0.51919, 0.10512, 0.84817 ], [ 0.16929, -0.98539, 0.01849 ], [ 0.83772, 0.13399, -0.5294 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 46 }, "api_seconds": 8.60740583576262, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.94 }, "note": "Handle is centered near finger axis; advance along gripper axis toward it." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.78164, -0.33457, -0.95195, -2.59551, 0.03004, 3.38798, -0.50351 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59881, -0.09874, 0.94063 ], "tcp_roll_pitch_yaw": [ 0.00055, -0.89789, -0.00056 ], "tcp_rotation_matrix": [ [ 0.51933, 0.10519, 0.84807 ], [ 0.16918, -0.98541, 0.01863 ], [ 0.83766, 0.1338, -0.52955 ] ], "simulated_seconds_remaining": 18.612, "calls_remaining_including_this": 45 }, "api_seconds": 15.216570592485368, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 1, "roll": -1.013, "pitch": 0, "yaw": 1.571 }, "note": "Reorient so fingers open vertically (to grip horizontal handle) while keeping same approach direction; back off slightly." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.5045, -0.84133, -0.85905, -2.71316, -0.7561, 2.98486, -1.56546 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50028, -0.09875, 0.9999 ], "tcp_roll_pitch_yaw": [ -1.01284, -0.00389, 1.56831 ], "tcp_rotation_matrix": [ [ -0.18568, 0.52106, 0.83308 ], [ 0.97946, 0.16599, 0.11449 ], [ -0.07863, 0.83722, -0.54118 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 44 }, "api_seconds": 4.804820545017719, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "z": 0.9 }, "note": "Handle aligned with finger center; advance along gripper axis toward it." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.51841, -0.37843, -1.81969, -2.46717, -0.52322, 3.66791, -1.6858 ], "gripper_open": 1.0, "tcp_xyz": [ 0.64252, -0.10093, 0.92668 ], "tcp_roll_pitch_yaw": [ -1.20373, -0.06656, 1.55627 ], "tcp_rotation_matrix": [ [ -0.15475, 0.35401, 0.92235 ], [ 0.98662, 0.10383, 0.12568 ], [ -0.05128, 0.92946, -0.36534 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 43 }, "api_seconds": 3.003207507543266, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle appears between the fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.5201, -0.37762, -1.81518, -2.47388, -0.53791, 3.84179, -1.68641 ], "gripper_open": 0.0, "tcp_xyz": [ 0.6397, -0.09472, 0.97258 ], "tcp_roll_pitch_yaw": [ -1.37402, -0.08, 1.57968 ], "tcp_rotation_matrix": [ [ -0.15561, 0.1906, 0.96926 ], [ 0.98568, 0.09445, 0.13967 ], [ -0.06493, 0.97711, -0.20256 ] ], "simulated_seconds_remaining": 13.728, "calls_remaining_including_this": 42 }, "api_seconds": 5.0050674341619015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.62 }, "note": "Grasp closed empty; reopen and back off slightly to re-approach." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.41073, -0.33579, -1.74496, -2.53172, -0.58329, 3.72606, -1.63318 ], "gripper_open": 0.9656, "tcp_xyz": [ 0.62099, -0.09382, 0.92937 ], "tcp_roll_pitch_yaw": [ -1.22474, -0.06162, 1.56944 ], "tcp_rotation_matrix": [ [ -0.16524, 0.3332, 0.92826 ], [ 0.98445, 0.11266, 0.1348 ], [ -0.05967, 0.9361, -0.34664 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 41 }, "api_seconds": 5.004701060242951, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "z": 0.9 }, "note": "Push further forward toward the handle bar seen between fingers." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.88518, -0.52108, -2.10783, -2.45675, -0.3615, 4.04191, -1.88369 ], "gripper_open": 1.0, "tcp_xyz": [ 0.65482, -0.09173, 0.92184 ], "tcp_roll_pitch_yaw": [ -1.43101, -0.12329, 1.53585 ], "tcp_rotation_matrix": [ [ -0.10376, 0.1377, 0.98502 ], [ 0.99414, 0.04445, 0.09851 ], [ -0.03022, 0.98948, -0.1415 ] ], "simulated_seconds_remaining": 11.946, "calls_remaining_including_this": 40 }, "api_seconds": 2.8031344190239906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at drawer front with handle near fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.88631, -0.52003, -2.10535, -2.46908, -0.38252, 4.17196, -1.88378 ], "gripper_open": 0.2149, "tcp_xyz": [ 0.64406, -0.09086, 0.9526 ], "tcp_roll_pitch_yaw": [ -1.55325, -0.12844, 1.54184 ], "tcp_rotation_matrix": [ [ -0.09013, 0.01729, 0.99578 ], [ 0.9951, 0.04247, 0.08933 ], [ -0.04074, 0.99895, -0.02103 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 39 }, "api_seconds": 2.6028747390955687, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Gripper stopped partially closed, likely on handle; pull straight back to open drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 20, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.88631, -0.52003, -2.10535, -2.46908, -0.38252, 4.17196, -1.88378 ], "gripper_open": 0.2149, "tcp_xyz": [ 0.64406, -0.09086, 0.9526 ], "tcp_roll_pitch_yaw": [ -1.55325, -0.12844, 1.54184 ], "tcp_rotation_matrix": [ [ -0.09013, 0.01729, 0.99578 ], [ 0.9951, 0.04247, 0.08933 ], [ -0.04074, 0.99895, -0.02103 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 38 }, "api_seconds": 2.6029782444238663, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Smaller pull back step to stay reachable." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.64497, -0.28892, -2.01664, -2.7373, -0.49337, 4.32705, -1.71317 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55131, -0.09087, 0.9526 ], "tcp_roll_pitch_yaw": [ -1.55325, -0.12835, 1.54182 ], "tcp_rotation_matrix": [ [ -0.0901, 0.01729, 0.99578 ], [ 0.9951, 0.04256, 0.0893 ], [ -0.04083, 0.99894, -0.02104 ] ], "simulated_seconds_remaining": 10.098, "calls_remaining_including_this": 37 }, "api_seconds": 4.604870850220323, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.67 }, "note": "Grip slipped off handle; reopen and advance deeper to engage it fully." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.93795, -0.57834, -2.13834, -2.49764, -0.36154, 4.34097, -1.91726 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62697, -0.09007, 0.95363 ], "tcp_roll_pitch_yaw": [ -1.64875, -0.17771, 1.52273 ], "tcp_rotation_matrix": [ [ -0.05447, -0.07816, 0.99545 ], [ 0.99851, -0.00203, 0.05448 ], [ -0.00224, 0.99694, 0.07816 ] ], "simulated_seconds_remaining": 9.042, "calls_remaining_including_this": 36 }, "api_seconds": 3.0032867277041078, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At the handle again; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.94044, -0.57645, -2.13385, -2.50282, -0.39596, 4.49099, -1.91748 ], "gripper_open": 0.0146, "tcp_xyz": [ 0.6074, -0.08988, 0.99122 ], "tcp_roll_pitch_yaw": [ -1.80227, -0.18444, 1.53863 ], "tcp_rotation_matrix": [ [ -0.04184, -0.2274, 0.9729 ], [ 0.99908, -0.00087, 0.04276 ], [ -0.00887, 0.9738, 0.22723 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 35 }, "api_seconds": 4.204219409264624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.65, "z": 0.95, "roll": -1.55, "pitch": -0.13, "yaw": 1.54 }, "note": "Missed; reopen and return to the pose that previously grasped the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.9297, -0.51664, -2.13938, -2.44758, -0.37944, 4.20791, -1.87274 ], "gripper_open": 1.0, "tcp_xyz": [ 0.64766, -0.09087, 0.96201 ], "tcp_roll_pitch_yaw": [ -1.59025, -0.13082, 1.53933 ], "tcp_rotation_matrix": [ [ -0.08133, -0.01912, 0.9965 ], [ 0.99578, 0.0412, 0.08206 ], [ -0.04263, 0.99897, 0.01569 ] ], "simulated_seconds_remaining": 7.194, "calls_remaining_including_this": 34 }, "api_seconds": 2.2023635040968657, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.95 }, "note": "Close on handle at the previously successful pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.95457, -0.54434, -2.15008, -2.43931, -0.41156, 4.39276, -1.90032 ], "gripper_open": 0.1051, "tcp_xyz": [ 0.63073, -0.09039, 1.00069 ], "tcp_roll_pitch_yaw": [ -1.77242, -0.13359, 1.5514 ], "tcp_rotation_matrix": [ [ -0.06033, -0.19772, 0.9784 ], [ 0.99653, 0.04432, 0.0704 ], [ -0.05728, 0.97926, 0.19436 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 33 }, "api_seconds": 2.802900953218341, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53 }, "note": "Gripper partially closed on something; pull back to open drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 26, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.95457, -0.54434, -2.15008, -2.43931, -0.41156, 4.39276, -1.90032 ], "gripper_open": 0.1051, "tcp_xyz": [ 0.63073, -0.09039, 1.00069 ], "tcp_roll_pitch_yaw": [ -1.77242, -0.13359, 1.5514 ], "tcp_rotation_matrix": [ [ -0.06033, -0.19772, 0.9784 ], [ 0.99653, 0.04432, 0.0704 ], [ -0.05728, 0.97926, 0.19436 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 32 }, "api_seconds": 2.2024831995368004, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "roll": -1.55 }, "note": "Pull back with slightly corrected roll for reachability." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 005 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 5, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 15, "wall_seconds": 97.51, "usage": { "input_tokens": 36, "output_tokens": 4383, "cache_read_input_tokens": 141715, "cache_creation_input_tokens": 12854, "thinking_tokens": 2443, "cost_usd": 0.218979 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C7yLYNjPZGLPwDmrCVCU9n", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019FtZUbXxsziGUobXY4aws1", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 0.95 }, "note": "Move forward to get a better look at cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Bc2tKoUrFnGZToWMjpk66C", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "z": 1 }, "note": "Tilt the wrist camera forward to see the cabinet in front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1000, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1000 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012wLqwmaqdzUp96tu1jKMYv", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5, "x": 0.5 }, "note": "Point gripper forward horizontally toward vertical handles and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1034, "cache_read_input_tokens": 3511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1034 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HpHvjRaJu9f58N4bLNzFi8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Approach handles slowly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 826, "cache_read_input_tokens": 4545, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 826 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've found the cabinet handles in the wrist camera and I'm lining the gripper up with one of them." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 778, "cache_read_input_tokens": 5371, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 778 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BgfLqRqGHt47PkNU7x9xy1", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.04 }, "note": "Test lateral shift to align with handle bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 778, "cache_read_input_tokens": 5371, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 778 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016coLz3CivUq8dt4nhj86kx", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.01 }, "note": "Shift +y to center the nearer handle bar between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 6149, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JvuxzViGzmr2oy6TePotnm", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Advance toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 778, "cache_read_input_tokens": 6937, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 778 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013twjdFZHMgxJq2TtN2eCvZ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.63, "y": 0.02 }, "note": "Advance and center left handle bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 660, "cache_read_input_tokens": 7715, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 660 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015qzdRRfSSuBEm7KQdy4NRz", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.66 }, "note": "Advance to envelop handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 8375, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01R2t12PPe7fCjKsozysxUwC", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.02, "x": 0.67 }, "note": "Slight contact suspected; recenter and push slightly deeper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 9059, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 686 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Something is blocking the gripper at the handle, so I'm backing off and moving it sideways to line up better." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 781, "cache_read_input_tokens": 9745, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 781 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QWBybKLQRhCjFxkCyye2zj", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62, "y": 0.035, "roll": 0, "yaw": 0, "pitch": -1.5 }, "note": "Blocked by handle on finger; back off and shift +y to center bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 781, "cache_read_input_tokens": 9745, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 781 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FoEx8J5x7UijwiN2R1cqwN", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 837, "cache_read_input_tokens": 10526, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 837 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PcbnxvvN5MA46Kym7biStZ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle bar appears between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 606, "cache_read_input_tokens": 11363, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 606 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grasped the handle; now pulling back." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 11969, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NsfMj32Fd6tyZL9TFH7cC5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Grasped handle; pull back to start opening door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 11969, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016usEdrpUgZUA8QsqAYuBbt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47 }, "note": "Continue pulling while observing which way the door swings." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 697, "cache_read_input_tokens": 12746, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 697 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XqJuhr3QQM3q52Bne5xJjx", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "roll": 0, "yaw": 0 }, "note": "Smaller pull step with neutral roll/yaw." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 13443, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The episode ended before I could confirm the cabinet was open, so I can't tell you it succeeded.\n\nI found the vertical handles on the wooden cabinet in front of the robot and tilted the gripper to face them. After one bump where something blocked the gripper, I lined up on a handle and closed the gripper; it held something, most likely the handle. I then pulled back about 7 cm, and the camera images suggested the door was starting to open. My next pull was rejected because the arm couldn't reach that pose. I sent a smaller pull with the gripper straightened, and the episode ended on that move without returning a new camera image." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 235, "cache_read_input_tokens": 14172, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 235 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 36, "cache_creation_input_tokens": 12854, "cache_read_input_tokens": 141715, "output_tokens": 4383, "output_tokens_details": { "thinking_tokens": 2443 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 12854, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 223, "cache_read_input_tokens": 14172, "cache_creation_input_tokens": 235, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 235 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 36, "outputTokens": 4383, "cacheReadInputTokens": 141715, "cacheCreationInputTokens": 12854, "webSearchRequests": 0, "costUSD": 0.218979, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 2443, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.218979, "num_turns": 18, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.02278, -0.77548, 0.00697, -2.42477, -0.09889, 1.48622, -0.07291 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.272, -0.01865, 0.97716 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98144, 0.10713, -0.15907 ], [ 0.09062, -0.99005, -0.10762 ], [ -0.16901, 0.0912, -0.98139 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.4082847610116, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.95 }, "note": "Move forward to get a better look at cabinet." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01673, -0.31257, 0.00185, -2.13933, -0.10473, 1.66347, -0.06328 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4187, -0.01866, 0.95018 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00017, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98141, 0.10713, -0.15923 ], [ 0.09061, -0.99005, -0.10761 ], [ -0.16918, 0.09119, -0.98136 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 6.607028027065098, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "z": 1 }, "note": "Tilt the wrist camera forward to see the cabinet in front." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.03754, -1.01367, 0.0086, -2.89553, -0.1894, 2.71147, 0.0645 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41868, -0.0187, 0.99966 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.99532, -7e-05 ], "tcp_rotation_matrix": [ [ 0.67594, -0.01835, 0.73673 ], [ 0.09056, -0.99004, -0.10775 ], [ 0.73137, 0.13955, -0.66755 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 55 }, "api_seconds": 4.405084511265159, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5, "x": 0.5 }, "note": "Point gripper forward horizontally toward vertical handles and approach." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.46123, -0.53329, 0.4096, -2.97291, -0.06386, 3.81614, 0.13244 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4995, -0.01869, 0.99931 ], "tcp_roll_pitch_yaw": [ -0.00441, -1.49449, 0.00418 ], "tcp_rotation_matrix": [ [ 0.24336, -0.08299, 0.96638 ], [ 0.0909, -0.99, -0.1079 ], [ 0.96567, 0.1141, -0.23338 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 54 }, "api_seconds": 3.6039172038435936, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Approach handles slowly." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.54916, -0.3586, 0.52611, -2.82598, 0.02537, 3.84104, 0.04922 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54884, -0.0187, 0.99931 ], "tcp_roll_pitch_yaw": [ -0.0046, -1.49444, 0.00437 ], "tcp_rotation_matrix": [ [ 0.2434, -0.08298, 0.96637 ], [ 0.09091, -0.99, -0.10791 ], [ 0.96566, 0.11412, -0.23342 ] ], "simulated_seconds_remaining": 25.41, "calls_remaining_including_this": 53 }, "api_seconds": 4.204715475440025, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.04 }, "note": "Test lateral shift to align with handle bar." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.54652, -0.34093, 0.44376, -2.82273, -0.07186, 3.85334, 0.07389 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54884, -0.03913, 0.9993 ], "tcp_roll_pitch_yaw": [ -0.0032, -1.49445, 0.00274 ], "tcp_rotation_matrix": [ [ 0.24341, -0.08321, 0.96635 ], [ 0.09075, -0.98999, -0.10811 ], [ 0.96567, 0.11401, -0.23343 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 52 }, "api_seconds": 4.00451840646565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.01 }, "note": "Shift +y to center the nearer handle bar between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.56066, -0.38027, 0.64408, -2.82141, 0.15687, 3.82259, 0.01686 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54887, 0.00881, 0.99935 ], "tcp_roll_pitch_yaw": [ -0.00581, -1.4945, 0.00574 ], "tcp_rotation_matrix": [ [ 0.24333, -0.08283, 0.9664 ], [ 0.09104, -0.99, -0.10778 ], [ 0.96566, 0.1142, -0.23335 ] ], "simulated_seconds_remaining": 24.354, "calls_remaining_including_this": 51 }, "api_seconds": 2.6030590208247304, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Advance toward handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.66625, -0.2043, 0.77377, -2.66023, 0.26244, 3.83468, -0.13213 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59883, 0.0088, 0.99934 ], "tcp_roll_pitch_yaw": [ -0.00509, -1.49447, 0.00501 ], "tcp_rotation_matrix": [ [ 0.24336, -0.08284, 0.96639 ], [ 0.09098, -0.99, -0.10778 ], [ 0.96566, 0.11415, -0.23339 ] ], "simulated_seconds_remaining": 23.694, "calls_remaining_including_this": 50 }, "api_seconds": 2.802977086044848, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "y": 0.02 }, "note": "Advance and center left handle bar." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.70441, -0.08099, 0.87914, -2.54501, 0.40946, 3.84473, -0.3066 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62897, 0.01967, 0.99935 ], "tcp_roll_pitch_yaw": [ -0.00333, -1.49453, 0.00337 ], "tcp_rotation_matrix": [ [ 0.2433, -0.08273, 0.96642 ], [ 0.09088, -0.99003, -0.10763 ], [ 0.96569, 0.11401, -0.23335 ] ], "simulated_seconds_remaining": 23.166, "calls_remaining_including_this": 49 }, "api_seconds": 2.6029545478522778, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66 }, "note": "Advance to envelop handle." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.70094, 0.04562, 0.90039, -2.43873, 0.50528, 3.86623, -0.47047 ], "gripper_open": 1.0, "tcp_xyz": [ 0.65626, 0.01087, 0.9972 ], "tcp_roll_pitch_yaw": [ -0.03942, -1.49361, 0.02245 ], "tcp_rotation_matrix": [ [ 0.24567, -0.09934, 0.96425 ], [ 0.08943, -0.98817, -0.12459 ], [ 0.96522, 0.11684, -0.23388 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 48 }, "api_seconds": 3.2033624313771725, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.02, "x": 0.67 }, "note": "Slight contact suspected; recenter and push slightly deeper." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.66392, 0.10454, 0.90391, -2.39402, 0.61524, 3.92456, -0.5694 ], "gripper_open": 1.0, "tcp_xyz": [ 0.66092, 0.00552, 0.99655 ], "tcp_roll_pitch_yaw": [ 0.03889, -1.50935, -0.1032 ], "tcp_rotation_matrix": [ [ 0.23412, -0.148, 0.96088 ], [ 0.0734, -0.98283, -0.16927 ], [ 0.96943, 0.11016, -0.21924 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 47 }, "api_seconds": 4.604817762970924, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": 0.035, "roll": 0, "yaw": 0, "pitch": -1.5 }, "note": "Blocked by handle on finger; back off and shift +y to center bar." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.68345, -0.08267, 0.8944, -2.56284, 0.50647, 3.87093, -0.3381 ], "gripper_open": 0.9662, "tcp_xyz": [ 0.61924, 0.01736, 0.99212 ], "tcp_roll_pitch_yaw": [ 0.21468, -1.49051, -0.25464 ], "tcp_rotation_matrix": [ [ 0.24822, -0.12275, 0.9609 ], [ 0.06409, -0.98769, -0.14273 ], [ 0.96658, 0.09701, -0.23729 ] ], "simulated_seconds_remaining": 21.582, "calls_remaining_including_this": 46 }, "api_seconds": 6.006205511279404, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle bar appears between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.6787, -0.08242, 0.90056, -2.56269, 0.5029, 3.8692, -0.33759 ], "gripper_open": 0.1345, "tcp_xyz": [ 0.6193, 0.02506, 0.99161 ], "tcp_roll_pitch_yaw": [ 0.19219, -1.48921, -0.21817 ], "tcp_rotation_matrix": [ [ 0.24892, -0.10869, 0.96241 ], [ 0.069, -0.98917, -0.12956 ], [ 0.96606, 0.09865, -0.23872 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 45 }, "api_seconds": 4.004210244864225, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Grasped handle; pull back to start opening door." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.55244, -0.34792, 0.74268, -2.79928, 0.361, 3.8293, -0.07771 ], "gripper_open": 0.1295, "tcp_xyz": [ 0.55127, 0.02136, 0.99133 ], "tcp_roll_pitch_yaw": [ 0.22354, -1.48811, -0.25698 ], "tcp_rotation_matrix": [ [ 0.24986, -0.11612, 0.96129 ], [ 0.06445, -0.98859, -0.13617 ], [ 0.96613, 0.09598, -0.23953 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 44 }, "api_seconds": 3.4037161227315664, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47 }, "note": "Continue pulling while observing which way the door swings." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.55244, -0.34792, 0.74268, -2.79928, 0.361, 3.8293, -0.07771 ], "gripper_open": 0.1295, "tcp_xyz": [ 0.55127, 0.02136, 0.99133 ], "tcp_roll_pitch_yaw": [ 0.22354, -1.48811, -0.25698 ], "tcp_rotation_matrix": [ [ 0.24986, -0.11612, 0.96129 ], [ 0.06445, -0.98859, -0.13617 ], [ 0.96613, 0.09598, -0.23953 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 43 }, "api_seconds": 3.203499644063413, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "roll": 0, "yaw": 0 }, "note": "Smaller pull step with neutral roll/yaw." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 006 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 6, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 28, "wall_seconds": 221.86, "usage": { "input_tokens": 60, "output_tokens": 11195, "cache_read_input_tokens": 426868, "cache_creation_input_tokens": 25964, "thinking_tokens": 7667, "cost_usd": 0.5172256 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MnW6GoAweF7L5WT4ueFJAr", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HD1uu69o9hRfCXPPs5JDZu", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the scene below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KCcJS3BYRyxWMLrr1pF8ze", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "Tilt gripper to face forward to see the cabinet with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 821, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 821 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WZjoAhzWCxjagN8Cw38Mjh", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 1 }, "note": "Approach cabinet ahead, lower toward counter/drawer height to find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 872, "cache_read_input_tokens": 3332, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 872 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HKXKY1RrGV6itw2mtg9tkt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 1.05 }, "note": "Smaller step toward cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1124, "cache_read_input_tokens": 4204, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1124 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've turned the gripper to face forward, but the arm is near a joint limit, so I'm making smaller moves toward the drawer." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 5328, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EJ4tLUFQwkFTzTpTQB7Uy6", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.05 }, "note": "Try lowering only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 5328, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FXd1iQDix4JAXmTFGQ7PiT", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Reduce pitch to get away from joint limit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 812, "cache_read_input_tokens": 6018, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 812 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013v9jnV6EkGQLnwx5cVZYXJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 1 }, "note": "Drawer handle visible ahead; approach forward and down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 6830, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 647 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Eg2xzyZCd5NTpoeb6ajxNK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Continue approaching the drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 796, "cache_read_input_tokens": 7477, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 796 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HWv1QXBqwvAqfgKZzQcafR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56, "z": 0.87 }, "note": "Handle bar visible just ahead near fingers; approach closer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 848, "cache_read_input_tokens": 8273, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 848 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LC7M7jBew8P2GVmA5oKH66", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "z": 1.05, "x": 0.5 }, "note": "Point camera down to see counter layout from above and locate drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1049, "cache_read_input_tokens": 9121, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1049 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working out where the drawer is: the gripper is just to the right of the counter's end, so I'm moving it left to line up with the drawers." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1357, "cache_read_input_tokens": 10170, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1357 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011c91vXTjt6FhfSUmnmBRbn", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15, "x": 0.42 }, "note": "Counter appears to the left (+y) and front face behind current x; shift over it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1357, "cache_read_input_tokens": 10170, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1357 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017bTvJ2CdmbARvvPLhoVvwQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.95, "pitch": -0.8 }, "note": "Back off and tilt forward to view the counter front and drawer handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1184, "cache_read_input_tokens": 11527, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1184 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Dh6LfWvkwNjdL7bT3p6wUw", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Handle-like bar appears ahead; approach carefully." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 895, "cache_read_input_tokens": 12711, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 895 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YRBS42wgZUZcfoDitF9Rrk", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Probe image direction mapping by shifting +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1668, "cache_read_input_tokens": 13606, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1668 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FzEYBHs7M47ba4WmFdhfrj", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1, "z": 0.8, "x": 0.4 }, "note": "Handle seems at lower y; lower below counter top to look at drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 991, "cache_read_input_tokens": 15274, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 991 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Go8XV7K3epuwPPKfVsvBQc", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1, "z": 0.8, "x": 0.45, "pitch": -0.4 }, "note": "Lower with less pitch for reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1177, "cache_read_input_tokens": 16265, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1177 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm lining the gripper up with the drawer handle near the right end of the counter, just under the countertop." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 703, "cache_read_input_tokens": 17442, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 703 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LKytDQMnGJVfetuexHBpKP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52, "z": 0.84 }, "note": "Move toward handle area just below counter top." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 703, "cache_read_input_tokens": 17442, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 703 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NsZp7gD2Z2MMxvMiwjSCQL", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.06, "x": 0.54 }, "note": "Handle mount appears at left finger; center fingers on it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1008, "cache_read_input_tokens": 18145, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1008 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TvBH1uc1jBhdcYqX1wT32R", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.04, "x": 0.56, "z": 0.82 }, "note": "Straddle the handle bar between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 846, "cache_read_input_tokens": 19153, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 846 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UR4cfqujov7FH6SKywPQFV", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt to grasp handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 19999, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 803 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AGjf1N1xeF49z4NhRBDHDA", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "y": 0, "x": 0.58 }, "note": "Missed; open and shift toward handle (-y) and forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 20802, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EGqHe1S8Tr8YkxJDE3pLWo", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.02, "x": 0.61, "z": 0.8 }, "note": "Advance so handle lies between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 738, "cache_read_input_tokens": 21477, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 738 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've inched the gripper forward so the handle should sit between the fingers. Closing to test the grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 22215, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 768 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Axr2E6EVTiXwuGJMt5ojmX", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Try grasp again." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 22215, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 768 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018K1CtC4MLz1RsEtzfLttp2", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.55, "y": 0.2, "z": 0.86 }, "note": "Missed again; exterior view suggests handle is further +y and ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 947, "cache_read_input_tokens": 22983, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 947 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WHuUjdTFtx8zaiyDBrYZhp", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Exterior shows gripper at the handle; grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1014, "cache_read_input_tokens": 23930, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1014 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018cVPEkVsAQq9pYnxDq6oek", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "y": 0.13 }, "note": "Handle is image-left (-y) of fingers; shift and reopen." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 24944, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 859 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017gv2BE6L5YgqiJEy5yAou6", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.09, "x": 0.57 }, "note": "Center handle between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 732, "cache_read_input_tokens": 25803, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 732 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VRb5CWVxrhj871TuUREmN4", "name": "mcp__robot__give_up", "input": { "note": "Could not reliably localize and grasp the drawer handle; several grasp attempts closed on nothing and simulated time is nearly exhausted." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 680, "cache_read_input_tokens": 26535, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 680 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the drawer. I gave up with about 5 of the 30 seconds of motion time left.\n\n- **Finding the handle:** From the outside camera, the handle looked like it sat near the right end of the counter, just below the countertop. The wrist camera was hard to read. I couldn't tell which way the drawer front faced, or whether a yellow-tipped bar in view was the handle or the knife on the counter.\n- **Grasp attempts:** I closed the gripper three times, at y ≈ 0.04, −0.02 and 0.20 m, around 0.80–0.86 m high. Each time it closed fully on nothing.\n- **Lost time:** Several moves toward the counter failed because the arm couldn't reach those poses with the gripper tilted steeply forward. I had to back off and reduce the tilt." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 302, "cache_read_input_tokens": 27215, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 302 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 60, "cache_creation_input_tokens": 25964, "cache_read_input_tokens": 426868, "output_tokens": 11195, "output_tokens_details": { "thinking_tokens": 7667 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 25964, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 268, "cache_read_input_tokens": 27215, "cache_creation_input_tokens": 302, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 302 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 60, "outputTokens": 11195, "cacheReadInputTokens": 426868, "cacheCreationInputTokens": 25964, "webSearchRequests": 0, "costUSD": 0.5172256, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7667, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.5172256, "num_turns": 30, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.024, -0.76611, -0.01881, -2.42021, -0.04642, 1.71076, 0.08099 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33191, -0.02498, 0.99166 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9919, -0.11429, 0.05536 ], [ -0.11246, -0.99304, -0.03504 ], [ 0.05898, 0.02853, -0.99785 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.408471525646746, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the scene below." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.02366, -0.61745, -0.01362, -1.90449, -0.04205, 1.34412, 0.06813 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33194, -0.02498, 1.14868 ], "tcp_roll_pitch_yaw": [ -0.0, -0.00023, 0.0 ], "tcp_rotation_matrix": [ [ 0.99189, -0.11429, 0.05559 ], [ -0.11246, -0.99304, -0.03505 ], [ 0.0592, 0.02851, -0.99784 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 5.6056932816281915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "Tilt gripper to face forward to see the cabinet with wrist camera." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.03462, -1.56363, -0.05653, -3.02914, -0.04132, 2.81638, 0.08912 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33202, -0.02498, 1.1485 ], "tcp_roll_pitch_yaw": [ 4e-05, -1.29509, -3e-05 ], "tcp_rotation_matrix": [ [ 0.21327, -0.05856, 0.97524 ], [ -0.11247, -0.99304, -0.03504 ], [ 0.9705, -0.10221, -0.21837 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 55 }, "api_seconds": 9.009061636403203, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1 }, "note": "Approach cabinet ahead, lower toward counter/drawer height to find handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.03462, -1.56363, -0.05653, -3.02914, -0.04132, 2.81638, 0.08912 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33202, -0.02498, 1.1485 ], "tcp_roll_pitch_yaw": [ 4e-05, -1.29509, -3e-05 ], "tcp_rotation_matrix": [ [ 0.21327, -0.05856, 0.97524 ], [ -0.11247, -0.99304, -0.03504 ], [ 0.9705, -0.10221, -0.21837 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 54 }, "api_seconds": 3.403993803076446, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 1.05 }, "note": "Smaller step toward cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.03462, -1.56363, -0.05653, -3.02914, -0.04132, 2.81638, 0.08912 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33202, -0.02498, 1.1485 ], "tcp_roll_pitch_yaw": [ 4e-05, -1.29509, -3e-05 ], "tcp_rotation_matrix": [ [ 0.21327, -0.05856, 0.97524 ], [ -0.11247, -0.99304, -0.03504 ], [ 0.9705, -0.10221, -0.21837 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 53 }, "api_seconds": 5.205058789812028, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Try lowering only." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.03462, -1.56363, -0.05653, -3.02914, -0.04132, 2.81638, 0.08912 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33202, -0.02498, 1.1485 ], "tcp_roll_pitch_yaw": [ 4e-05, -1.29509, -3e-05 ], "tcp_rotation_matrix": [ [ 0.21327, -0.05856, 0.97524 ], [ -0.11247, -0.99304, -0.03504 ], [ 0.9705, -0.10221, -0.21837 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 52 }, "api_seconds": 3.203794158063829, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Reduce pitch to get away from joint limit." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.0251, -1.27373, -0.03349, -2.61254, -0.03644, 2.19931, 0.08716 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3321, -0.02499, 1.14858 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.80435, -3e-05 ], "tcp_rotation_matrix": [ [ 0.64548, -0.09983, 0.75723 ], [ -0.11248, -0.99304, -0.03504 ], [ 0.75545, -0.06256, -0.65221 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 51 }, "api_seconds": 4.604640367440879, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1 }, "note": "Drawer handle visible ahead; approach forward and down." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.02802, -0.88495, -0.03543, -2.85088, -0.04736, 2.82593, 0.1041 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44917, -0.02499, 1.00089 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.80395, -4e-05 ], "tcp_rotation_matrix": [ [ 0.64578, -0.09986, 0.75697 ], [ -0.11249, -0.99304, -0.03504 ], [ 0.75519, -0.06252, -0.65251 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 50 }, "api_seconds": 5.805555914528668, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Continue approaching the drawer handle." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.044, -0.49652, -0.02072, -2.88793, -0.05163, 3.25103, 0.11602 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49938, -0.02499, 0.90104 ], "tcp_roll_pitch_yaw": [ 4e-05, -0.80356, -4e-05 ], "tcp_rotation_matrix": [ [ 0.64607, -0.09989, 0.75671 ], [ -0.11249, -0.99303, -0.03504 ], [ 0.75494, -0.06249, -0.65281 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 49 }, "api_seconds": 8.007687578909099, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "z": 0.87 }, "note": "Handle bar visible just ahead near fingers; approach closer." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.07473, -0.2157, 0.02064, -2.73625, -0.03869, 3.38011, 0.11809 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55878, -0.025, 0.87058 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.80339, -3e-05 ], "tcp_rotation_matrix": [ [ 0.6462, -0.09991, 0.7566 ], [ -0.11248, -0.99303, -0.03506 ], [ 0.75483, -0.06245, -0.65294 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 48 }, "api_seconds": 11.409601014107466, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "z": 1.05, "x": 0.5 }, "note": "Point camera down to see counter layout from above and locate drawer front." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.03045, -0.22446, -0.00241, -1.83835, -0.03381, 1.6746, 0.08348 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50049, -0.025, 1.04927 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.00431, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99164, -0.11441, 0.05966 ], [ -0.11247, -0.99304, -0.03506 ], [ 0.06326, 0.02806, -0.9976 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 47 }, "api_seconds": 10.00981895904988, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "x": 0.42 }, "note": "Counter appears to the left (+y) and front face behind current x; shift over it." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.09505, -0.38895, 0.21811, -1.98167, 0.03109, 1.6479, 0.41114 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42054, 0.14889, 1.0493 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.00438, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99167, -0.11414, 0.05973 ], [ -0.11219, -0.99307, -0.03507 ], [ 0.06332, 0.02808, -0.9976 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 46 }, "api_seconds": 6.005609911866486, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.95, "pitch": -0.8 }, "note": "Back off and tilt forward to view the counter front and drawer handles." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.1845, -1.19123, 0.44882, -3.02344, -0.01543, 2.63174, 0.66817 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35028, 0.14896, 0.9504 ], "tcp_roll_pitch_yaw": [ -0.00062, -0.79546, 0.00068 ], "tcp_rotation_matrix": [ [ 0.65219, -0.10014, 0.75141 ], [ -0.11198, -0.99309, -0.03515 ], [ 0.74974, -0.06122, -0.6589 ] ], "simulated_seconds_remaining": 17.754, "calls_remaining_including_this": 45 }, "api_seconds": 14.813512796536088, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Handle-like bar appears ahead; approach carefully." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.15758, -0.71268, 0.59511, -2.91164, -0.09523, 3.06998, 0.69218 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44883, 0.1489, 0.90053 ], "tcp_roll_pitch_yaw": [ -0.00085, -0.79525, 0.00065 ], "tcp_rotation_matrix": [ [ 0.65233, -0.10034, 0.75126 ], [ -0.11199, -0.99308, -0.0354 ], [ 0.74962, -0.06104, -0.65905 ] ], "simulated_seconds_remaining": 16.698, "calls_remaining_including_this": 44 }, "api_seconds": 7.807414743117988, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Probe image direction mapping by shifting +y." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.20982, -0.70077, 0.76084, -2.83323, -0.08215, 3.02114, 0.80594 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44883, 0.19887, 0.90057 ], "tcp_roll_pitch_yaw": [ -0.00096, -0.79533, 0.0009 ], "tcp_rotation_matrix": [ [ 0.65229, -0.10017, 0.75132 ], [ -0.11182, -0.9931, -0.03533 ], [ 0.74968, -0.06097, -0.65899 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 43 }, "api_seconds": 8.808745468966663, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "z": 0.8, "x": 0.4 }, "note": "Handle seems at lower y; lower below counter top to look at drawer front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 16, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.20982, -0.70077, 0.76084, -2.83323, -0.08215, 3.02114, 0.80594 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44883, 0.19887, 0.90057 ], "tcp_roll_pitch_yaw": [ -0.00096, -0.79533, 0.0009 ], "tcp_rotation_matrix": [ [ 0.65229, -0.10017, 0.75132 ], [ -0.11182, -0.9931, -0.03533 ], [ 0.74968, -0.06097, -0.65899 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 42 }, "api_seconds": 3.403891689144075, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "z": 0.8, "x": 0.45, "pitch": -0.4 }, "note": "Lower with less pitch for reachability." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.09061, -0.4117, 0.37415, -2.81351, -0.0476, 2.85923, 0.45039 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45001, 0.10064, 0.80068 ], "tcp_roll_pitch_yaw": [ -0.00089, -0.40271, 0.0006 ], "tcp_rotation_matrix": [ [ 0.88947, -0.11607, 0.44201 ], [ -0.11187, -0.99308, -0.03566 ], [ 0.44309, -0.01773, -0.8963 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 41 }, "api_seconds": 7.6067784037441015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "z": 0.84 }, "note": "Move toward handle area just below counter top." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.15471, -0.27315, 0.37597, -2.57383, -0.09867, 2.75666, 0.43451 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51895, 0.10063, 0.83943 ], "tcp_roll_pitch_yaw": [ -0.00082, -0.40281, 0.00053 ], "tcp_rotation_matrix": [ [ 0.88942, -0.11612, 0.4421 ], [ -0.11195, -0.99308, -0.03563 ], [ 0.44317, -0.0178, -0.89626 ] ], "simulated_seconds_remaining": 13.926, "calls_remaining_including_this": 40 }, "api_seconds": 5.405560787767172, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06, "x": 0.54 }, "note": "Handle mount appears at left finger; center fingers on it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.174, -0.22487, 0.30489, -2.53805, -0.08228, 2.77154, 0.32976 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53944, 0.06103, 0.83942 ], "tcp_roll_pitch_yaw": [ -0.00073, -0.40277, 0.00023 ], "tcp_rotation_matrix": [ [ 0.8894, -0.11638, 0.44206 ], [ -0.11222, -0.99304, -0.03567 ], [ 0.44313, -0.01788, -0.89628 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 39 }, "api_seconds": 5.005143548361957, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04, "x": 0.56, "z": 0.82 }, "note": "Straddle the handle bar between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.20672, -0.13402, 0.28747, -2.5027, -0.11658, 2.82552, 0.31058 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55928, 0.04063, 0.82058 ], "tcp_roll_pitch_yaw": [ -0.00068, -0.4026, 4e-05 ], "tcp_rotation_matrix": [ [ 0.88946, -0.11656, 0.44189 ], [ -0.11239, -0.99302, -0.03571 ], [ 0.44297, -0.0179, -0.89636 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 38 }, "api_seconds": 3.6038315491750836, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt to grasp handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.20672, -0.13402, 0.28747, -2.5027, -0.11658, 2.82552, 0.31058 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55929, 0.04063, 0.82058 ], "tcp_roll_pitch_yaw": [ -0.00068, -0.4026, 4e-05 ], "tcp_rotation_matrix": [ [ 0.88946, -0.11655, 0.4419 ], [ -0.11239, -0.99302, -0.03571 ], [ 0.44298, -0.0179, -0.89636 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 37 }, "api_seconds": 4.2043853318318725, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0, "x": 0.58 }, "note": "Missed; open and shift toward handle (-y) and forward." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.22601, -0.07898, 0.2307, -2.44635, -0.06885, 2.8264, 0.18986 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.57955, 0.00082, 0.82057 ], "tcp_roll_pitch_yaw": [ -0.00065, -0.40259, -0.00011 ], "tcp_rotation_matrix": [ [ 0.88945, -0.11669, 0.44188 ], [ -0.11252, -0.99301, -0.03574 ], [ 0.44296, -0.01793, -0.89636 ] ], "simulated_seconds_remaining": 10.956, "calls_remaining_including_this": 36 }, "api_seconds": 4.20437110029161, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.02, "x": 0.61, "z": 0.8 }, "note": "Advance so handle lies between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.24725, 0.04219, 0.21179, -2.36247, -0.10117, 2.8612, 0.17432 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60914, -0.01949, 0.8005 ], "tcp_roll_pitch_yaw": [ -0.0006, -0.40245, -0.00026 ], "tcp_rotation_matrix": [ [ 0.8895, -0.11683, 0.44175 ], [ -0.11266, -0.99299, -0.03576 ], [ 0.44283, -0.01796, -0.89643 ] ], "simulated_seconds_remaining": 10.362, "calls_remaining_including_this": 35 }, "api_seconds": 6.811300759203732, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Try grasp again." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.24725, 0.04219, 0.21179, -2.36247, -0.10117, 2.8612, 0.17432 ], "gripper_open": 0.0, "tcp_xyz": [ 0.60915, -0.0195, 0.8005 ], "tcp_roll_pitch_yaw": [ -0.00061, -0.40245, -0.00026 ], "tcp_rotation_matrix": [ [ 0.8895, -0.11683, 0.44175 ], [ -0.11266, -0.99299, -0.03576 ], [ 0.44283, -0.01796, -0.89642 ] ], "simulated_seconds_remaining": 9.438, "calls_remaining_including_this": 34 }, "api_seconds": 7.006599236279726, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.55, "y": 0.2, "z": 0.86 }, "note": "Missed again; exterior view suggests handle is further +y and ahead." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.0755, -0.11996, 0.45715, -2.34037, -0.30669, 2.62591, 0.74826 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55033, 0.19887, 0.8597 ], "tcp_roll_pitch_yaw": [ -0.00061, -0.40256, 7e-05 ], "tcp_rotation_matrix": [ [ 0.88949, -0.1165, 0.44186 ], [ -0.11236, -0.99303, -0.03562 ], [ 0.44293, -0.01796, -0.89638 ] ], "simulated_seconds_remaining": 7.59, "calls_remaining_including_this": 33 }, "api_seconds": 5.605361617170274, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Exterior shows gripper at the handle; grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.0755, -0.11996, 0.45715, -2.34037, -0.30669, 2.62591, 0.74826 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.55033, 0.19888, 0.85971 ], "tcp_roll_pitch_yaw": [ -0.00061, -0.40256, 7e-05 ], "tcp_rotation_matrix": [ [ 0.88949, -0.1165, 0.44186 ], [ -0.11237, -0.99303, -0.03563 ], [ 0.44293, -0.01796, -0.89638 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 32 }, "api_seconds": 4.403965346515179, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.13 }, "note": "Handle is image-left (-y) of fingers; shift and reopen." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.09188, -0.18487, 0.35121, -2.42587, -0.19924, 2.67796, 0.54809 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.55035, 0.13141, 0.8597 ], "tcp_roll_pitch_yaw": [ -0.00058, -0.40254, -0.00015 ], "tcp_rotation_matrix": [ [ 0.88947, -0.11671, 0.44184 ], [ -0.11256, -0.993, -0.03569 ], [ 0.44291, -0.01799, -0.89638 ] ], "simulated_seconds_remaining": 5.742, "calls_remaining_including_this": 31 }, "api_seconds": 3.8035024693235755, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.09, "x": 0.57 }, "note": "Center handle between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.11427, -0.15227, 0.28973, -2.40141, -0.16741, 2.69469, 0.43851 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56948, 0.09103, 0.85969 ], "tcp_roll_pitch_yaw": [ -0.0005, -0.4025, -0.00047 ], "tcp_rotation_matrix": [ [ 0.88946, -0.11699, 0.44179 ], [ -0.11285, -0.99297, -0.03575 ], [ 0.44287, -0.01806, -0.89641 ] ], "simulated_seconds_remaining": 5.148, "calls_remaining_including_this": 30 }, "api_seconds": 4.4049029517918825, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably localize and grasp the drawer handle; several grasp attempts closed on nothing and simulated time is nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 007 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 7, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 37, "wall_seconds": 218.42, "usage": { "input_tokens": 74, "output_tokens": 11052, "cache_read_input_tokens": 606629, "cache_creation_input_tokens": 30422, "thinking_tokens": 6508, "cost_usd": 0.5860377999999999 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0162jBPfjpm1utBNfKXzDT4u", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BYr4FJ3s9FW32yq1QBDHFu", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist camera forward to locate cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 485 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015igRE9Xpy5MzztX1Mg67BB", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7, "z": 0.95 }, "note": "Tilt forward partially to look for cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 761, "cache_read_input_tokens": 2510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 761 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GH35GDxLJmuK57A7RH9B3u", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.5 }, "note": "Test pitch sign to tilt camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 775, "cache_read_input_tokens": 3271, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 775 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TRhTVFhVqFvXVGSB5E3wyP", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Tilt forward modestly to look ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 4046, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Scanning for the cabinet: the wrist camera shows the counter edge ahead, so I'm lowering the arm to check the cabinet fronts underneath." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 928, "cache_read_input_tokens": 4686, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 928 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VGk4WNHRncVZnkypNKG6Gb", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75, "x": 0.3 }, "note": "Lower to view cabinet front below counter edge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 928, "cache_read_input_tokens": 4686, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 928 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KXuseR3Z67R3UbFLsxz9xM", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Lower moderately to see below counter edge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1014, "cache_read_input_tokens": 5614, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1014 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PxsZqxoxagP2trkhMWJDjo", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 1.1, "pitch": -0.8 }, "note": "Upper cabinet handles seem visible above counter; orient gripper more forward and rise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 6628, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SsMFF3XENancZXzdWbmSFY", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 1.15 }, "note": "Handle of cabinet door visible ahead; orient gripper horizontal to approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1091, "cache_read_input_tokens": 7303, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1091 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FgJEVM7zodVXy4eJorRezx", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.01, "x": 0.5 }, "note": "Handle right of center; shift right (-y) and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1252, "cache_read_input_tokens": 8394, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1252 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01S44PrhEU7vf5uH6CHaBe4r", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.07 }, "note": "Image right seems to be +y; shift left to center handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 896, "cache_read_input_tokens": 9646, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 896 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Found a vertical cabinet door handle and lined it up between the fingers; now moving in toward it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 825, "cache_read_input_tokens": 10542, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 825 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Xdr2qep9G7VrJUEr3mGDUG", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58 }, "note": "Handle between fingers in wrist view; approach forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 825, "cache_read_input_tokens": 10542, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 825 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NtuVEVzCkVjstpev2pmtX3", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.65, "y": 0.08 }, "note": "Continue approach, slight left correction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 11367, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WCpiqPsY6V2KiSuTDcX5s1", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.7, "y": 0.1 }, "note": "Handle slightly right (+y) of finger center; shift and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 651, "cache_read_input_tokens": 12143, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 651 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LDL9Da7QDnNc7EaHBwRFhg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62, "y": 0.05, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Contacted door face; back off and shift -y to test handle direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1008, "cache_read_input_tokens": 12794, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1008 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Wx5tGQ9rC21XTGGRfYwvbu", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12 }, "note": "Handle toward +y; shift left to center it between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 782, "cache_read_input_tokens": 13802, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 782 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VXdk8SMEbAYRp9SeQJzL4b", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.66 }, "note": "Handle centered; approach to surround it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 14584, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 758 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The handle is centered between the fingers; creeping forward to get it inside the jaws." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 727, "cache_read_input_tokens": 15342, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 727 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RhCU7SNuT5iSGUppAQzpkA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.7 }, "note": "Approach further until handle is between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 727, "cache_read_input_tokens": 15342, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 727 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JGemLnThrwZu3Nxpt317mT", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.63, "z": 1.22, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Blocked by door; handle seems to end near finger level — raise to align with handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 710, "cache_read_input_tokens": 16069, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 710 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011PStgb74BZdAiAV65bXn9a", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.63, "z": 1.19, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Back off and raise to max allowed height to align with handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 914, "cache_read_input_tokens": 16779, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 914 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BXxTLvHoXsgre6fu7Z9zkr", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.665 }, "note": "Approach to contact depth with handle between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 921, "cache_read_input_tokens": 17693, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 921 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DnoHRXHz6G4Fm3xyggtb5q", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle centered between fingers at contact depth; close gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1074, "cache_read_input_tokens": 18614, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1074 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SoYrb3jPSY1QuxUsy7QES7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.645, "gripper": 1 }, "note": "Gripper couldn't close (fingertips likely pressed on door); back off slightly and reopen." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 617, "cache_read_input_tokens": 19688, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 617 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The first grasp didn't close, so I backed off slightly and am trying the grasp again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 940, "cache_read_input_tokens": 20305, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 940 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Pjs2GW7j2ihQza78sAjjzF", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Try closing slightly off the door face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 940, "cache_read_input_tokens": 20305, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 940 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Mg3muugvYGYQ4FNzEnaNpY", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1 }, "note": "Missed; reopen before re-approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 795, "cache_read_input_tokens": 21245, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 795 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NyNkB9ALpL6aBd5AkWhNNk", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.658 }, "note": "Approach to intermediate depth." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 795, "cache_read_input_tokens": 21245, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 795 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YVYckXj1ygeSdxaNXdaHnj", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at intermediate depth to catch handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1716, "cache_read_input_tokens": 22040, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1716 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Got something (gripper stopped at 0.66). Pulling back gently to see whether the door moves." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 612, "cache_read_input_tokens": 23756, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 612 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FHzuxQ4JSMM3V1Ym8C3bQo", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Gripper stopped partway, likely holding handle; pull back to test opening." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 612, "cache_read_input_tokens": 23756, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 612 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper reopened during the pull (the partly closed reading counted as \"open\"), so I'll grasp again and keep sending the close command while pulling." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 24368, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 758 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013Fus82DrQuKBxYWv6xDGB9", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.657, "gripper": 1 }, "note": "Gripper reopened because retained value >0.5; re-approach handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 24368, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 758 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LF6D6c5kTP1oHkgnaq6xt2", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 24368, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 758 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kd1yVmdzwj6pSs2H6uaws7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.61, "gripper": 0 }, "note": "Holding handle; pull back keeping gripper closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1413, "cache_read_input_tokens": 25126, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1413 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The grasp slipped on the pull. Trying once more with a slightly deeper grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 26539, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 714 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A2JsFNzy96hMTjUtNP5ao5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.663, "gripper": 1 }, "note": "Slipped; reopen and approach deeper for a firmer grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 26539, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 714 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FUSPPacX6RadCHHmtXivWU", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1249, "cache_read_input_tokens": 27253, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1249 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DnzhGtDbTVRWcXgUsDWVZc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62, "gripper": 0 }, "note": "Fingers blocked at 0.86 on something; pull back with gripper commanded closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 602, "cache_read_input_tokens": 28502, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 602 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PDEa7KCF7dpJy8toyPQ1sc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.66, "z": 1.13, "gripper": 1 }, "note": "Grasps slipping; try lower on the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 669, "cache_read_input_tokens": 29104, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 669 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016Yc9JiKj2FPRXowybLtrzS", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle at lower height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 784, "cache_read_input_tokens": 29773, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 784 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X6qxadKVcytNc2MATPjrh9", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "gripper": 0 }, "note": "Pull back holding handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 606, "cache_read_input_tokens": 30557, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 606 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SxtuhbNkqaq8GfkWR8Pqyg", "name": "mcp__robot__give_up", "input": { "note": "Found the upper cabinet door's vertical handle, but each grasp slipped off when pulling. Door never opened and the motion time is nearly used up." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 642, "cache_read_input_tokens": 31163, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 642 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the cabinet. The door never moved, and I ended the episode with give_up when only about 2.5 seconds of motion time were left.\n\n- **What worked:** I found a vertical handle on an upper cabinet door. I turned the gripper to face it and lined the handle up between the fingers.\n- **What went wrong:**\n - The gripper would never close fully on the handle. The fingertips probably hit the door face first, and every pull came away with an empty gripper.\n - On one pull I didn't send the close command again. The gripper was only partly closed, which counts as open, so it opened as the arm moved back. After that I sent the close command with every pull, but they still slipped.\n- **Limits:** The robot can't go above 1.2 m, so I couldn't raise the gripper further up the handle. My only other try was 6 cm lower, and it slipped the same way." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 170, "cache_read_input_tokens": 31805, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 170 }, "output_tokens": 280, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 74, "cache_creation_input_tokens": 30422, "cache_read_input_tokens": 606629, "output_tokens": 11052, "output_tokens_details": { "thinking_tokens": 6508 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 30422, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 280, "cache_read_input_tokens": 31805, "cache_creation_input_tokens": 170, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 170 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 74, "outputTokens": 11052, "cacheReadInputTokens": 606629, "cacheCreationInputTokens": 30422, "webSearchRequests": 0, "costUSD": 0.5860377999999999, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6508, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.5860377999999999, "num_turns": 39, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01119, -0.74394, 0.01696, -2.28661, 0.07639, 1.70244, -0.00681 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3562, 0.02896, 1.05046 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.987, 0.03248, 0.15738 ], [ 0.02197, -0.99744, 0.06809 ], [ 0.15919, -0.06375, -0.98519 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.206166514195502, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist camera forward to locate cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01119, -0.74394, 0.01696, -2.28661, 0.07639, 1.70244, -0.00681 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3562, 0.02896, 1.05046 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.987, 0.03248, 0.15738 ], [ 0.02197, -0.99744, 0.06809 ], [ 0.15919, -0.06375, -0.98519 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 4.404571743682027, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7, "z": 0.95 }, "note": "Tilt forward partially to look for cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01119, -0.74394, 0.01696, -2.28661, 0.07639, 1.70244, -0.00681 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3562, 0.02896, 1.05046 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.987, 0.03248, 0.15738 ], [ 0.02197, -0.99744, 0.06809 ], [ 0.15919, -0.06375, -0.98519 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.6029336266219616, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.5 }, "note": "Test pitch sign to tilt camera." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.012, -0.32617, 0.00622, -1.885, 0.08081, 1.22343, 0.02185 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35627, 0.02896, 1.05035 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.49596, -3e-05 ], "tcp_rotation_matrix": [ [ 0.94384, -0.00181, -0.3304 ], [ 0.02193, -0.99744, 0.06812 ], [ -0.32968, -0.07154, -0.94138 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 54 }, "api_seconds": 5.806117495521903, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Tilt forward modestly to look ahead." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01539, -1.0729, 0.0276, -2.62398, 0.0857, 2.10595, -0.02866 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35622, 0.02897, 1.05031 ], "tcp_roll_pitch_yaw": [ 0.0, -0.39555, 2e-05 ], "tcp_rotation_matrix": [ [ 0.84945, 0.05455, 0.52484 ], [ 0.02198, -0.99744, 0.0681 ], [ 0.52721, -0.04631, -0.84847 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 53 }, "api_seconds": 7.206749964505434, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75, "x": 0.3 }, "note": "Lower to view cabinet front below counter edge." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01539, -1.0729, 0.0276, -2.62398, 0.0857, 2.10595, -0.02866 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35622, 0.02897, 1.05031 ], "tcp_roll_pitch_yaw": [ 0.0, -0.39555, 2e-05 ], "tcp_rotation_matrix": [ [ 0.84945, 0.05455, 0.52484 ], [ 0.02198, -0.99744, 0.0681 ], [ 0.52721, -0.04631, -0.84847 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 52 }, "api_seconds": 3.0032908553257585, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lower moderately to see below counter edge." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.03546, -1.10421, 0.03849, -3.01761, 0.11156, 2.46776, -0.04626 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35619, 0.02898, 0.9012 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.39525, 4e-05 ], "tcp_rotation_matrix": [ [ 0.84961, 0.05455, 0.52459 ], [ 0.022, -0.99744, 0.0681 ], [ 0.52696, -0.04632, -0.84863 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 51 }, "api_seconds": 7.407028490677476, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.1, "pitch": -0.8 }, "note": "Upper cabinet handles seem visible above counter; orient gripper more forward and rise." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.02915, -0.94196, 0.03053, -2.69224, 0.1043, 2.70711, -0.06933 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44958, 0.02898, 1.09912 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.79818, 2e-05 ], "tcp_rotation_matrix": [ [ 0.57494, 0.06835, 0.81534 ], [ 0.02198, -0.99744, 0.06811 ], [ 0.8179, -0.02124, -0.57497 ] ], "simulated_seconds_remaining": 24.42, "calls_remaining_including_this": 50 }, "api_seconds": 9.209721100516617, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 1.15 }, "note": "Handle of cabinet door visible ahead; orient gripper horizontal to approach." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.09646, -0.93557, 0.00571, -2.90749, 0.10804, 3.42725, -0.10955 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44971, 0.029, 1.14937 ], "tcp_roll_pitch_yaw": [ -0.00016, -1.29517, 0.00027 ], "tcp_rotation_matrix": [ [ 0.11542, 0.07029, 0.99083 ], [ 0.02202, -0.99743, 0.06819 ], [ 0.99307, 0.01395, -0.11667 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 49 }, "api_seconds": 6.4061535550281405, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.01, "x": 0.5 }, "note": "Handle right of center; shift right (-y) and approach." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.22008, -0.74717, -0.21696, -2.79354, 0.0229, 3.512, -0.18207 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49901, -0.00925, 1.14936 ], "tcp_roll_pitch_yaw": [ 0.00045, -1.29508, -0.00035 ], "tcp_rotation_matrix": [ [ 0.11552, 0.07027, 0.99082 ], [ 0.02185, -0.99743, 0.06819 ], [ 0.99307, 0.01378, -0.11676 ] ], "simulated_seconds_remaining": 22.704, "calls_remaining_including_this": 48 }, "api_seconds": 4.804721275344491, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.07 }, "note": "Image right seems to be +y; shift left to center handle." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.03197, -0.70918, 0.16672, -2.7783, 0.20396, 3.52767, -0.08496 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.499, 0.06884, 1.14939 ], "tcp_roll_pitch_yaw": [ -0.00013, -1.29513, 0.00037 ], "tcp_rotation_matrix": [ [ 0.11546, 0.07042, 0.99081 ], [ 0.02203, -0.99742, 0.06832 ], [ 0.99307, 0.01394, -0.11672 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 47 }, "api_seconds": 4.404714900068939, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58 }, "note": "Handle between fingers in wrist view; approach forward." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01999, -0.42077, 0.14265, -2.56982, 0.16551, 3.60715, -0.09476 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57876, 0.06882, 1.14935 ], "tcp_roll_pitch_yaw": [ -5e-05, -1.29499, 0.00025 ], "tcp_rotation_matrix": [ [ 0.1156, 0.07038, 0.9908 ], [ 0.022, -0.99742, 0.06828 ], [ 0.99305, 0.01391, -0.11685 ] ], "simulated_seconds_remaining": 20.988, "calls_remaining_including_this": 46 }, "api_seconds": 2.80580195505172, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "y": 0.08 }, "note": "Continue approach, slight left correction." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.03446, -0.19738, 0.21041, -2.35491, 0.21325, 3.61992, -0.15095 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.64878, 0.0798, 1.14929 ], "tcp_roll_pitch_yaw": [ -0.00014, -1.29486, 0.00033 ], "tcp_rotation_matrix": [ [ 0.11573, 0.07038, 0.99078 ], [ 0.02203, -0.99742, 0.06827 ], [ 0.99304, 0.01392, -0.11698 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 45 }, "api_seconds": 7.006814816966653, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "y": 0.1 }, "note": "Handle slightly right (+y) of finger center; shift and approach." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.05703, -0.04077, 0.32336, -2.26222, 0.42443, 3.85752, -0.33022 ], "gripper_open": 1.0, "tcp_xyz": [ 0.66993, 0.08407, 1.15307 ], "tcp_roll_pitch_yaw": [ 0.10046, -1.43111, -0.17472 ], "tcp_rotation_matrix": [ [ -0.02025, -0.00755, 0.99977 ], [ 0.00956, -0.99993, -0.00735 ], [ 0.99975, 0.00941, 0.02032 ] ], "simulated_seconds_remaining": 19.536, "calls_remaining_including_this": 44 }, "api_seconds": 4.604245137423277, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": 0.05, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Contacted door face; back off and shift -y to test handle direction." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00995, -0.2939, 0.07309, -2.45318, 0.02226, 3.621, -0.01165 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62077, 0.05038, 1.15331 ], "tcp_roll_pitch_yaw": [ 0.00069, -1.30249, -0.002 ], "tcp_rotation_matrix": [ [ 0.10819, 0.06875, 0.99175 ], [ 0.02164, -0.99753, 0.06679 ], [ 0.99389, 0.01424, -0.10941 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 43 }, "api_seconds": 4.2045540157705545, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Handle toward +y; shift left to center it between fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.17933, -0.27309, 0.46527, -2.39604, 0.41493, 3.62139, -0.24181 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62075, 0.11897, 1.15339 ], "tcp_roll_pitch_yaw": [ -3e-05, -1.30264, -0.00094 ], "tcp_rotation_matrix": [ [ 0.10803, 0.06911, 0.99174 ], [ 0.02187, -0.9975, 0.06713 ], [ 0.99391, 0.01444, -0.10927 ] ], "simulated_seconds_remaining": 18.018, "calls_remaining_including_this": 42 }, "api_seconds": 4.204479203559458, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66 }, "note": "Handle centered; approach to surround it." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.23181, -0.15143, 0.51926, -2.27322, 0.45124, 3.62649, -0.31956 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65871, 0.11893, 1.15333 ], "tcp_roll_pitch_yaw": [ 0.00014, -1.30251, -0.00118 ], "tcp_rotation_matrix": [ [ 0.10816, 0.06904, 0.99173 ], [ 0.02182, -0.99751, 0.06706 ], [ 0.99389, 0.01438, -0.1094 ] ], "simulated_seconds_remaining": 17.49, "calls_remaining_including_this": 41 }, "api_seconds": 4.604345724917948, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7 }, "note": "Approach further until handle is between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.23972, -0.0281, 0.58931, -2.22602, 0.53492, 3.86294, -0.45838 ], "gripper_open": 1.0, "tcp_xyz": [ 0.66717, 0.1174, 1.15658 ], "tcp_roll_pitch_yaw": [ -0.18621, -1.43195, 0.12206 ], "tcp_rotation_matrix": [ [ -0.02042, 0.0053, 0.99978 ], [ 0.04894, -0.99878, 0.0063 ], [ 0.99859, 0.04905, 0.02013 ] ], "simulated_seconds_remaining": 16.896, "calls_remaining_including_this": 40 }, "api_seconds": 6.005515965633094, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "z": 1.22, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Blocked by door; handle seems to end near finger level — raise to align with handle." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.23972, -0.0281, 0.58931, -2.22602, 0.53492, 3.86294, -0.45838 ], "gripper_open": 1.0, "tcp_xyz": [ 0.66717, 0.1174, 1.15658 ], "tcp_roll_pitch_yaw": [ -0.18621, -1.43195, 0.12206 ], "tcp_rotation_matrix": [ [ -0.02042, 0.0053, 0.99978 ], [ 0.04894, -0.99878, 0.0063 ], [ 0.99859, 0.04905, 0.02013 ] ], "simulated_seconds_remaining": 16.896, "calls_remaining_including_this": 39 }, "api_seconds": 6.806785322725773, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "z": 1.19, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Back off and raise to max allowed height to align with handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.19908, -0.28195, 0.47729, -2.29901, 0.49219, 3.52467, -0.32584 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63063, 0.11744, 1.18973 ], "tcp_roll_pitch_yaw": [ -0.00247, -1.30307, 0.00135 ], "tcp_rotation_matrix": [ [ 0.1076, 0.06904, 0.99179 ], [ 0.0225, -0.9975, 0.067 ], [ 0.99394, 0.01511, -0.10888 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 38 }, "api_seconds": 7.609391384758055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.665 }, "note": "Approach to contact depth with handle between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.28013, -0.17949, 0.56082, -2.19235, 0.53348, 3.53026, -0.39612 ], "gripper_open": 1.0, "tcp_xyz": [ 0.66314, 0.1175, 1.18963 ], "tcp_roll_pitch_yaw": [ -0.00153, -1.3035, -0.0002 ], "tcp_rotation_matrix": [ [ 0.10719, 0.06839, 0.99188 ], [ 0.02219, -0.99755, 0.06638 ], [ 0.99399, 0.01489, -0.10845 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 37 }, "api_seconds": 2.802969661541283, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle centered between fingers at contact depth; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.28073, -0.18436, 0.55953, -2.19767, 0.53718, 3.53387, -0.3953 ], "gripper_open": 0.9356, "tcp_xyz": [ 0.66167, 0.11519, 1.18993 ], "tcp_roll_pitch_yaw": [ 0.00449, -1.30571, -0.01149 ], "tcp_rotation_matrix": [ [ 0.1051, 0.06289, 0.99247 ], [ 0.02005, -0.99793, 0.06111 ], [ 0.99426, 0.01347, -0.10615 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 36 }, "api_seconds": 5.80592529848218, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.645, "gripper": 1 }, "note": "Gripper couldn't close (fingertips likely pressed on door); back off slightly and reopen." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.24115, -0.23429, 0.51698, -2.25073, 0.51217, 3.53194, -0.35493 ], "gripper_open": 0.9955, "tcp_xyz": [ 0.64598, 0.11523, 1.18997 ], "tcp_roll_pitch_yaw": [ 0.00423, -1.30579, -0.0112 ], "tcp_rotation_matrix": [ [ 0.10502, 0.06293, 0.99248 ], [ 0.02012, -0.99793, 0.06115 ], [ 0.99427, 0.01355, -0.10607 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 35 }, "api_seconds": 5.005004649981856, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Try closing slightly off the door face." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.24115, -0.23429, 0.51698, -2.25073, 0.51217, 3.53194, -0.35493 ], "gripper_open": 0.0, "tcp_xyz": [ 0.64597, 0.11523, 1.18997 ], "tcp_roll_pitch_yaw": [ 0.00424, -1.30579, -0.01121 ], "tcp_rotation_matrix": [ [ 0.10502, 0.06293, 0.99248 ], [ 0.02012, -0.99793, 0.06115 ], [ 0.99427, 0.01354, -0.10607 ] ], "simulated_seconds_remaining": 13.464, "calls_remaining_including_this": 34 }, "api_seconds": 8.207852534018457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1 }, "note": "Missed; reopen before re-approach." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.24115, -0.23429, 0.51698, -2.25073, 0.51217, 3.53194, -0.35493 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.64597, 0.11523, 1.18997 ], "tcp_roll_pitch_yaw": [ 0.00424, -1.30579, -0.01121 ], "tcp_rotation_matrix": [ [ 0.10502, 0.06293, 0.99248 ], [ 0.02012, -0.99793, 0.06115 ], [ 0.99427, 0.01354, -0.10607 ] ], "simulated_seconds_remaining": 12.54, "calls_remaining_including_this": 33 }, "api_seconds": 0.20080752205103636, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.658 }, "note": "Approach to intermediate depth." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.26873, -0.1999, 0.54592, -2.21443, 0.52744, 3.53328, -0.38054 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65686, 0.11519, 1.18994 ], "tcp_roll_pitch_yaw": [ 0.00446, -1.30573, -0.01145 ], "tcp_rotation_matrix": [ [ 0.10508, 0.0629, 0.99247 ], [ 0.02006, -0.99793, 0.06112 ], [ 0.99426, 0.01348, -0.10612 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 32 }, "api_seconds": 3.4038234557956457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at intermediate depth to catch handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.27019, -0.20573, 0.54328, -2.2206, 0.53187, 3.53765, -0.37985 ], "gripper_open": 0.6571, "tcp_xyz": [ 0.65526, 0.11116, 1.19051 ], "tcp_roll_pitch_yaw": [ 0.01222, -1.30874, -0.02728 ], "tcp_rotation_matrix": [ [ 0.10221, 0.05454, 0.99327 ], [ 0.01724, -0.99844, 0.05305 ], [ 0.99461, 0.0117, -0.10299 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 31 }, "api_seconds": 4.404128219932318, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Gripper stopped partway, likely holding handle; pull back to test opening." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.1615, -0.37538, 0.44229, -2.38711, 0.50093, 3.5238, -0.30177 ], "gripper_open": 0.9961, "tcp_xyz": [ 0.60124, 0.11124, 1.19059 ], "tcp_roll_pitch_yaw": [ 0.01179, -1.30888, -0.02678 ], "tcp_rotation_matrix": [ [ 0.10206, 0.05462, 0.99328 ], [ 0.01736, -0.99844, 0.05312 ], [ 0.99463, 0.01182, -0.10285 ] ], "simulated_seconds_remaining": 10.56, "calls_remaining_including_this": 30 }, "api_seconds": 4.8051334815099835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.657, "gripper": 1 }, "note": "Gripper reopened because retained value >0.5; re-approach handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.27388, -0.20448, 0.54661, -2.21909, 0.53134, 3.53747, -0.37956 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65575, 0.11119, 1.19052 ], "tcp_roll_pitch_yaw": [ 0.0118, -1.30873, -0.02686 ], "tcp_rotation_matrix": [ [ 0.10222, 0.05455, 0.99327 ], [ 0.01735, -0.99844, 0.05305 ], [ 0.99461, 0.01181, -0.10301 ] ], "simulated_seconds_remaining": 9.9, "calls_remaining_including_this": 29 }, "api_seconds": 0.20080468989908695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.27576, -0.21138, 0.54324, -2.22652, 0.53669, 3.5427, -0.3788 ], "gripper_open": 0.5477, "tcp_xyz": [ 0.65386, 0.10612, 1.19112 ], "tcp_roll_pitch_yaw": [ 0.0215, -1.31219, -0.04659 ], "tcp_rotation_matrix": [ [ 0.09885, 0.04417, 0.99412 ], [ 0.01395, -0.99898, 0.043 ], [ 0.995, 0.00962, -0.09936 ] ], "simulated_seconds_remaining": 8.976, "calls_remaining_including_this": 28 }, "api_seconds": 3.804445765912533, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.61, "gripper": 0 }, "note": "Holding handle; pull back keeping gripper closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.18507, -0.34623, 0.45636, -2.36092, 0.5062, 3.53252, -0.31081 ], "gripper_open": 0.0, "tcp_xyz": [ 0.61093, 0.10615, 1.19116 ], "tcp_roll_pitch_yaw": [ 0.02139, -1.31227, -0.04644 ], "tcp_rotation_matrix": [ [ 0.09877, 0.04421, 0.99413 ], [ 0.01399, -0.99898, 0.04303 ], [ 0.99501, 0.00965, -0.09929 ] ], "simulated_seconds_remaining": 8.052, "calls_remaining_including_this": 27 }, "api_seconds": 10.00986515916884, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.663, "gripper": 1 }, "note": "Slipped; reopen and approach deeper for a firmer grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.29784, -0.18561, 0.56742, -2.19875, 0.55069, 3.54374, -0.40095 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.66189, 0.10611, 1.19112 ], "tcp_roll_pitch_yaw": [ 0.02153, -1.31218, -0.04662 ], "tcp_rotation_matrix": [ [ 0.09886, 0.04416, 0.99412 ], [ 0.01394, -0.99898, 0.04299 ], [ 0.995, 0.00961, -0.09937 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 26 }, "api_seconds": 2.602676239795983, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.29698, -0.18895, 0.56822, -2.20158, 0.55161, 3.54547, -0.40097 ], "gripper_open": 0.8614, "tcp_xyz": [ 0.66064, 0.10696, 1.19166 ], "tcp_roll_pitch_yaw": [ 0.01767, -1.31409, -0.04261 ], "tcp_rotation_matrix": [ [ 0.097, 0.04444, 0.99429 ], [ 0.01503, -0.99895, 0.04318 ], [ 0.99517, 0.01076, -0.09757 ] ], "simulated_seconds_remaining": 6.204, "calls_remaining_including_this": 25 }, "api_seconds": 3.2034876439720392, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "gripper": 0 }, "note": "Fingers blocked at 0.86 on something; pull back with gripper commanded closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.20614, -0.31472, 0.4762, -2.33031, 0.50956, 3.53743, -0.32219 ], "gripper_open": 0.0, "tcp_xyz": [ 0.62086, 0.10699, 1.1917 ], "tcp_roll_pitch_yaw": [ 0.01757, -1.31416, -0.04248 ], "tcp_rotation_matrix": [ [ 0.09693, 0.04446, 0.9943 ], [ 0.01506, -0.99895, 0.0432 ], [ 0.99518, 0.01079, -0.0975 ] ], "simulated_seconds_remaining": 5.28, "calls_remaining_including_this": 24 }, "api_seconds": 4.40473367460072, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "z": 1.13, "gripper": 1 }, "note": "Grasps slipping; try lower on the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.19334, -0.11255, 0.47739, -2.30973, 0.43889, 3.71174, -0.31066 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.65947, 0.10694, 1.13076 ], "tcp_roll_pitch_yaw": [ 0.01757, -1.31388, -0.04252 ], "tcp_rotation_matrix": [ [ 0.0972, 0.04442, 0.99427 ], [ 0.01505, -0.99896, 0.04316 ], [ 0.99515, 0.01077, -0.09777 ] ], "simulated_seconds_remaining": 4.356, "calls_remaining_including_this": 23 }, "api_seconds": 2.8033035211265087, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle at lower height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.19274, -0.11571, 0.47801, -2.31304, 0.43993, 3.71419, -0.31064 ], "gripper_open": 0.767, "tcp_xyz": [ 0.65821, 0.10728, 1.13126 ], "tcp_roll_pitch_yaw": [ 0.01502, -1.31598, -0.04036 ], "tcp_rotation_matrix": [ [ 0.09515, 0.04409, 0.99449 ], [ 0.01575, -0.99896, 0.04278 ], [ 0.99534, 0.01159, -0.09575 ] ], "simulated_seconds_remaining": 3.432, "calls_remaining_including_this": 22 }, "api_seconds": 2.802989052608609, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "gripper": 0 }, "note": "Pull back holding handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.145, -0.29744, 0.43572, -2.49474, 0.41123, 3.70675, -0.21573 ], "gripper_open": 0.0, "tcp_xyz": [ 0.60124, 0.10731, 1.1313 ], "tcp_roll_pitch_yaw": [ 0.01488, -1.31606, -0.04018 ], "tcp_rotation_matrix": [ [ 0.09507, 0.04414, 0.99449 ], [ 0.01579, -0.99896, 0.04283 ], [ 0.99535, 0.01163, -0.09567 ] ], "simulated_seconds_remaining": 2.508, "calls_remaining_including_this": 21 }, "api_seconds": 3.2033486403524876, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Found the upper cabinet door's vertical handle, but each grasp slipped off when pulling. Door never opened and the motion time is nearly used up." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 008 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 8, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 32, "wall_seconds": 217.2, "usage": { "input_tokens": 68, "output_tokens": 13796, "cache_read_input_tokens": 576683, "cache_creation_input_tokens": 30498, "thinking_tokens": 9322, "cost_usd": 0.6355126000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BCwFLncfc3VDA65TG7NRos", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BsGrVj8VUjGi6s4Uwte3Gc", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.88 }, "note": "Exploring: lower slightly to understand where oven door/handle is relative to gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011XebBb3rVgQyKa6EyedbCC", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 0.85, "roll": 1.5708, "yaw": -1.5708 }, "note": "Reorient gripper to point forward (+x) with fingers opening vertically to grasp horizontal oven door handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1066, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1066 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012WK49VdhWvRLJeyTXHmbk6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 0.85, "roll": -1.5708, "yaw": 1.5708 }, "note": "Try alternative equivalent orientation (forward-pointing, vertical finger opening)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1805, "cache_read_input_tokens": 3578, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1805 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PC7pkabuPDJWxjNLUFrgL1", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5708 }, "note": "Rotate gripper to point forward toward oven front, one step at a time." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 5383, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The last three rotation attempts failed IK, so I'm trying a smaller forward tilt first." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 748, "cache_read_input_tokens": 6211, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 748 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RbchUPVi6D23ZrfgG899ei", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7, "x": 0.35 }, "note": "Partial tilt toward forward-pointing and move out from the base for better reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 748, "cache_read_input_tokens": 6211, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 748 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HwDwrnntoT3jBymDJVoWBa", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.3 }, "note": "Small pitch probe to learn feasible rotation direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 6959, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KvWToJNMT5gYVpT4LSQe4Q", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "yaw": 1.5708, "z": 0.8 }, "note": "Pointing-down grasp: yaw 90deg so fingers open along x to pinch the horizontal handle from above; lower to find it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 7688, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 652 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RUeuofFvTDZSCdVbsDcw4u", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33 }, "note": "Joint 4 near limit; move forward in x to gain reach and see how oven/handle shift in views." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1258, "cache_read_input_tokens": 8340, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1258 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015FjPagfnSCxZQYzeVFM6GX", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.26, "z": 0.76 }, "note": "Blocked at x~0.30 (oven front). Back off slightly and lower to straddle the handle bar with fingers along x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 875, "cache_read_input_tokens": 9598, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 875 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01B1DUVtPduXNmoQidNQkztv", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05, "z": 0.8 }, "note": "Probe +y motion to learn image axis mapping; handle appears to extend away from gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1007, "cache_read_input_tokens": 10473, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1007 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm lining the gripper up over the oven door handle and will try closing on it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 935, "cache_read_input_tokens": 11480, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 935 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HfzzDEPgYVJjtNcgtBxgpj", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12, "z": 0.76 }, "note": "Handle runs along y; move toward handle center and lower to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 935, "cache_read_input_tokens": 11480, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 935 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YGKxdZAxCVfmoC3MBD4Cng", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper appears at handle level (couldn't go lower); try closing on the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 933, "cache_read_input_tokens": 12415, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 933 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SvqyXUr2ssMp3DyQzZNCmC", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.95, "x": 0.22 }, "note": "Missed handle (closed fully). Open and rise to get a clearer top-down wrist view of the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 668, "cache_read_input_tokens": 13348, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 668 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018GeXjAF93wr5odX1GRs2mG", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.74 }, "note": "Descend at x=0.22 (in front of handle) to check if the path is clear; will then find handle by moving +x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1113, "cache_read_input_tokens": 14016, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1113 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EjPgGsyqzDkFZTQPhpspdV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.25, "y": 0.3, "z": 0.85, "roll": 0, "pitch": 0, "yaw": 1.5708 }, "note": "Arm cramped near base (joint4 at limit). Shift along handle to +y to gain reach distance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1347, "cache_read_input_tokens": 15129, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1347 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01W1Ak3TsvAtnoPDimun1MTL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.77 }, "note": "Better reach now; descend to handle height and observe." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1335, "cache_read_input_tokens": 16476, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1335 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still searching for the handle: the fingertip appears to be resting on top of it, so I'm moving slightly forward to straddle it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 774, "cache_read_input_tokens": 17811, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 774 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AQ5gzSS11vVvT95NZVnMYn", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.31, "z": 0.8, "roll": 0, "pitch": 0 }, "note": "A finger seems to rest on the handle top; shift +x so handle falls between fingers and descend." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 774, "cache_read_input_tokens": 17811, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 774 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ks9qKwVD8dv9rwZ9dR6FGN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.26, "z": 0.72, "gripper": 0 }, "note": "Front plane at x~0.28. Try descending just in front of it with closed fingers to find handle / get beside it for hooking." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 975, "cache_read_input_tokens": 18585, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 975 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FHKm93zcJ1aT2FH34ucNrj", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.18, "y": 0.35, "z": 0.88, "roll": -1.5708, "pitch": 0, "yaw": 1.5708, "gripper": 1 }, "note": "Contact disrupting top-down approach. Try forward-pointing gripper with vertical finger opening from farther y where reach is better." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1018, "cache_read_input_tokens": 19560, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1018 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GS4iG2hBQ22tEK4CiFy3F5", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.905 }, "note": "Wrist view (rotated): handle strip appears slightly above finger center; raise a bit to align." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1405, "cache_read_input_tokens": 20578, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1405 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011NixUfZ1sEYVdC4Z97dMUx", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.25 }, "note": "Advance toward oven front along +x to bring handle between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 928, "cache_read_input_tokens": 21983, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 928 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012df7Ayoei1EJDeWfNVWHbs", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.94 }, "note": "Handle strip (between knobs and window) is still above finger center in rotated wrist view; raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 697, "cache_read_input_tokens": 22911, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 697 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Handle is still ahead; advancing toward it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1035, "cache_read_input_tokens": 23608, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1035 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y7GmHoYwnUBfW6YJzwTRxs", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.32 }, "note": "Oven front appears ~0.2 m ahead of camera; advance +x to approach the handle strip." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1035, "cache_read_input_tokens": 23608, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1035 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ugc7XqjWMbdYgDW8nG2fa8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "z": 0.96 }, "note": "Exterior shows gripper just below handle level; raise slightly and advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1012, "cache_read_input_tokens": 24643, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1012 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DtvYRZr5MuCuXmn9LLhxAc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.97, "roll": -1.5708, "pitch": 0, "yaw": 1.5708 }, "note": "Upper finger seems to hit the handle; back off and raise ~4cm to center handle between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 836, "cache_read_input_tokens": 25655, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 836 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015d6J9CAMKhpVKk3BGmvr9K", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Fingers appear around the handle region; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 883, "cache_read_input_tokens": 26491, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 883 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UcnGFacMPfzuJXKhKTw49R", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.36 }, "note": "Nothing grasped; open and advance at raised height to engulf handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 806, "cache_read_input_tokens": 27374, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 806 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RudL7K7WutonWAK14qjdMQ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at contact; try closing here in case handle is between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 743, "cache_read_input_tokens": 28180, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 743 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've missed the handle twice and have about 5.6 s of motion left, so I'm trying one hook-and-pull." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 28923, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SrNzfT1jvEFfeQ6jhYpZ2e", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.22, "z": 0.87 }, "note": "Grasp failed; attempt a hook-pull back and down in case fingers are behind the handle/door lip." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 28923, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RVYsBXNBE5jbznMBt4cVgU", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.33, "z": 0.95 }, "note": "Hook failed; last attempt: open and re-approach handle height between the previous contact heights." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 29652, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MsYc4cLGt2yjXqYe7j3vgR", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Contact again at handle area; close to attempt grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 824, "cache_read_input_tokens": 30428, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 824 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011xUenCqDaowBW26WF7gB3B", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the oven door handle: repeated close attempts missed and the arm was cramped near joint limits. Simulated time is nearly exhausted; oven remains closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 613, "cache_read_input_tokens": 31252, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 613 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the oven: the door is still closed, and I ended the episode with give_up after using nearly all of the 30 seconds of simulated motion.\n\n- **Pointing down from above:** I tried to grip the handle from above, but the arm couldn't reach low enough. The oven is very close to the robot's base, and an elbow joint kept hitting its limit. Moving further along the handle to the left gave more room, but contact kept knocking the gripper off its target.\n- **Pointing straight at the door:** From that side I could turn the gripper to face the door, with the fingers opening up and down. I then closed the gripper three times near the top of the door, and it closed on nothing each time. I never pinned down the handle's exact height and distance from the camera views.\n- **Hooking:** One attempt to hook the door with closed fingers and pull back and down didn't move it.\n\nI tried to find the handle by feeling for it rather than locating it properly first. That cost the time I needed to line up an accurate grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 186, "cache_read_input_tokens": 31865, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 186 }, "output_tokens": 320, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 68, "cache_creation_input_tokens": 30498, "cache_read_input_tokens": 576683, "output_tokens": 13796, "output_tokens_details": { "thinking_tokens": 9322 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 30498, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 320, "cache_read_input_tokens": 31865, "cache_creation_input_tokens": 186, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 186 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 68, "outputTokens": 13796, "cacheReadInputTokens": 576683, "cacheCreationInputTokens": 30498, "webSearchRequests": 0, "costUSD": 0.6355126000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 9322, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.6355126000000001, "num_turns": 34, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the oven.", "joint_positions": [ -0.0187, -0.82719, -0.04145, -2.44011, -0.08877, 1.48316, 0.11412 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26233, -0.03827, 0.98289 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97896, -0.1554, -0.13223 ], [ -0.16341, -0.98519, -0.05203 ], [ -0.12219, 0.07254, -0.98985 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.608872711658478, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Exploring: lower slightly to understand where oven door/handle is relative to gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the oven.", "joint_positions": [ -0.02184, -0.84237, -0.05321, -2.70768, -0.10028, 1.73488, 0.1291 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26228, -0.03827, 0.88124 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00028, -0.0 ], "tcp_rotation_matrix": [ [ 0.97893, -0.15538, -0.13251 ], [ -0.16341, -0.98519, -0.05203 ], [ -0.12247, 0.07258, -0.98982 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 56 }, "api_seconds": 13.813114806078374, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 0.85, "roll": 1.5708, "yaw": -1.5708 }, "note": "Reorient gripper to point forward (+x) with fingers opening vertically to grasp horizontal oven door handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the oven.", "joint_positions": [ -0.02184, -0.84237, -0.05321, -2.70768, -0.10028, 1.73488, 0.1291 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26228, -0.03827, 0.88124 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00028, -0.0 ], "tcp_rotation_matrix": [ [ 0.97893, -0.15538, -0.13251 ], [ -0.16341, -0.98519, -0.05203 ], [ -0.12247, 0.07258, -0.98982 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 55 }, "api_seconds": 3.804279106669128, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 0.85, "roll": -1.5708, "yaw": 1.5708 }, "note": "Try alternative equivalent orientation (forward-pointing, vertical finger opening)." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the oven.", "joint_positions": [ -0.02184, -0.84237, -0.05321, -2.70768, -0.10028, 1.73488, 0.1291 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26228, -0.03827, 0.88124 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00028, -0.0 ], "tcp_rotation_matrix": [ [ 0.97893, -0.15538, -0.13251 ], [ -0.16341, -0.98519, -0.05203 ], [ -0.12247, 0.07258, -0.98982 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 54 }, "api_seconds": 3.003482859581709, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5708 }, "note": "Rotate gripper to point forward toward oven front, one step at a time." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the oven.", "joint_positions": [ -0.02184, -0.84237, -0.05321, -2.70768, -0.10028, 1.73488, 0.1291 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26228, -0.03827, 0.88124 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00028, -0.0 ], "tcp_rotation_matrix": [ [ 0.97893, -0.15538, -0.13251 ], [ -0.16341, -0.98519, -0.05203 ], [ -0.12247, 0.07258, -0.98982 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 53 }, "api_seconds": 3.203395454213023, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7, "x": 0.35 }, "note": "Partial tilt toward forward-pointing and move out from the base for better reachability." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the oven.", "joint_positions": [ -0.02184, -0.84237, -0.05321, -2.70768, -0.10028, 1.73488, 0.1291 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26228, -0.03827, 0.88124 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00028, -0.0 ], "tcp_rotation_matrix": [ [ 0.97893, -0.15538, -0.13251 ], [ -0.16341, -0.98519, -0.05203 ], [ -0.12247, 0.07258, -0.98982 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 52 }, "api_seconds": 2.2025991613045335, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.3 }, "note": "Small pitch probe to learn feasible rotation direction." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the oven.", "joint_positions": [ -0.03598, -1.16969, -0.06779, -2.91866, -0.10979, 1.91491, 0.12949 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26223, -0.03828, 0.88125 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.29614, -3e-05 ], "tcp_rotation_matrix": [ [ 0.972, -0.16982, 0.16239 ], [ -0.16343, -0.98518, -0.05202 ], [ 0.16882, 0.02402, -0.98535 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 51 }, "api_seconds": 9.010262788273394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "yaw": 1.5708, "z": 0.8 }, "note": "Pointing-down grasp: yaw 90deg so fingers open along x to pinch the horizontal handle from above; lower to find it." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the oven.", "joint_positions": [ 0.31949, -1.04263, -0.38965, -3.00576, -0.51892, 1.98427, -1.0806 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26222, -0.03828, 0.8002 ], "tcp_roll_pitch_yaw": [ -0.00059, -0.00065, 1.56637 ], "tcp_rotation_matrix": [ [ 0.16781, 0.98444, 0.05203 ], [ 0.97831, -0.1598, -0.13182 ], [ -0.12146, 0.07303, -0.98991 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 50 }, "api_seconds": 6.005807803943753, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33 }, "note": "Joint 4 near limit; move forward in x to gain reach and see how oven/handle shift in views." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the oven.", "joint_positions": [ 0.39521, -0.73829, -0.45248, -2.85763, -0.52075, 2.04302, -1.07086 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2979, -0.04698, 0.78694 ], "tcp_roll_pitch_yaw": [ 0.10429, 0.03215, 1.55649 ], "tcp_rotation_matrix": [ [ 0.16373, 0.98505, -0.05364 ], [ 0.97176, -0.1704, -0.16323 ], [ -0.16993, -0.0254, -0.98513 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 49 }, "api_seconds": 6.017750769853592, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.26, "z": 0.76 }, "note": "Blocked at x~0.30 (oven front). Back off slightly and lower to straddle the handle bar with fingers along x." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the oven.", "joint_positions": [ 0.33975, -0.84762, -0.44767, -2.99319, -0.56388, 2.05766, -1.0551 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.261, -0.04698, 0.76071 ], "tcp_roll_pitch_yaw": [ 0.10439, 0.03213, 1.55648 ], "tcp_rotation_matrix": [ [ 0.16371, 0.98504, -0.05374 ], [ 0.97176, -0.17041, -0.16321 ], [ -0.16993, -0.0255, -0.98513 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 48 }, "api_seconds": 5.005239608697593, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "z": 0.8 }, "note": "Probe +y motion to learn image axis mapping; handle appears to extend away from gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the oven.", "joint_positions": [ 0.54951, -0.82152, -0.25634, -2.90062, -0.3424, 1.95251, -0.86347 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25938, 0.04762, 0.79785 ], "tcp_roll_pitch_yaw": [ 0.11016, 0.03344, 1.5534 ], "tcp_rotation_matrix": [ [ 0.16591, 0.98432, -0.05998 ], [ 0.97102, -0.17367, -0.16422 ], [ -0.17206, -0.03099, -0.9846 ] ], "simulated_seconds_remaining": 23.562, "calls_remaining_including_this": 47 }, "api_seconds": 5.405275911092758, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12, "z": 0.76 }, "note": "Handle runs along y; move toward handle center and lower to straddle it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the oven.", "joint_positions": [ 0.65671, -0.65049, -0.19164, -2.89337, -0.20366, 2.12856, -0.7147 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25843, 0.12087, 0.76674 ], "tcp_roll_pitch_yaw": [ 0.11527, -0.02301, 1.49608 ], "tcp_rotation_matrix": [ [ 0.22116, 0.97271, -0.07016 ], [ 0.96812, -0.22765, -0.1045 ], [ -0.11761, -0.04481, -0.99205 ] ], "simulated_seconds_remaining": 22.704, "calls_remaining_including_this": 46 }, "api_seconds": 2.8032335145398974, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper appears at handle level (couldn't go lower); try closing on the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the oven.", "joint_positions": [ 0.65644, -0.65586, -0.19115, -2.89753, -0.20375, 2.12893, -0.7147 ], "gripper_open": 0.0, "tcp_xyz": [ 0.25743, 0.1207, 0.76658 ], "tcp_roll_pitch_yaw": [ 0.11425, -0.0244, 1.49668 ], "tcp_rotation_matrix": [ [ 0.22073, 0.97289, -0.06899 ], [ 0.9684, -0.22703, -0.10323 ], [ -0.1161, -0.04402, -0.99226 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 45 }, "api_seconds": 7.406062735244632, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95, "x": 0.22 }, "note": "Missed handle (closed fully). Open and rise to get a clearer top-down wrist view of the handle." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the oven.", "joint_positions": [ 0.69155, -0.90806, -0.09362, -2.56855, -0.11564, 1.54512, -0.7021 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2203, 0.12071, 0.94871 ], "tcp_roll_pitch_yaw": [ 0.11416, -0.02446, 1.49668 ], "tcp_rotation_matrix": [ [ 0.22075, 0.97289, -0.0689 ], [ 0.96841, -0.22703, -0.10318 ], [ -0.11603, -0.04395, -0.99227 ] ], "simulated_seconds_remaining": 20.262, "calls_remaining_including_this": 44 }, "api_seconds": 10.809795141220093, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74 }, "note": "Descend at x=0.22 (in front of handle) to check if the path is clear; will then find handle by moving +x." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the oven.", "joint_positions": [ 0.66302, -0.98747, -0.14787, -3.01119, -0.18348, 2.30262, -0.66732 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27605, 0.16333, 0.83238 ], "tcp_roll_pitch_yaw": [ -0.18827, -0.28456, 1.54277 ], "tcp_rotation_matrix": [ [ 0.21036, 0.94763, 0.2403 ], [ 0.95919, -0.24757, 0.13664 ], [ 0.18898, 0.20175, -0.96103 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 43 }, "api_seconds": 10.009619146585464, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.3, "z": 0.85, "roll": 0, "pitch": 0, "yaw": 1.5708 }, "note": "Arm cramped near base (joint4 at limit). Shift along handle to +y to gain reach distance." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the oven.", "joint_positions": [ 0.82841, -0.42878, 0.10376, -2.50745, -0.08704, 2.01678, -0.44421 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2519, 0.29992, 0.85374 ], "tcp_roll_pitch_yaw": [ -0.00755, -0.00979, 1.56749 ], "tcp_rotation_matrix": [ [ 0.16757, 0.98409, 0.0591 ], [ 0.97955, -0.15943, -0.12274 ], [ -0.11136, 0.07846, -0.99068 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 42 }, "api_seconds": 3.603792617097497, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.77 }, "note": "Better reach now; descend to handle height and observe." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the oven.", "joint_positions": [ 0.81621, -0.45089, 0.11016, -2.6157, -0.11327, 2.31914, -0.40232 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27569, 0.32852, 0.84194 ], "tcp_roll_pitch_yaw": [ -0.14781, -0.17707, 1.58071 ], "tcp_rotation_matrix": [ [ 0.16989, 0.96561, 0.19683 ], [ 0.98244, -0.1816, 0.04289 ], [ 0.07716, 0.18608, -0.9795 ] ], "simulated_seconds_remaining": 16.434, "calls_remaining_including_this": 41 }, "api_seconds": 5.405857506208122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.31, "z": 0.8, "roll": 0, "pitch": 0 }, "note": "A finger seems to rest on the handle top; shift +x so handle falls between fingers and descend." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the oven.", "joint_positions": [ 0.80533, -0.33422, 0.10748, -2.41448, -0.1223, 2.03288, -0.46764 ], "gripper_open": 0.9954, "tcp_xyz": [ 0.28269, 0.31957, 0.85882 ], "tcp_roll_pitch_yaw": [ -0.03063, -0.00558, 1.59414 ], "tcp_rotation_matrix": [ [ 0.14416, 0.98588, 0.08525 ], [ 0.98323, -0.13299, -0.12476 ], [ -0.11166, 0.10181, -0.98852 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 40 }, "api_seconds": 6.606749494560063, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.26, "z": 0.72, "gripper": 0 }, "note": "Front plane at x~0.28. Try descending just in front of it with closed fingers to find handle / get beside it for hooking." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the oven.", "joint_positions": [ 0.79718, -0.34542, 0.13603, -2.61156, -0.18257, 2.67091, -0.34136 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3106, 0.39523, 0.84886 ], "tcp_roll_pitch_yaw": [ -0.31931, -0.36455, 1.6726 ], "tcp_rotation_matrix": [ [ 0.09721, 0.93635, 0.33735 ], [ 0.95251, -0.1858, 0.24124 ], [ 0.28857, 0.29788, -0.90994 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 39 }, "api_seconds": 10.413556228391826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.18, "y": 0.35, "z": 0.88, "roll": -1.5708, "pitch": 0, "yaw": 1.5708, "gripper": 1 }, "note": "Contact disrupting top-down approach. Try forward-pointing gripper with vertical finger opening from farther y where reach is better." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the oven.", "joint_positions": [ 0.25937, -0.91603, 1.55852, -2.67177, -0.74855, 2.04678, 0.84782 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.18041, 0.35023, 0.87992 ], "tcp_roll_pitch_yaw": [ -1.56656, -0.00079, 1.57206 ], "tcp_rotation_matrix": [ [ 0.12164, -0.06817, 0.99023 ], [ 0.97899, -0.15626, -0.13102 ], [ 0.16366, 0.98536, 0.04773 ] ], "simulated_seconds_remaining": 12.474, "calls_remaining_including_this": 38 }, "api_seconds": 5.40534648206085, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.905 }, "note": "Wrist view (rotated): handle strip appears slightly above finger center; raise a bit to align." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the oven.", "joint_positions": [ 0.31359, -0.91943, 1.47712, -2.6756, -0.7691, 2.03401, 0.79894 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.1804, 0.35025, 0.90393 ], "tcp_roll_pitch_yaw": [ -1.56657, -0.00088, 1.57208 ], "tcp_rotation_matrix": [ [ 0.12162, -0.06818, 0.99023 ], [ 0.97898, -0.15635, -0.13101 ], [ 0.16375, 0.98535, 0.04773 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 37 }, "api_seconds": 3.203209833241999, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25 }, "note": "Advance toward oven front along +x to bring handle between fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the oven.", "joint_positions": [ 0.13416, -0.94188, 1.44356, -2.70025, -0.91589, 2.21535, 0.86866 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24885, 0.35018, 0.90395 ], "tcp_roll_pitch_yaw": [ -1.56662, -0.00093, 1.57181 ], "tcp_rotation_matrix": [ [ 0.12188, -0.06826, 0.99019 ], [ 0.97893, -0.15638, -0.13128 ], [ 0.16381, 0.98534, 0.04777 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 36 }, "api_seconds": 6.40625907946378, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.94 }, "note": "Handle strip (between knobs and window) is still above finger center in rotated wrist view; raise." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the oven.", "joint_positions": [ 0.20102, -0.95198, 1.33107, -2.69909, -0.93466, 2.20653, 0.78911 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24884, 0.35021, 0.93881 ], "tcp_roll_pitch_yaw": [ -1.56665, -0.00106, 1.57182 ], "tcp_rotation_matrix": [ [ 0.12186, -0.0683, 0.99019 ], [ 0.97891, -0.15651, -0.13127 ], [ 0.16394, 0.98531, 0.04778 ] ], "simulated_seconds_remaining": 10.692, "calls_remaining_including_this": 35 }, "api_seconds": 6.60640293546021, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32 }, "note": "Oven front appears ~0.2 m ahead of camera; advance +x to approach the handle strip." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the oven.", "joint_positions": [ -0.03075, -0.95423, 1.33608, -2.66838, -1.10565, 2.38251, 0.89305 ], "gripper_open": 1.0, "tcp_xyz": [ 0.315, 0.354, 0.93531 ], "tcp_roll_pitch_yaw": [ -1.56221, 0.00327, 1.58368 ], "tcp_rotation_matrix": [ [ 0.11095, -0.06211, 0.99188 ], [ 0.981, -0.15298, -0.11932 ], [ 0.15915, 0.98628, 0.04396 ] ], "simulated_seconds_remaining": 9.9, "calls_remaining_including_this": 34 }, "api_seconds": 4.604654033668339, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "z": 0.96 }, "note": "Exterior shows gripper just below handle level; raise slightly and advance." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the oven.", "joint_positions": [ -0.15884, -0.94753, 1.33634, -2.59885, -1.04185, 2.53295, 0.95483 ], "gripper_open": 1.0, "tcp_xyz": [ 0.34046, 0.37783, 0.92473 ], "tcp_roll_pitch_yaw": [ -1.4648, -0.16238, 1.59189 ], "tcp_rotation_matrix": [ [ 0.1189, 0.03869, 0.99215 ], [ 0.94462, -0.31223, -0.10103 ], [ 0.30587, 0.94922, -0.07367 ] ], "simulated_seconds_remaining": 9.108, "calls_remaining_including_this": 33 }, "api_seconds": 4.404399600811303, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.97, "roll": -1.5708, "pitch": 0, "yaw": 1.5708 }, "note": "Upper finger seems to hit the handle; back off and raise ~4cm to center handle between fingers." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the oven.", "joint_positions": [ -0.01921, -0.97838, 1.31467, -2.60991, -0.99691, 2.34963, 0.75904 ], "gripper_open": 0.247, "tcp_xyz": [ 0.305, 0.36917, 0.96133 ], "tcp_roll_pitch_yaw": [ -1.55541, 0.00185, 1.55468 ], "tcp_rotation_matrix": [ [ 0.14046, -0.05984, 0.98828 ], [ 0.97712, -0.15262, -0.14811 ], [ 0.1597, 0.98647, 0.03704 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 32 }, "api_seconds": 4.204530755057931, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Fingers appear around the handle region; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the oven.", "joint_positions": [ -0.01921, -0.97838, 1.31467, -2.60991, -0.99691, 2.34963, 0.75904 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30499, 0.36917, 0.96135 ], "tcp_roll_pitch_yaw": [ -1.55544, 0.0019, 1.55467 ], "tcp_rotation_matrix": [ [ 0.14045, -0.05987, 0.98828 ], [ 0.97713, -0.15257, -0.14811 ], [ 0.15965, 0.98648, 0.03707 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 31 }, "api_seconds": 3.403365763835609, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.36 }, "note": "Nothing grasped; open and advance at raised height to engulf handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the oven.", "joint_positions": [ -0.13827, -0.9765, 1.35362, -2.56572, -0.86098, 2.47785, 0.84 ], "gripper_open": 1.0, "tcp_xyz": [ 0.32499, 0.38559, 0.93136 ], "tcp_roll_pitch_yaw": [ -1.44347, -0.1906, 1.53848 ], "tcp_rotation_matrix": [ [ 0.17204, 0.04215, 0.98419 ], [ 0.92839, -0.341, -0.14768 ], [ 0.32938, 0.93912, -0.09779 ] ], "simulated_seconds_remaining": 6.534, "calls_remaining_including_this": 30 }, "api_seconds": 3.003359562717378, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at contact; try closing here in case handle is between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the oven.", "joint_positions": [ -0.13827, -0.9765, 1.35362, -2.56572, -0.86098, 2.47785, 0.84 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32499, 0.38559, 0.93136 ], "tcp_roll_pitch_yaw": [ -1.44346, -0.19065, 1.53845 ], "tcp_rotation_matrix": [ [ 0.17206, 0.04215, 0.98418 ], [ 0.92837, -0.34104, -0.1477 ], [ 0.32943, 0.9391, -0.09781 ] ], "simulated_seconds_remaining": 5.61, "calls_remaining_including_this": 29 }, "api_seconds": 4.004391936585307, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 0.87 }, "note": "Grasp failed; attempt a hook-pull back and down in case fingers are behind the handle/door lip." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the oven.", "joint_positions": [ 0.07604, -0.96103, 1.52933, -2.59593, -0.66744, 2.2433, 0.8934 ], "gripper_open": 0.0, "tcp_xyz": [ 0.22106, 0.38568, 0.87064 ], "tcp_roll_pitch_yaw": [ -1.44346, -0.19059, 1.53873 ], "tcp_rotation_matrix": [ [ 0.17181, 0.04225, 0.98422 ], [ 0.92844, -0.34098, -0.14743 ], [ 0.32937, 0.93912, -0.0978 ] ], "simulated_seconds_remaining": 4.488, "calls_remaining_including_this": 28 }, "api_seconds": 4.404512947425246, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.33, "z": 0.95 }, "note": "Hook failed; last attempt: open and re-approach handle height between the previous contact heights." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the oven.", "joint_positions": [ -0.10059, -0.96762, 1.32742, -2.55656, -0.77248, 2.47568, 0.80923 ], "gripper_open": 1.0, "tcp_xyz": [ 0.31328, 0.39343, 0.93393 ], "tcp_roll_pitch_yaw": [ -1.39374, -0.25798, 1.52705 ], "tcp_rotation_matrix": [ [ 0.18876, 0.08449, 0.97838 ], [ 0.90363, -0.40501, -0.13936 ], [ 0.38448, 0.9104, -0.15279 ] ], "simulated_seconds_remaining": 3.3, "calls_remaining_including_this": 27 }, "api_seconds": 2.002390205860138, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Contact again at handle area; close to attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the oven.", "joint_positions": [ -0.10059, -0.96762, 1.32742, -2.55656, -0.77248, 2.47568, 0.80923 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3133, 0.39343, 0.93392 ], "tcp_roll_pitch_yaw": [ -1.39364, -0.25808, 1.52697 ], "tcp_rotation_matrix": [ [ 0.18884, 0.08454, 0.97836 ], [ 0.90358, -0.40511, -0.1394 ], [ 0.38456, 0.91035, -0.15289 ] ], "simulated_seconds_remaining": 2.376, "calls_remaining_including_this": 26 }, "api_seconds": 2.6028618225827813, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the oven door handle: repeated close attempts missed and the arm was cramped near joint limits. Simulated time is nearly exhausted; oven remains closed." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 009 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 9, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 45, "wall_seconds": 260.58, "usage": { "input_tokens": 94, "output_tokens": 16258, "cache_read_input_tokens": 956750, "cache_creation_input_tokens": 39710, "thinking_tokens": 10654, "cost_usd": 0.8345660000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BfnjXoWkT61UKUagZnUFbd", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019Xsg3KpCM9JrXPqqfEMghE", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 0.9 }, "note": "Tilt gripper forward to see what is in front of the robot." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 488, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 488 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PkVWwPXJyjUMdj7UPwHetf", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Try a smaller forward tilt to look ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1033, "cache_read_input_tokens": 2513, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1033 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GCZavLLDuuLZsnbU9mVFa4", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1 }, "note": "Cabinet with glass doors visible ahead; tilt more to see handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 723, "cache_read_input_tokens": 3546, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 723 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SwLabaCfG3Z8MuMBXQjucz", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8, "x": 0.35 }, "note": "Lower the gripper to get closer to cabinet level." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 850, "cache_read_input_tokens": 4269, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 850 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still getting oriented: the arm keeps rejecting large moves, so I'm trying smaller steps to lower the gripper toward the cabinet." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 688, "cache_read_input_tokens": 5119, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 688 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GCDu1AEKSQwKcvjvJmJzrL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95 }, "note": "Small downward step to test reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 688, "cache_read_input_tokens": 5119, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 688 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QPAVn57Buy5cFWPVSH8zB9", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4 }, "note": "Arm is folded (joint4 near limit); extend forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 5807, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 691 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L2AjCwrR6Vpkk5sZDJpNYV", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.1 }, "note": "Tilt gripper more forward to look at cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 6498, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 677 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MCmKAav6J5CqeCTcJUo5eW", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.85 }, "note": "Smaller pitch increment." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 804, "cache_read_input_tokens": 7175, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 804 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T7mqDszzg5xBf3JKgHHdkH", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.88, "x": 0.45 }, "note": "Yellow knob visible in wrist view slightly left; move down/forward to approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 658, "cache_read_input_tokens": 7979, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 658 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017o3i5PAn3FqVADcfCvdebo", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75, "x": 0.5 }, "note": "Move lower and forward toward cabinet front where knob was seen." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 824, "cache_read_input_tokens": 8637, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 824 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Getting the gripper level with the cabinet front: the knob showed up briefly in the wrist camera, so I'm tilting the gripper more to face the doors." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 924, "cache_read_input_tokens": 9461, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 924 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WoreGrcu5Eijmg4VEanpLu", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.1 }, "note": "Try tilting gripper more horizontal to face the door and find the knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 924, "cache_read_input_tokens": 9461, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 924 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0131hCTSRUa16yH67cfjqZ7R", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.45 }, "note": "Continue to horizontal to see the door face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1171, "cache_read_input_tokens": 10385, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1171 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NGMc9f7ZTbgU4S7RhLtkHu", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12, "z": 0.68 }, "note": "Probe motion in +y and down to learn camera mapping and approach knob region." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 656, "cache_read_input_tokens": 11556, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 656 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Px4XpifcfkjofbN9vocHNJ", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.04 }, "note": "Knob estimated slightly right of this stile; shift y to search." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 817, "cache_read_input_tokens": 12212, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 817 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BoW3TAqLLDaAETYqbmiSrY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "z": 0.8 }, "note": "Back off to get a wider view of the door and locate the knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1438, "cache_read_input_tokens": 13029, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1438 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0148qqnyHk4WS7Xnf8y3XRmH", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.55 }, "note": "Search lower for the knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 852, "cache_read_input_tokens": 14467, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 852 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm is in an awkward pose that blocks many moves, so I'm stepping down in small increments to search below for the knob." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 857, "cache_read_input_tokens": 15319, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 857 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N33kwjp6NsNhnNDEnbgxbx", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.62 }, "note": "Small downward step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 857, "cache_read_input_tokens": 15319, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 857 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012a915no1xLsiZSXStQWZgs", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Relieve wrist joint near limit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 16176, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 721 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017SwtvsZqKTAiM9Vd9R8Fao", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "z": 0.8 }, "note": "Panels seem horizontal (doors facing up); point gripper down to view from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 679, "cache_read_input_tokens": 16897, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 679 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HuHsffK8ZyMG6UHDiUqTZU", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.3 }, "note": "Split rotation toward downward orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1415, "cache_read_input_tokens": 17576, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1415 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013MVe6FHkSisDkR2KG9GAMd", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Raise first before reorienting." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 610, "cache_read_input_tokens": 18991, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 610 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PNMKkEb55yJrWXr3EXjzBT", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.72 }, "note": "Smaller raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 671, "cache_read_input_tokens": 19601, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 671 }, "output_tokens": 22, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The glass doors seem to face upward, so I'm rotating the gripper in small steps to point it down at them." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 20272, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AoAYbomJQFAAw5hTBEVKwJ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5, "z": 0.78 }, "note": "Gradually reorient downward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 20272, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GNBmQhvmUcyL88ZRvu9wES", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.44 }, "note": "Pull back slightly to ease IK." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 667, "cache_read_input_tokens": 20905, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 667 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HnRsKGnqPuwFALWoBv2pZ6", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.82, "pitch": -0.85 }, "note": "Return near the viewpoint where the knob was visible." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 651, "cache_read_input_tokens": 21572, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 651 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016nUwGZyvJFgnFRPcRpoKZc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52, "z": 0.76 }, "note": "Extend forward to free elbow joint." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1546, "cache_read_input_tokens": 22223, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1546 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ctix18pY3ALKudWCMp19kV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Extend forward only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 23769, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 652 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fc68vYJsuqabE1KxRGqVkL", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Extend forward further to unfold arm and approach cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 604, "cache_read_input_tokens": 24421, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 604 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm moving the arm toward the cabinet front and adjusting the tilt to look for the door handle. The last move seemed to bump into something." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 25025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 741 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RQubkJmfa9RMk4S2UfADhV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.7, "pitch": -0.9 }, "note": "Contact likely occurred; back off slightly and tilt forward to see door front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 25025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 741 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MtXG49nD4u6x4doHNs2wYg", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.25, "z": 0.7 }, "note": "Panels appear horizontal below; orient gripper downward to look at them from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1088, "cache_read_input_tokens": 25766, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1088 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LdBhH5SyKVD9PyUSEsDSog", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7 }, "note": "Lift slightly out of possible contact." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1111, "cache_read_input_tokens": 26854, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1111 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QQN3k56DgkFrMD6m5GMu7F", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52, "y": 0.04, "z": 0.66, "roll": 0, "pitch": -0.5, "yaw": 0 }, "note": "Tiny move near current pose to recover controllability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 646, "cache_read_input_tokens": 27965, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 646 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JknNjV5Vt4M4xgjcQqnGvy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": 0.041, "z": 0.719, "roll": 0, "pitch": -0.706, "yaw": 0 }, "note": "Return to a previously reachable pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 28611, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GxaNeP6BYkQBP8SkQK3N4o", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": 0, "z": 0.85, "pitch": -0.85 }, "note": "Go toward a viewpoint where the knob was visible, to visually servo toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 753, "cache_read_input_tokens": 29340, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 753 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Working out the cabinet layout: the glass doors look horizontal below the gripper, so I'm tilting the camera down to find the knob." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1002, "cache_read_input_tokens": 30093, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1002 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019WQZfycyRqRX7jVAN5K8GF", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Door panels appear horizontal below; look more downward to find knob near left stile." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1002, "cache_read_input_tokens": 30093, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1002 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JwTQQiutagw54onPfcoJ5t", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "y": -0.006, "z": 0.95, "pitch": -0.85 }, "note": "Return to viewpoint where knob was visible." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1025, "cache_read_input_tokens": 31095, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1025 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Tn6qtsKtes72xDVmbJztxJ", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.04 }, "note": "Knob visible; probe +y to learn image mapping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1527, "cache_read_input_tokens": 32120, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1527 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LHUJMhU2BW7Ez2SFZ4jQ5Q", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.46, "y": -0.07, "z": 0.89 }, "note": "Knob estimated at approx (0.5,-0.09,0.84); approach along view axis, observing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 654, "cache_read_input_tokens": 33647, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 654 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NcwpTNwySavwZL4T91rwja", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.49, "z": 0.86 }, "note": "Knob likely occluded by finger; advance along approach axis a bit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1387, "cache_read_input_tokens": 34301, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1387 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ELscoKx5eERYyAbGoJrCDT", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.51, "y": -0.085, "z": 0.83 }, "note": "Knob glimpsed at bottom-left near left finger; shift -y and advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 35688, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 859 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've lined up on a small yellow knob in the wrist camera and am easing forward to grasp it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1012, "cache_read_input_tokens": 36547, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1012 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016FKKg7kp4JCqiofBxFUTxh", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.535, "z": 0.805 }, "note": "Advance toward occluded knob between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1012, "cache_read_input_tokens": 36547, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1012 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fcuneg5Z4Vj8mqKUBLPqeX", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.525, "z": 0.815 }, "note": "Smaller advance step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 37559, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 803 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012CnCF6t7UkboD7NGxPAxac", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.2 }, "note": "Knob not appearing; probe -y to see exterior motion direction toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 612, "cache_read_input_tokens": 38362, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 612 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018hzRTBUFE4xjupAALZ95ar", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.65, "y": -0.08, "z": 0.8 }, "note": "Probe forward to see if gripper moves toward the knob in exterior view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 948, "cache_read_input_tokens": 38974, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 948 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VEeuB4WFamksFM7ee5WhMC", "name": "mcp__robot__give_up", "input": { "note": "Could not reliably locate and reach the cabinet knob: IK limits and joint-limit folding blocked most approach poses, the wrist view was ambiguous, and the arm is now in a contorted configuration against the cabinet with little simulated time left." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1006, "cache_read_input_tokens": 39922, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1006 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the cabinet. I ended the episode with give_up after 45 of 57 calls, with about 8 of the 30 simulated seconds left.\n\n- **Finding the knob:** I saw a small yellow knob in the wrist camera near a door's wooden frame, but only from a few angles. I misread the camera orientation at first, so it took a while to work out which way was up and left in that image.\n- **Reaching it:** The motion controller rejected most moves toward it as unreachable or as needing too large a joint jump. The arm kept ending up folded near its elbow and wrist limits. It could only tilt the gripper about 45–60° from pointing down, never level with the door. The knob was hidden behind the gripper fingers and never ended up clearly between them.\n- **Final state:** My last move, reaching forward, pushed the arm into a badly twisted pose. It stopped at about x = 0.51 m, which suggests it ran into the cabinet front. I never closed the gripper on the knob, so no door moved." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 335, "cache_read_input_tokens": 40928, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 335 }, "output_tokens": 329, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 94, "cache_creation_input_tokens": 39710, "cache_read_input_tokens": 956750, "output_tokens": 16258, "output_tokens_details": { "thinking_tokens": 10654 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 39710, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 329, "cache_read_input_tokens": 40928, "cache_creation_input_tokens": 335, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 335 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 94, "outputTokens": 16258, "cacheReadInputTokens": 956750, "cacheCreationInputTokens": 39710, "webSearchRequests": 0, "costUSD": 0.8345660000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 10654, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.8345660000000001, "num_turns": 47, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01408, -0.82754, 0.00609, -2.34796, -0.0148, 1.46922, -0.03071 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27695, -0.00626, 1.02319 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99848, 0.01996, -0.05138 ], [ 0.01902, -0.99964, -0.01869 ], [ -0.05173, 0.01768, -0.9985 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.608567163348198, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 0.9 }, "note": "Tilt gripper forward to see what is in front of the robot." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01408, -0.82754, 0.00609, -2.34796, -0.0148, 1.46922, -0.03071 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27695, -0.00626, 1.02319 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99848, 0.01996, -0.05138 ], [ 0.01902, -0.99964, -0.01869 ], [ -0.05173, 0.01768, -0.9985 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.003402102738619, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Try a smaller forward tilt to look ahead." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.0124, -1.39279, -4e-05, -2.77915, -0.01315, 1.93094, -0.02504 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2769, -0.00626, 1.02318 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59578, 1e-05 ], "tcp_rotation_matrix": [ [ 0.85548, 0.0066, 0.51779 ], [ 0.01903, -0.99964, -0.0187 ], [ 0.51748, 0.02585, -0.8553 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 55 }, "api_seconds": 4.604624987579882, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1 }, "note": "Cabinet with glass doors visible ahead; tilt more to see handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.0124, -1.39279, -4e-05, -2.77915, -0.01315, 1.93094, -0.02504 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2769, -0.00626, 1.02318 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59578, 1e-05 ], "tcp_rotation_matrix": [ [ 0.85548, 0.0066, 0.51779 ], [ 0.01903, -0.99964, -0.0187 ], [ 0.51748, 0.02585, -0.8553 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 54 }, "api_seconds": 2.4025818994268775, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "x": 0.35 }, "note": "Lower the gripper to get closer to cabinet level." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.0124, -1.39279, -4e-05, -2.77915, -0.01315, 1.93094, -0.02504 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2769, -0.00626, 1.02318 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59578, 1e-05 ], "tcp_rotation_matrix": [ [ 0.85548, 0.0066, 0.51779 ], [ 0.01903, -0.99964, -0.0187 ], [ 0.51748, 0.02585, -0.8553 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 53 }, "api_seconds": 2.8030379889532924, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Small downward step to test reachability." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01259, -1.50544, -0.00047, -2.99395, -0.01406, 2.03285, -0.02381 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27688, -0.00626, 0.95121 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.59561, 1e-05 ], "tcp_rotation_matrix": [ [ 0.85557, 0.0066, 0.51765 ], [ 0.01903, -0.99964, -0.01871 ], [ 0.51734, 0.02586, -0.85539 ] ], "simulated_seconds_remaining": 28.116, "calls_remaining_including_this": 52 }, "api_seconds": 2.8032986987382174, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Arm is folded (joint4 near limit); extend forward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01436, -0.92626, 0.00387, -2.80822, -0.015, 2.42607, -0.0164 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39864, -0.00626, 0.95119 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59543, -0.0 ], "tcp_rotation_matrix": [ [ 0.85566, 0.00659, 0.51749 ], [ 0.01902, -0.99964, -0.01871 ], [ 0.51718, 0.02585, -0.85549 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 51 }, "api_seconds": 4.4046789752319455, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.1 }, "note": "Tilt gripper more forward to look at cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01436, -0.92626, 0.00387, -2.80822, -0.015, 2.42607, -0.0164 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39864, -0.00626, 0.95119 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59543, -0.0 ], "tcp_rotation_matrix": [ [ 0.85566, 0.00659, 0.51749 ], [ 0.01902, -0.99964, -0.01871 ], [ 0.51718, 0.02585, -0.85549 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 50 }, "api_seconds": 2.402679394930601, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.85 }, "note": "Smaller pitch increment." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01642, -1.06811, 0.0027, -3.01867, -0.01625, 2.74512, -0.01294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39862, -0.00626, 0.95104 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.84581, 1e-05 ], "tcp_rotation_matrix": [ [ 0.70084, -2e-05, 0.71332 ], [ 0.01903, -0.99964, -0.01872 ], [ 0.71307, 0.02669, -0.70059 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 49 }, "api_seconds": 4.204369303770363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88, "x": 0.45 }, "note": "Yellow knob visible in wrist view slightly left; move down/forward to approach." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02893, -0.66838, 0.01509, -3.01566, -0.01937, 3.14145, -0.00496 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44917, -0.00627, 0.88099 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.84539, -0.0 ], "tcp_rotation_matrix": [ [ 0.70114, -3e-05, 0.71302 ], [ 0.01902, -0.99964, -0.01874 ], [ 0.71277, 0.0267, -0.70089 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 48 }, "api_seconds": 5.404774668626487, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75, "x": 0.5 }, "note": "Move lower and forward toward cabinet front where knob was seen." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.09248, 0.00949, 0.09858, -2.90844, 0.04394, 3.71193, -0.05239 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4995, -0.00627, 0.75114 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.84508, -3e-05 ], "tcp_rotation_matrix": [ [ 0.70136, -1e-05, 0.71281 ], [ 0.019, -0.99964, -0.01872 ], [ 0.71256, 0.02667, -0.70111 ] ], "simulated_seconds_remaining": 24.222, "calls_remaining_including_this": 47 }, "api_seconds": 8.207647557370365, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.1 }, "note": "Try tilting gripper more horizontal to face the door and find the knob." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.09255, 0.27936, 0.09304, -2.91445, 0.03247, 4.2373, -0.05757 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4995, -0.00627, 0.75082 ], "tcp_roll_pitch_yaw": [ 7e-05, -1.09522, -7e-05 ], "tcp_rotation_matrix": [ [ 0.50315, -0.00658, 0.86418 ], [ 0.01899, -0.99965, -0.01868 ], [ 0.86399, 0.02581, -0.50284 ] ], "simulated_seconds_remaining": 23.562, "calls_remaining_including_this": 46 }, "api_seconds": 2.603243096731603, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.45 }, "note": "Continue to horizontal to see the door face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.09255, 0.27936, 0.09304, -2.91445, 0.03247, 4.2373, -0.05757 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4995, -0.00627, 0.75082 ], "tcp_roll_pitch_yaw": [ 7e-05, -1.09522, -7e-05 ], "tcp_rotation_matrix": [ [ 0.50315, -0.00658, 0.86418 ], [ 0.01899, -0.99965, -0.01868 ], [ 0.86399, 0.02581, -0.50284 ] ], "simulated_seconds_remaining": 23.562, "calls_remaining_including_this": 45 }, "api_seconds": 4.604803622700274, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12, "z": 0.68 }, "note": "Probe motion in +y and down to learn camera mapping and approach knob region." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.20344, 0.61697, 0.25907, -2.71297, 0.47596, 4.40542, -0.09229 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49949, 0.11894, 0.68064 ], "tcp_roll_pitch_yaw": [ 0.00024, -1.09515, 7e-05 ], "tcp_rotation_matrix": [ [ 0.5032, -0.00629, 0.86415 ], [ 0.01907, -0.99965, -0.01838 ], [ 0.86396, 0.02573, -0.50291 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 44 }, "api_seconds": 11.411792145110667, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04 }, "note": "Knob estimated slightly right of this stile; shift y to search." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04307, 0.59946, 0.13705, -2.78746, 0.20038, 4.43643, -0.06256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49952, 0.0412, 0.68063 ], "tcp_roll_pitch_yaw": [ -9e-05, -1.09515, -3e-05 ], "tcp_rotation_matrix": [ [ 0.50321, -0.00668, 0.86414 ], [ 0.01901, -0.99964, -0.0188 ], [ 0.86395, 0.02588, -0.5029 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 43 }, "api_seconds": 5.005453258752823, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "z": 0.8 }, "note": "Back off to get a wider view of the door and locate the knob." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04307, 0.59946, 0.13705, -2.78746, 0.20038, 4.43643, -0.06256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49952, 0.0412, 0.68063 ], "tcp_roll_pitch_yaw": [ -9e-05, -1.09515, -3e-05 ], "tcp_rotation_matrix": [ [ 0.50321, -0.00668, 0.86414 ], [ 0.01901, -0.99964, -0.0188 ], [ 0.86395, 0.02588, -0.5029 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 42 }, "api_seconds": 4.404699495993555, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.55 }, "note": "Search lower for the knob." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04307, 0.59946, 0.13705, -2.78746, 0.20038, 4.43643, -0.06256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49952, 0.0412, 0.68063 ], "tcp_roll_pitch_yaw": [ -9e-05, -1.09515, -3e-05 ], "tcp_rotation_matrix": [ [ 0.50321, -0.00668, 0.86414 ], [ 0.01901, -0.99964, -0.0188 ], [ 0.86395, 0.02588, -0.5029 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 41 }, "api_seconds": 3.203491263091564, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.62 }, "note": "Small downward step." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04307, 0.59946, 0.13705, -2.78746, 0.20038, 4.43643, -0.06256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49952, 0.0412, 0.68063 ], "tcp_roll_pitch_yaw": [ -9e-05, -1.09515, -3e-05 ], "tcp_rotation_matrix": [ [ 0.50321, -0.00668, 0.86414 ], [ 0.01901, -0.99964, -0.0188 ], [ 0.86395, 0.02588, -0.5029 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 40 }, "api_seconds": 2.8030521599575877, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Relieve wrist joint near limit." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.05862, 0.20877, 0.14902, -2.80329, 0.3323, 3.67798, -0.16266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49989, 0.04111, 0.6809 ], "tcp_roll_pitch_yaw": [ -0.00067, -0.70571, 0.00018 ], "tcp_rotation_matrix": [ [ 0.79355, 0.00347, 0.60849 ], [ 0.01913, -0.99963, -0.01925 ], [ 0.6082, 0.02692, -0.79333 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 39 }, "api_seconds": 10.809885742142797, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "z": 0.8 }, "note": "Panels seem horizontal (doors facing up); point gripper down to view from above." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.05862, 0.20877, 0.14902, -2.80329, 0.3323, 3.67798, -0.16266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49989, 0.04111, 0.6809 ], "tcp_roll_pitch_yaw": [ -0.00067, -0.70571, 0.00018 ], "tcp_rotation_matrix": [ [ 0.79355, 0.00347, 0.60849 ], [ 0.01913, -0.99963, -0.01925 ], [ 0.6082, 0.02692, -0.79333 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 38 }, "api_seconds": 2.2030809801071882, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.3 }, "note": "Split rotation toward downward orientation." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.05862, 0.20877, 0.14902, -2.80329, 0.3323, 3.67798, -0.16266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49989, 0.04111, 0.6809 ], "tcp_roll_pitch_yaw": [ -0.00067, -0.70571, 0.00018 ], "tcp_rotation_matrix": [ [ 0.79355, 0.00347, 0.60849 ], [ 0.01913, -0.99963, -0.01925 ], [ 0.6082, 0.02692, -0.79333 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 37 }, "api_seconds": 3.0036676032468677, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Raise first before reorienting." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.05862, 0.20877, 0.14902, -2.80329, 0.3323, 3.67798, -0.16266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49989, 0.04111, 0.6809 ], "tcp_roll_pitch_yaw": [ -0.00067, -0.70571, 0.00018 ], "tcp_rotation_matrix": [ [ 0.79355, 0.00347, 0.60849 ], [ 0.01913, -0.99963, -0.01925 ], [ 0.6082, 0.02692, -0.79333 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 36 }, "api_seconds": 2.0025869635865092, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Smaller raise." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.09272, 0.05994, 0.14041, -2.82047, 0.42869, 3.5521, -0.23458 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5, 0.04113, 0.7188 ], "tcp_roll_pitch_yaw": [ -0.00075, -0.70605, 0.00027 ], "tcp_rotation_matrix": [ [ 0.79334, 0.00351, 0.60877 ], [ 0.0192, -0.99963, -0.01927 ], [ 0.60847, 0.02698, -0.79312 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 35 }, "api_seconds": 2.803282125853002, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5, "z": 0.78 }, "note": "Gradually reorient downward." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.09272, 0.05994, 0.14041, -2.82047, 0.42869, 3.5521, -0.23458 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5, 0.04113, 0.7188 ], "tcp_roll_pitch_yaw": [ -0.00075, -0.70605, 0.00027 ], "tcp_rotation_matrix": [ [ 0.79334, 0.00351, 0.60877 ], [ 0.0192, -0.99963, -0.01927 ], [ 0.60847, 0.02698, -0.79312 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 34 }, "api_seconds": 2.403171573765576, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44 }, "note": "Pull back slightly to ease IK." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10854, -0.06054, 0.16031, -3.00186, 0.39572, 3.60533, -0.15538 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44116, 0.04114, 0.71879 ], "tcp_roll_pitch_yaw": [ -0.00078, -0.70599, 0.00035 ], "tcp_rotation_matrix": [ [ 0.79338, 0.00356, 0.60872 ], [ 0.01926, -0.99963, -0.01926 ], [ 0.60842, 0.027, -0.79315 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 33 }, "api_seconds": 12.211016152985394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82, "pitch": -0.85 }, "note": "Return near the viewpoint where the knob was visible." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10854, -0.06054, 0.16031, -3.00186, 0.39572, 3.60533, -0.15538 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44116, 0.04114, 0.71879 ], "tcp_roll_pitch_yaw": [ -0.00078, -0.70599, 0.00035 ], "tcp_rotation_matrix": [ [ 0.79338, 0.00356, 0.60872 ], [ 0.01926, -0.99963, -0.01926 ], [ 0.60842, 0.027, -0.79315 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 32 }, "api_seconds": 2.806654461659491, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "z": 0.76 }, "note": "Extend forward to free elbow joint." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10854, -0.06054, 0.16031, -3.00186, 0.39572, 3.60533, -0.15538 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44116, 0.04114, 0.71879 ], "tcp_roll_pitch_yaw": [ -0.00078, -0.70599, 0.00035 ], "tcp_rotation_matrix": [ [ 0.79338, 0.00356, 0.60872 ], [ 0.01926, -0.99963, -0.01926 ], [ 0.60842, 0.027, -0.79315 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 31 }, "api_seconds": 2.4028943525627255, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Extend forward only." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0916, 0.05739, 0.14217, -2.82457, 0.42774, 3.55348, -0.23278 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49867, 0.04114, 0.71881 ], "tcp_roll_pitch_yaw": [ -0.00074, -0.70605, 0.00026 ], "tcp_rotation_matrix": [ [ 0.79334, 0.00349, 0.60877 ], [ 0.01919, -0.99963, -0.01927 ], [ 0.60847, 0.02697, -0.79312 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 30 }, "api_seconds": 3.0035057831555605, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Extend forward further to unfold arm and approach cabinet." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.17679, 0.24751, 0.02791, -2.60739, 0.56708, 3.32399, -0.39732 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52538, 0.03683, 0.65397 ], "tcp_roll_pitch_yaw": [ 0.01529, -0.50168, -0.00065 ], "tcp_rotation_matrix": [ [ 0.90019, 0.0157, 0.43522 ], [ 0.01923, -0.99981, -0.0037 ], [ 0.43507, 0.0117, -0.90032 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 29 }, "api_seconds": 7.607038411311805, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.7, "pitch": -0.9 }, "note": "Contact likely occurred; back off slightly and tilt forward to see door front." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 30, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.17679, 0.24751, 0.02791, -2.60739, 0.56708, 3.32399, -0.39732 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52538, 0.03683, 0.65397 ], "tcp_roll_pitch_yaw": [ 0.01529, -0.50168, -0.00065 ], "tcp_rotation_matrix": [ [ 0.90019, 0.0157, 0.43522 ], [ 0.01923, -0.99981, -0.0037 ], [ 0.43507, 0.0117, -0.90032 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 28 }, "api_seconds": 7.807294041849673, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.25, "z": 0.7 }, "note": "Panels appear horizontal below; orient gripper downward to look at them from above." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 31, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.17679, 0.24751, 0.02791, -2.60739, 0.56708, 3.32399, -0.39732 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52538, 0.03683, 0.65397 ], "tcp_roll_pitch_yaw": [ 0.01529, -0.50168, -0.00065 ], "tcp_rotation_matrix": [ [ 0.90019, 0.0157, 0.43522 ], [ 0.01923, -0.99981, -0.0037 ], [ 0.43507, 0.0117, -0.90032 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 27 }, "api_seconds": 2.6034196987748146, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7 }, "note": "Lift slightly out of possible contact." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 32, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.17679, 0.24751, 0.02791, -2.60739, 0.56708, 3.32399, -0.39732 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52538, 0.03683, 0.65397 ], "tcp_roll_pitch_yaw": [ 0.01529, -0.50168, -0.00065 ], "tcp_rotation_matrix": [ [ 0.90019, 0.0157, 0.43522 ], [ 0.01923, -0.99981, -0.0037 ], [ 0.43507, 0.0117, -0.90032 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 26 }, "api_seconds": 3.2041183467954397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.04, "z": 0.66, "roll": 0, "pitch": -0.5, "yaw": 0 }, "note": "Tiny move near current pose to recover controllability." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 33, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.17679, 0.24751, 0.02791, -2.60739, 0.56708, 3.32399, -0.39732 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52538, 0.03683, 0.65397 ], "tcp_roll_pitch_yaw": [ 0.01529, -0.50168, -0.00065 ], "tcp_rotation_matrix": [ [ 0.90019, 0.0157, 0.43522 ], [ 0.01923, -0.99981, -0.0037 ], [ 0.43507, 0.0117, -0.90032 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 25 }, "api_seconds": 3.2040070109069347, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.041, "z": 0.719, "roll": 0, "pitch": -0.706, "yaw": 0 }, "note": "Return to a previously reachable pose." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.03922, 0.06214, 0.1943, -2.81745, 0.43645, 3.54943, -0.24376 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50034, 0.04096, 0.71815 ], "tcp_roll_pitch_yaw": [ 0.00016, -0.70323, 5e-05 ], "tcp_rotation_matrix": [ [ 0.79505, 0.00394, 0.60653 ], [ 0.01907, -0.99965, -0.0185 ], [ 0.60625, 0.02627, -0.79484 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 24 }, "api_seconds": 6.006111257709563, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0, "z": 0.85, "pitch": -0.85 }, "note": "Go toward a viewpoint where the knob was visible, to visually servo toward it." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0047, -0.54787, 0.11877, -3.0358, 0.35187, 3.2901, -0.24883 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45053, 0.00036, 0.84888 ], "tcp_roll_pitch_yaw": [ 0.00016, -0.84887, -0.0 ], "tcp_rotation_matrix": [ [ 0.69865, 3e-05, 0.71546 ], [ 0.01903, -0.99965, -0.01853 ], [ 0.71521, 0.02656, -0.69841 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 23 }, "api_seconds": 6.606496654450893, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Door panels appear horizontal below; look more downward to find knob near left stile." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.17757, -0.57944, 0.24091, -2.87318, 0.28137, 2.85026, -0.19889 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45073, 0.00039, 0.84902 ], "tcp_roll_pitch_yaw": [ 0.00022, -0.60438, 2e-05 ], "tcp_rotation_matrix": [ [ 0.851, 0.00653, 0.52513 ], [ 0.01906, -0.99965, -0.01845 ], [ 0.52483, 0.02571, -0.85082 ] ], "simulated_seconds_remaining": 15.114, "calls_remaining_including_this": 22 }, "api_seconds": 12.41173995565623, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.006, "z": 0.95, "pitch": -0.85 }, "note": "Return to viewpoint where knob was visible." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.12733, -1.0627, 0.17028, -3.01287, 0.30451, 2.74349, -0.22494 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40048, -0.00594, 0.94922 ], "tcp_roll_pitch_yaw": [ 0.00017, -0.84802, 6e-05 ], "tcp_rotation_matrix": [ [ 0.69926, 0.00012, 0.71487 ], [ 0.01907, -0.99965, -0.01848 ], [ 0.71462, 0.02656, -0.69901 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 21 }, "api_seconds": 2.802990541793406, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04 }, "note": "Knob visible; probe +y to learn image mapping." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 38, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.09593, -1.06766, 0.30257, -3.00195, 0.3302, 2.73647, -0.09795 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40049, 0.03876, 0.94924 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.84804, 0.00037 ], "tcp_rotation_matrix": [ [ 0.69924, 0.00027, 0.71489 ], [ 0.01928, -0.99964, -0.01848 ], [ 0.71463, 0.0267, -0.699 ] ], "simulated_seconds_remaining": 13.464, "calls_remaining_including_this": 20 }, "api_seconds": 10.008732976391912, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "y": -0.07, "z": 0.89 }, "note": "Knob estimated at approx (0.5,-0.09,0.84); approach along view axis, observing." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 39, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01607, -0.63141, -0.09986, -2.94788, 0.32387, 3.11141, -0.4525 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4594, -0.06889, 0.89056 ], "tcp_roll_pitch_yaw": [ 0.00041, -0.84791, -4e-05 ], "tcp_rotation_matrix": [ [ 0.69933, 0.00021, 0.71479 ], [ 0.01902, -0.99965, -0.01831 ], [ 0.71454, 0.0264, -0.69909 ] ], "simulated_seconds_remaining": 12.276, "calls_remaining_including_this": 19 }, "api_seconds": 5.208406153135002, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.49, "z": 0.86 }, "note": "Knob likely occluded by finger; advance along approach axis a bit." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 40, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.15383, -0.44208, -0.24476, -2.89285, 0.34555, 3.26605, -0.48394 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48914, -0.06886, 0.86077 ], "tcp_roll_pitch_yaw": [ 0.00068, -0.84768, -0.00017 ], "tcp_rotation_matrix": [ [ 0.6995, 0.00029, 0.71464 ], [ 0.01894, -0.99966, -0.01813 ], [ 0.71439, 0.02622, -0.69926 ] ], "simulated_seconds_remaining": 11.682, "calls_remaining_including_this": 18 }, "api_seconds": 6.605932647362351, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51, "y": -0.085, "z": 0.83 }, "note": "Knob glimpsed at bottom-left near left finger; shift -y and advance." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 41, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.47551, -0.32203, -0.61542, -2.84617, 0.27344, 3.38312, -0.49633 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5094, -0.08455, 0.83081 ], "tcp_roll_pitch_yaw": [ 0.00099, -0.84754, -0.00045 ], "tcp_rotation_matrix": [ [ 0.6996, 0.00025, 0.71454 ], [ 0.01876, -0.99966, -0.01802 ], [ 0.71429, 0.02601, -0.69936 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 17 }, "api_seconds": 4.204067358747125, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.535, "z": 0.805 }, "note": "Advance toward occluded knob between fingers." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 42, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.47551, -0.32203, -0.61542, -2.84617, 0.27344, 3.38312, -0.49633 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5094, -0.08455, 0.83081 ], "tcp_roll_pitch_yaw": [ 0.00099, -0.84754, -0.00045 ], "tcp_rotation_matrix": [ [ 0.6996, 0.00025, 0.71454 ], [ 0.01876, -0.99966, -0.01802 ], [ 0.71429, 0.02601, -0.69936 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 16 }, "api_seconds": 2.202643260359764, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.525, "z": 0.815 }, "note": "Smaller advance step." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 43, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.69884, -0.25616, -0.85261, -2.81046, 0.19051, 3.43613, -0.43396 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5243, -0.08455, 0.81566 ], "tcp_roll_pitch_yaw": [ 0.00106, -0.84742, -0.00054 ], "tcp_rotation_matrix": [ [ 0.69969, 0.00022, 0.71445 ], [ 0.0187, -0.99966, -0.01801 ], [ 0.71421, 0.02596, -0.69945 ] ], "simulated_seconds_remaining": 10.626, "calls_remaining_including_this": 15 }, "api_seconds": 6.00555956736207, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.2 }, "note": "Knob not appearing; probe -y to see exterior motion direction toward handle." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 44, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.89726, -0.39505, -1.34745, -2.69472, 0.00183, 3.31871, -0.59044 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5243, -0.19877, 0.81572 ], "tcp_roll_pitch_yaw": [ 0.00118, -0.84755, -0.00094 ], "tcp_rotation_matrix": [ [ 0.6996, -9e-05, 0.71454 ], [ 0.01843, -0.99966, -0.01817 ], [ 0.7143, 0.02588, -0.69936 ] ], "simulated_seconds_remaining": 9.57, "calls_remaining_including_this": 14 }, "api_seconds": 6.806685739196837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "y": -0.08, "z": 0.8 }, "note": "Probe forward to see if gripper moves toward the knob in exterior view." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 45, "state": { "instruction": "open the cabinet.", "joint_positions": [ 2.28768, -0.24749, -2.32102, -2.6939, 0.78171, 4.09206, -0.58836 ], "gripper_open": 1.0, "tcp_xyz": [ 0.51298, -0.1949, 0.80518 ], "tcp_roll_pitch_yaw": [ -0.33598, -1.06668, -0.2405 ], "tcp_rotation_matrix": [ [ 0.5155, -0.50851, 0.68969 ], [ -0.1255, -0.841, -0.52627 ], [ 0.84765, 0.18474, -0.49736 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 13 }, "api_seconds": 4.404332898557186, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably locate and reach the cabinet knob: IK limits and joint-limit folding blocked most approach poses, the wrist view was ambiguous, and the arm is now in a contorted configuration against the cabinet with little simulated time left." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 010 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 10, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 47, "wall_seconds": 317.11, "usage": { "input_tokens": 100, "output_tokens": 20617, "cache_read_input_tokens": 1234524, "cache_creation_input_tokens": 45678, "thinking_tokens": 14371, "cost_usd": 1.0250688 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YAtoBRkMY5sYx8TVba6h1r", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TFtaMXG6TRLn9BjinP6gKX", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Exploring: move forward/down to see cabinet in wrist cam." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 489, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 489 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018YUNR69axXHRHKA4A34cYv", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 1.15, "pitch": 0 }, "note": "Seems blocked by contact; back off and up for a wider view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 785, "cache_read_input_tokens": 2514, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 785 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015oEokiB4QCGnDRgVtzco5D", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Pitch gripper forward to look ahead in +x with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1214, "cache_read_input_tokens": 3299, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1214 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Dni4Vm6pLFXhWwGJaYiPPu", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57, "z": 1.25 }, "note": "Wood cabinet door with handle ahead, handle appears high; go horizontal and up." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 901, "cache_read_input_tokens": 4513, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 901 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've found a wooden cabinet door with a handle ahead of the gripper. Now I'm turning the gripper level and raising it toward the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 999, "cache_read_input_tokens": 5414, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 999 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PtFcCLFE42rRgMDLCFJJJJ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57, "z": 1.19 }, "note": "Level gripper, raise toward handle near top edge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 999, "cache_read_input_tokens": 5414, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 999 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QUBzX3u23dRkFymcaVoVT4", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.19, "x": 0.4 }, "note": "Keep pitch, move up and forward toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 789, "cache_read_input_tokens": 6413, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 789 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XTQxDJT84a7yCrALxW7R1q", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.05 }, "note": "Handle left view; image may be flipped, try lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 651, "cache_read_input_tokens": 7202, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 651 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XrQvpjYEiDZh1mAct6rvsu", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.1, "x": 0.35 }, "note": "Try lower with smaller step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 970, "cache_read_input_tokens": 7853, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 970 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SrHg8aWGpnEfKAEznJYUAs", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.05 }, "note": "Test lateral image mapping by moving -y 5cm toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 697, "cache_read_input_tokens": 8823, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 697 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F1Aq1VxRSMMdHQmggeftPk", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.06, "z": 1.15, "x": 0.4 }, "note": "Handle is at +y and higher; align toward it and advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1120, "cache_read_input_tokens": 9520, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1120 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The handle is just above the wrist camera's view. I'm tilting the gripper to look higher." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1500, "cache_read_input_tokens": 10640, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1500 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WdrQotDn1ZJdsMvFWeF57G", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.45 }, "note": "Handle just above view; tilt gripper to more horizontal." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1500, "cache_read_input_tokens": 10640, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1500 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CUgKD5U6tY9JAZD5fRNMKw", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "z": 1.08, "x": 0.38 }, "note": "Wrist image appears vertically flipped; handle is likely below. Lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 886, "cache_read_input_tokens": 12140, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 886 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LQywSQ3bDr5We71xuR18GD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.46, "z": 1, "y": 0.1 }, "note": "Image seems 180° rotated; handle is below and to +y. Move forward/down toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1374, "cache_read_input_tokens": 13026, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1374 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TQat1Qw5SdxkDdaB5NprJV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.43, "z": 1.05, "y": 0.08 }, "note": "Smaller step toward handle to avoid IK failure." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1943, "cache_read_input_tokens": 14400, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1943 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QsKKUTBtWhmC2gnE6tTPkG", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.48, "z": 1, "y": 0.1 }, "note": "Handle growing in view; keep approaching down/forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 995, "cache_read_input_tokens": 16343, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 995 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018rmfEFjrk3xGUNYMikUNRD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.54, "z": 1, "roll": 0, "yaw": 0, "pitch": -1.4 }, "note": "Left handle bar near finger axis; advance ~8cm forward horizontally." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 980, "cache_read_input_tokens": 17338, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 980 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm checking the camera orientation near the handle with a small downward step." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1507, "cache_read_input_tokens": 18318, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1507 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017D4LxUx5cMjD7AL7obSQCy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.44, "z": 0.99 }, "note": "Appears blocked at door face; back off slightly and lower to test image orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1507, "cache_read_input_tokens": 18318, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1507 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NicdZPu8rXNvaWbTTjtCnC", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "roll": 0, "yaw": 0, "x": 0.43, "z": 1.05 }, "note": "Recover from joint-limit configuration toward a known reachable pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1230, "cache_read_input_tokens": 19825, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1230 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012yrmmVnFV8DNKLHpLNUBqM", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "Small orientation-only change to escape stuck config." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 21055, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 757 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BNXv5JhcjSMP5CUrMprQ1K", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0, "yaw": 0, "pitch": -1.45 }, "note": "Specify full orientation close to current to normalize RPY." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 21812, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017Hr8Agy8hwJJBmGKDYgtC6", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1 }, "note": "Position-only small move, keep current orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 854, "cache_read_input_tokens": 22453, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 854 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rxki7jQL2tcMcbc4yiaf4Z", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.07, "x": 0.44 }, "note": "Try moving back/up to reduce joint 6 overextension." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 23307, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm is stuck in an awkward pose with joint 6 past its normal range. I'm trying to move back to the start pose." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 755, "cache_read_input_tokens": 23982, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 755 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01B6dgczNFwKij9efmnxabUt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0, "z": 1.04, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Try returning to the initial pose to escape the stuck configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 755, "cache_read_input_tokens": 23982, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 755 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QtsGJV2XtL2JprbkWS2qf7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47, "roll": -2.87375, "pitch": -1.42629, "yaw": 2.92282 }, "note": "Tiny forward move with exact current orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 784, "cache_read_input_tokens": 24737, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 784 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CeAPgLCPgbig1k1xzde3jU", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.44, "z": 1, "roll": -2.90954, "pitch": -1.39399, "yaw": 2.96711 }, "note": "In contact with door; back off 1.5cm and lower 3.5cm to align handle between fingers (image appears flipped)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 716, "cache_read_input_tokens": 25521, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 716 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014CKfth97KawqS3t45e4KsN", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.015, "roll": -2.90954, "pitch": -1.39399, "yaw": 2.96711 }, "note": "Smaller lowering step only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1312, "cache_read_input_tokens": 26237, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1312 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BQZe2pkDtTNg6AAMEJUaxZ", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.06, "roll": -2.90954, "pitch": -1.39399, "yaw": 2.96711 }, "note": "Test if raising is feasible to escape." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 27549, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SbobqtJNrtgcEzcimBkw8E", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Test grasp: close gripper to see if handle is between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1930, "cache_read_input_tokens": 28225, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1930 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper doesn't appear to have closed. I'm taking a fresh look to confirm." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 30155, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 803 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KZkvGFf5ygJgTab6Yehwz5", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 30155, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 803 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WBa7yhLgvKEHxfMRKLJKMb", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.43, "roll": -2.80232, "pitch": -1.43719, "yaw": 2.86574 }, "note": "Gripper failed to close; reopen and try to back away." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 605, "cache_read_input_tokens": 30958, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 605 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NzQqFb8PAgENxZtLZ3VbqF", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.13, "roll": -2.80232, "pitch": -1.43719, "yaw": 2.86574 }, "note": "Try lateral +y move to escape." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 751, "cache_read_input_tokens": 31563, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 751 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SHMhBn1ExXsEnSDBUjJcVh", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0.33, "pitch": -1.5, "yaw": -0.27 }, "note": "Gripper points slightly upward; tilt to slightly downward using equivalent RPY." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 679, "cache_read_input_tokens": 32314, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 679 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017V33MwxM639eejM4eWaFri", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0.33, "pitch": -1.3, "yaw": -0.27 }, "note": "Pitch down more to bring handle toward finger gap." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1444, "cache_read_input_tokens": 32993, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1444 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VpTvxwiftbnjrsSH4KYK4H", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.49 }, "note": "Try to advance toward handle with new downward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 34437, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've moved closer to the handle, and the right handle bar now sits between the fingers. I'm pushing forward a little more before closing." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 908, "cache_read_input_tokens": 35260, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 908 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017yQDw7Jh5DTEtXXLpY1uxW", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.51 }, "note": "Handle bar between fingers horizontally; push forward a bit more." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 908, "cache_read_input_tokens": 35260, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 908 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TKpHQFoeXDsAngTpKCP5t2", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at door; attempt grasp of handle bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 36168, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BFrxB9XdWLseAZaaBbTgj2", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.05, "gripper": 0 }, "note": "Gripper not closing, perhaps fingertips jammed; lift slightly while closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 639, "cache_read_input_tokens": 36991, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 639 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WY2u8PKTx3sVL5cZfkVH9d", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1, "gripper": 0 }, "note": "Shift -y while commanding close, to free jammed fingers and possibly catch the bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1113, "cache_read_input_tokens": 37630, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1113 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0145FhvZWGM1F1z5dPHrXchm", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Fingers started closing; keep closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 898, "cache_read_input_tokens": 38743, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 898 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FHVcoRjmXWmhQihVbyLh5B", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.43 }, "note": "Gripper stalled at 0.80, maybe on something; try pulling back to see if door follows." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 661, "cache_read_input_tokens": 39641, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 661 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DoLrcvU9tdYvZAiC4q1fgH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.41, "pitch": -0.9, "roll": -0.22, "yaw": 0.37 }, "note": "Pull back toward robot while pitching gripper down to avoid elbow limit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 760, "cache_read_input_tokens": 40302, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 760 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AmZwtV42YhrDsoUPDbNdPG", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "roll": -0.22, "yaw": 0.37 }, "note": "Smaller step: pitch down only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 979, "cache_read_input_tokens": 41062, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 979 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VuXr45mQq3v3BHnMYo7x4s", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "roll": -0.22, "yaw": 0.37, "x": 0.44 }, "note": "Continue pitching down and retract slightly to escape elbow limit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 631, "cache_read_input_tokens": 42041, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 631 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WW5rFFLfqzqdP1C1WXzK48", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.48, "y": 0.135, "z": 1.01, "gripper": 1 }, "note": "Right handle centered between fingers; advance along gripper axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 42672, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y1nCeCUHMPFFzKfVEHPsY5", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle between fingers and in contact; close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 43448, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 882 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ULYt4jQudBsnTNRtCW3Q3Z", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.455, "z": 1.035, "gripper": 0 }, "note": "Fingers jammed pressing door; ease back 1.5cm while closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 717, "cache_read_input_tokens": 44330, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 717 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Vt6Vz6rxvV3fuSg68mRa2B", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.48, "y": 0.132, "z": 1.015, "gripper": 0 }, "note": "Handle still beyond fingertips; advance with partially closed fingers to engage." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 45047, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 859 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y64DgdqRLq98GwqBBjs2HL", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the cabinet handle. The arm kept hitting its elbow joint limit near the cabinet, the fingers stopped at about x=0.47 before reaching the handle, and the gripper would not close on it. Little simulated time remains. The cabinet was not opened." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 920, "cache_read_input_tokens": 45906, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 920 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the cabinet; I gave up and ended the episode with about 4.9 seconds of simulated time left.\n\n- **Finding the handle:** I found a wooden double-door cabinet with two vertical handle bars ahead of the robot. It was hard to judge the handle's position because the wrist camera image seemed to be upside down.\n- **Reaching it:** The cabinet sat very close to the robot. Reaching it with the gripper level forced the elbow joint to its limit, and for several attempts almost every move request was rejected as unreachable. Tilting the gripper partly downward got it moving again.\n- **Grasping:** Each approach stopped at about x = 0.47 m, before the fingers reached the handle. When I told the gripper to close, it stayed fully open or stalled around 80% open, so it never held the handle.\n\nI never pinned down what was stopping it. The fingers might have been pressing against the door, or the gripper might have been catching on the black unit just below." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 405, "cache_read_input_tokens": 46826, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 405 }, "output_tokens": 316, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 100, "cache_creation_input_tokens": 45678, "cache_read_input_tokens": 1234524, "output_tokens": 20617, "output_tokens_details": { "thinking_tokens": 14371 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 45678, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 316, "cache_read_input_tokens": 46826, "cache_creation_input_tokens": 405, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 405 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 100, "outputTokens": 20617, "cacheReadInputTokens": 1234524, "cacheCreationInputTokens": 45678, "webSearchRequests": 0, "costUSD": 1.0250688, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 14371, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 1.0250688, "num_turns": 50, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00027, -0.78092, -0.02173, -2.29137, 0.04319, 1.50049, 0.11647 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29998, 0.00492, 1.03854 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99158, -0.12918, -0.00922 ], [ -0.12843, -0.98999, 0.05849 ], [ -0.01668, -0.05682, -0.99825 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.805726263672113, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Exploring: move forward/down to see cabinet in wrist cam." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0032, -0.5761, -0.02731, -2.18149, 0.05038, 1.46177, 0.10587 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33347, 0.00543, 1.02069 ], "tcp_roll_pitch_yaw": [ 0.01068, 0.13272, 0.01119 ], "tcp_rotation_matrix": [ [ 0.98184, -0.12587, -0.14191 ], [ -0.11726, -0.9908, 0.06757 ], [ -0.14911, -0.0497, -0.98757 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 8.008413193747401, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.15, "pitch": 0 }, "note": "Seems blocked by contact; back off and up for a wider view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00499, -0.64738, -0.02896, -1.906, 0.05424, 1.24699, 0.11702 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30035, 0.00543, 1.1488 ], "tcp_roll_pitch_yaw": [ 0.01069, 0.00103, 0.01119 ], "tcp_rotation_matrix": [ [ 0.99293, -0.11817, -0.01102 ], [ -0.11713, -0.99071, 0.06904 ], [ -0.01908, -0.06726, -0.99755 ] ], "simulated_seconds_remaining": 27.39, "calls_remaining_including_this": 55 }, "api_seconds": 5.405453329905868, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Pitch gripper forward to look ahead in +x with wrist camera." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00807, -1.62619, -0.02807, -2.90927, 0.09625, 2.46523, 0.02709 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30036, 0.00545, 1.1487 ], "tcp_roll_pitch_yaw": [ 0.01063, -1.19534, 0.01132 ], "tcp_rotation_matrix": [ [ 0.38183, 0.02648, 0.92385 ], [ -0.12393, -0.9891, 0.07957 ], [ 0.91589, -0.14487, -0.37438 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 54 }, "api_seconds": 6.206960080191493, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57, "z": 1.25 }, "note": "Wood cabinet door with handle ahead, handle appears high; go horizontal and up." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00807, -1.62619, -0.02807, -2.90927, 0.09625, 2.46523, 0.02709 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30036, 0.00545, 1.1487 ], "tcp_roll_pitch_yaw": [ 0.01063, -1.19534, 0.01132 ], "tcp_rotation_matrix": [ [ 0.38183, 0.02648, 0.92385 ], [ -0.12393, -0.9891, 0.07957 ], [ 0.91589, -0.14487, -0.37438 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 53 }, "api_seconds": 3.604297263547778, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57, "z": 1.19 }, "note": "Level gripper, raise toward handle near top edge." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00807, -1.62619, -0.02807, -2.90927, 0.09625, 2.46523, 0.02709 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30036, 0.00545, 1.1487 ], "tcp_roll_pitch_yaw": [ 0.01063, -1.19534, 0.01132 ], "tcp_rotation_matrix": [ [ 0.38183, 0.02648, 0.92385 ], [ -0.12393, -0.9891, 0.07957 ], [ 0.91589, -0.14487, -0.37438 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 52 }, "api_seconds": 2.2026112768799067, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.19, "x": 0.4 }, "note": "Keep pitch, move up and forward toward handle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04122, -1.16821, -0.03331, -2.70823, 0.10365, 2.72317, 0.01205 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39873, 0.00545, 1.18943 ], "tcp_roll_pitch_yaw": [ 0.01067, -1.19516, 0.0113 ], "tcp_rotation_matrix": [ [ 0.38199, 0.02647, 0.92379 ], [ -0.12393, -0.98909, 0.07958 ], [ 0.91582, -0.14489, -0.37454 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 51 }, "api_seconds": 6.207861197181046, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Handle left view; image may be flipped, try lower." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04122, -1.16821, -0.03331, -2.70823, 0.10365, 2.72317, 0.01205 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39873, 0.00545, 1.18943 ], "tcp_roll_pitch_yaw": [ 0.01067, -1.19516, 0.0113 ], "tcp_rotation_matrix": [ [ 0.38199, 0.02647, 0.92379 ], [ -0.12393, -0.98909, 0.07958 ], [ 0.91582, -0.14489, -0.37454 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 50 }, "api_seconds": 2.8031840147450566, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.1, "x": 0.35 }, "note": "Try lower with smaller step." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.02911, -1.47527, -0.03386, -3.01749, 0.10642, 2.72485, 0.00574 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3506, 0.00545, 1.10111 ], "tcp_roll_pitch_yaw": [ 0.01065, -1.19512, 0.01132 ], "tcp_rotation_matrix": [ [ 0.38203, 0.02646, 0.92377 ], [ -0.12392, -0.9891, 0.07958 ], [ 0.9158, -0.14488, -0.37459 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 49 }, "api_seconds": 8.007535556331277, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Test lateral image mapping by moving -y 5cm toward handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00667, -1.46027, -0.21124, -2.99508, 0.06465, 2.70787, -0.13965 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35061, -0.04873, 1.10114 ], "tcp_roll_pitch_yaw": [ 0.0111, -1.19514, 0.01085 ], "tcp_rotation_matrix": [ [ 0.38201, 0.02642, 0.92378 ], [ -0.12409, -0.98907, 0.0796 ], [ 0.91579, -0.14504, -0.37456 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 48 }, "api_seconds": 11.610519766807556, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06, "z": 1.15, "x": 0.4 }, "note": "Handle is at +y and higher; align toward it and advance." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.03939, -1.18476, 0.11614, -2.81518, 0.1349, 2.81915, 0.12771 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39951, 0.05891, 1.14952 ], "tcp_roll_pitch_yaw": [ 0.01069, -1.19512, 0.01123 ], "tcp_rotation_matrix": [ [ 0.38202, 0.02641, 0.92378 ], [ -0.12396, -0.98909, 0.07954 ], [ 0.9158, -0.14489, -0.37458 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 47 }, "api_seconds": 4.804746405221522, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.45 }, "note": "Handle just above view; tilt gripper to more horizontal." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06143, -1.17984, 0.13646, -2.98938, 0.14489, 3.24748, 0.12346 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39964, 0.05892, 1.14927 ], "tcp_roll_pitch_yaw": [ 0.0102, -1.44543, 0.01172 ], "tcp_rotation_matrix": [ [ 0.14333, 0.06182, 0.98774 ], [ -0.12658, -0.98871, 0.08025 ], [ 0.98155, -0.13653, -0.13389 ] ], "simulated_seconds_remaining": 20.988, "calls_remaining_including_this": 46 }, "api_seconds": 10.409603340551257, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "z": 1.08, "x": 0.38 }, "note": "Wrist image appears vertically flipped; handle is likely below. Lower." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06729, -1.31078, 0.14278, -3.03389, 0.15165, 2.91875, 0.1433 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38025, 0.05892, 1.08082 ], "tcp_roll_pitch_yaw": [ 0.01021, -1.20294, 0.01171 ], "tcp_rotation_matrix": [ [ 0.37485, 0.02758, 0.92667 ], [ -0.12387, -0.98911, 0.07955 ], [ 0.91877, -0.1446, -0.36735 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 45 }, "api_seconds": 17.015232366509736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "z": 1, "y": 0.1 }, "note": "Image seems 180° rotated; handle is below and to +y. Move forward/down toward it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06729, -1.31078, 0.14278, -3.03389, 0.15165, 2.91875, 0.1433 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38025, 0.05892, 1.08082 ], "tcp_roll_pitch_yaw": [ 0.01021, -1.20294, 0.01171 ], "tcp_rotation_matrix": [ [ 0.37485, 0.02758, 0.92667 ], [ -0.12387, -0.98911, 0.07955 ], [ 0.91877, -0.1446, -0.36735 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 44 }, "api_seconds": 6.00544676464051, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43, "z": 1.05, "y": 0.08 }, "note": "Smaller step toward handle to avoid IK failure." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.05293, -1.01542, 0.20976, -3.00464, 0.1645, 3.18632, 0.18608 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42902, 0.07956, 1.05052 ], "tcp_roll_pitch_yaw": [ 0.00998, -1.20261, 0.01188 ], "tcp_rotation_matrix": [ [ 0.37515, 0.02748, 0.92656 ], [ -0.12381, -0.98912, 0.07946 ], [ 0.91866, -0.14452, -0.36767 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 43 }, "api_seconds": 6.205602033063769, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "z": 1, "y": 0.1 }, "note": "Handle growing in view; keep approaching down/forward." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02395, -0.68586, 0.32734, -3.02759, 0.21528, 3.73101, 0.23206 ], "gripper_open": 1.0, "tcp_xyz": [ 0.4625, 0.08605, 1.03176 ], "tcp_roll_pitch_yaw": [ 0.20511, -1.38511, -0.19938 ], "tcp_rotation_matrix": [ [ 0.19614, 0.03478, 0.97996 ], [ -0.16444, -0.98405, 0.06784 ], [ 0.96669, -0.17445, -0.1873 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 42 }, "api_seconds": 11.61056889872998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54, "z": 1, "roll": 0, "yaw": 0, "pitch": -1.4 }, "note": "Left handle bar near finger axis; advance ~8cm forward horizontally." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 41 }, "api_seconds": 8.808336866088212, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "z": 0.99 }, "note": "Appears blocked at door face; back off slightly and lower to test image orientation." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 40 }, "api_seconds": 3.203529034741223, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "roll": 0, "yaw": 0, "x": 0.43, "z": 1.05 }, "note": "Recover from joint-limit configuration toward a known reachable pose." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 39 }, "api_seconds": 2.6029679803177714, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "Small orientation-only change to escape stuck config." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 38 }, "api_seconds": 4.404614087194204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "yaw": 0, "pitch": -1.45 }, "note": "Specify full orientation close to current to normalize RPY." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 37 }, "api_seconds": 3.003100753761828, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1 }, "note": "Position-only small move, keep current orientation." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 36 }, "api_seconds": 3.4037657212466, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.07, "x": 0.44 }, "note": "Try moving back/up to reduce joint 6 overextension." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 35 }, "api_seconds": 3.6037776060402393, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0, "z": 1.04, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Try returning to the initial pose to escape the stuck configuration." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13864, -0.28284, 0.41365, -3.02286, 0.16806, 4.44875, 0.13252 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45649, 0.08764, 1.03385 ], "tcp_roll_pitch_yaw": [ -2.87375, -1.42629, 2.92282 ], "tcp_rotation_matrix": [ [ -0.11693, 0.12025, 0.98583 ], [ -0.09635, -0.98933, 0.10924 ], [ 0.98846, -0.08221, 0.12727 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 34 }, "api_seconds": 3.003284544683993, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "roll": -2.87375, "pitch": -1.42629, "yaw": 2.92282 }, "note": "Tiny forward move with exact current orientation." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.14508, -0.24254, 0.41606, -3.01556, 0.15642, 4.51376, 0.12197 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45461, 0.08892, 1.03529 ], "tcp_roll_pitch_yaw": [ -2.90954, -1.39399, 2.96711 ], "tcp_rotation_matrix": [ [ -0.14842, 0.13172, 0.98011 ], [ -0.09685, -0.98826, 0.11815 ], [ 0.98417, -0.07739, 0.15943 ] ], "simulated_seconds_remaining": 17.424, "calls_remaining_including_this": 33 }, "api_seconds": 9.808886529877782, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "z": 1, "roll": -2.90954, "pitch": -1.39399, "yaw": 2.96711 }, "note": "In contact with door; back off 1.5cm and lower 3.5cm to align handle between fingers (image appears flipped)." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.14508, -0.24254, 0.41606, -3.01556, 0.15642, 4.51376, 0.12197 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45461, 0.08892, 1.03529 ], "tcp_roll_pitch_yaw": [ -2.90954, -1.39399, 2.96711 ], "tcp_rotation_matrix": [ [ -0.14842, 0.13172, 0.98011 ], [ -0.09685, -0.98826, 0.11815 ], [ 0.98417, -0.07739, 0.15943 ] ], "simulated_seconds_remaining": 17.424, "calls_remaining_including_this": 32 }, "api_seconds": 2.8030907278880477, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.015, "roll": -2.90954, "pitch": -1.39399, "yaw": 2.96711 }, "note": "Smaller lowering step only." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.14508, -0.24254, 0.41606, -3.01556, 0.15642, 4.51376, 0.12197 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45461, 0.08892, 1.03529 ], "tcp_roll_pitch_yaw": [ -2.90954, -1.39399, 2.96711 ], "tcp_rotation_matrix": [ [ -0.14842, 0.13172, 0.98011 ], [ -0.09685, -0.98826, 0.11815 ], [ 0.98417, -0.07739, 0.15943 ] ], "simulated_seconds_remaining": 17.424, "calls_remaining_including_this": 31 }, "api_seconds": 16.214885369874537, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.06, "roll": -2.90954, "pitch": -1.39399, "yaw": 2.96711 }, "note": "Test if raising is feasible to escape." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13242, -0.34914, 0.39822, -3.04161, 0.13988, 4.3875, 0.15261 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45203, 0.08988, 1.03906 ], "tcp_roll_pitch_yaw": [ -2.79581, -1.43907, 2.85925 ], "tcp_rotation_matrix": [ [ -0.10078, 0.13252, 0.98604 ], [ -0.09068, -0.98819, 0.12354 ], [ 0.99077, -0.07697, 0.11161 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 30 }, "api_seconds": 3.804069956764579, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Test grasp: close gripper to see if handle is between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13169, -0.35013, 0.39909, -3.04467, 0.14148, 4.39162, 0.15292 ], "gripper_open": 0.9871, "tcp_xyz": [ 0.45078, 0.08988, 1.03905 ], "tcp_roll_pitch_yaw": [ -2.80232, -1.43719, 2.86574 ], "tcp_rotation_matrix": [ [ -0.1028, 0.13272, 0.98581 ], [ -0.09099, -0.98816, 0.12355 ], [ 0.99053, -0.077, 0.11366 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 29 }, "api_seconds": 6.008838660083711, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.43, "roll": -2.80232, "pitch": -1.43719, "yaw": 2.86574 }, "note": "Gripper failed to close; reopen and try to back away." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 30, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13169, -0.35013, 0.39909, -3.04467, 0.14148, 4.39162, 0.15292 ], "gripper_open": 0.9871, "tcp_xyz": [ 0.45078, 0.08988, 1.03905 ], "tcp_roll_pitch_yaw": [ -2.80232, -1.43719, 2.86574 ], "tcp_rotation_matrix": [ [ -0.1028, 0.13272, 0.98581 ], [ -0.09099, -0.98816, 0.12355 ], [ 0.99053, -0.077, 0.11366 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 28 }, "api_seconds": 2.6027015540748835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.13, "roll": -2.80232, "pitch": -1.43719, "yaw": 2.86574 }, "note": "Try lateral +y move to escape." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.07263, -0.31771, 0.53318, -3.00008, 0.34842, 4.38147, 0.09112 ], "gripper_open": 0.9968, "tcp_xyz": [ 0.45083, 0.12816, 1.0391 ], "tcp_roll_pitch_yaw": [ -2.80927, -1.43733, 2.8704 ], "tcp_rotation_matrix": [ [ -0.10313, 0.13052, 0.98607 ], [ -0.09168, -0.98838, 0.12124 ], [ 0.99043, -0.0779, 0.11389 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 27 }, "api_seconds": 10.809955003671348, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.33, "pitch": -1.5, "yaw": -0.27 }, "note": "Gripper points slightly upward; tilt to slightly downward using equivalent RPY." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.02726, -0.58397, 0.44647, -3.0262, 0.36405, 3.95231, 0.16729 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45085, 0.12819, 1.03941 ], "tcp_roll_pitch_yaw": [ 0.3328, -1.50454, -0.27274 ], "tcp_rotation_matrix": [ [ 0.08747, 0.10711, 0.99039 ], [ -0.14484, -0.98227, 0.11902 ], [ 0.98558, -0.15386, -0.0704 ] ], "simulated_seconds_remaining": 14.85, "calls_remaining_including_this": 26 }, "api_seconds": 4.604518448933959, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.33, "pitch": -1.3, "yaw": -0.27 }, "note": "Pitch down more to bring handle toward finger gap." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0909, -0.76692, 0.36892, -2.98723, 0.39309, 3.54575, 0.17494 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45092, 0.12816, 1.0397 ], "tcp_roll_pitch_yaw": [ 0.33109, -1.30443, -0.27122 ], "tcp_rotation_matrix": [ [ 0.27385, 0.07043, 0.95919 ], [ -0.19658, -0.97216, 0.12751 ], [ 0.94147, -0.22348, -0.25238 ] ], "simulated_seconds_remaining": 14.256, "calls_remaining_including_this": 25 }, "api_seconds": 5.004841205663979, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.49 }, "note": "Try to advance toward handle with new downward tilt." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07783, -0.61356, 0.3358, -2.93923, 0.35274, 3.69692, 0.16198 ], "gripper_open": 1.0, "tcp_xyz": [ 0.47713, 0.12344, 1.0394 ], "tcp_roll_pitch_yaw": [ 0.38341, -1.34817, -0.32975 ], "tcp_rotation_matrix": [ [ 0.2292, 0.07297, 0.97064 ], [ -0.19773, -0.9729, 0.11983 ], [ 0.95308, -0.21939, -0.20856 ] ], "simulated_seconds_remaining": 13.728, "calls_remaining_including_this": 24 }, "api_seconds": 4.804396195337176, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51 }, "note": "Handle bar between fingers horizontally; push forward a bit more." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07009, -0.49464, 0.32653, -2.97637, 0.27264, 3.97413, 0.15486 ], "gripper_open": 1.0, "tcp_xyz": [ 0.47296, 0.12468, 1.03715 ], "tcp_roll_pitch_yaw": [ 0.39442, -1.48618, -0.31206 ], "tcp_rotation_matrix": [ [ 0.10673, 0.1262, 0.98625 ], [ -0.15228, -0.97814, 0.14164 ], [ 0.98256, -0.1653, -0.08518 ] ], "simulated_seconds_remaining": 13.2, "calls_remaining_including_this": 23 }, "api_seconds": 2.6027657771483064, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at door; attempt grasp of handle bar." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07469, -0.49943, 0.33221, -2.99229, 0.273, 3.99815, 0.15581 ], "gripper_open": 0.9999, "tcp_xyz": [ 0.46701, 0.12667, 1.0369 ], "tcp_roll_pitch_yaw": [ 0.4093, -1.50044, -0.32032 ], "tcp_rotation_matrix": [ [ 0.09403, 0.13489, 0.98639 ], [ -0.14833, -0.97782, 0.14786 ], [ 0.98446, -0.16021, -0.07194 ] ], "simulated_seconds_remaining": 12.276, "calls_remaining_including_this": 22 }, "api_seconds": 8.00793551467359, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05, "gripper": 0 }, "note": "Gripper not closing, perhaps fingertips jammed; lift slightly while closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.08346, -0.54085, 0.32747, -2.99929, 0.27244, 3.94455, 0.15436 ], "gripper_open": 0.9995, "tcp_xyz": [ 0.46369, 0.12778, 1.03851 ], "tcp_roll_pitch_yaw": [ 0.26979, -1.48454, -0.17691 ], "tcp_rotation_matrix": [ [ 0.11243, 0.13626, 0.98427 ], [ -0.14133, -0.97829, 0.15158 ], [ 0.98356, -0.15614, -0.09073 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 21 }, "api_seconds": 5.6055433778092265, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "gripper": 0 }, "note": "Shift -y while commanding close, to free jammed fingers and possibly catch the bar." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 38, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.1055, -0.56641, 0.19633, -3.03476, 0.07474, 3.9514, 0.17613 ], "gripper_open": 0.8191, "tcp_xyz": [ 0.45741, 0.12145, 1.03657 ], "tcp_roll_pitch_yaw": [ -0.20618, -1.48759, 0.35574 ], "tcp_rotation_matrix": [ [ 0.11291, 0.1941, 0.97446 ], [ -0.09579, -0.97404, 0.20512 ], [ 0.98898, -0.11651, -0.09139 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 20 }, "api_seconds": 2.60280061326921, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Fingers started closing; keep closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 39, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10676, -0.57062, 0.19772, -3.04053, 0.07488, 3.95646, 0.17649 ], "gripper_open": 0.8048, "tcp_xyz": [ 0.4553, 0.12195, 1.03656 ], "tcp_roll_pitch_yaw": [ -0.22587, -1.49081, 0.37735 ], "tcp_rotation_matrix": [ [ 0.10956, 0.19646, 0.97437 ], [ -0.09523, -0.97369, 0.20703 ], [ 0.98941, -0.11547, -0.08797 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 19 }, "api_seconds": 3.803582336753607, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43 }, "note": "Gripper stalled at 0.80, maybe on something; try pulling back to see if door follows." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 40, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10676, -0.57062, 0.19772, -3.04053, 0.07488, 3.95646, 0.17649 ], "gripper_open": 0.8048, "tcp_xyz": [ 0.4553, 0.12195, 1.03656 ], "tcp_roll_pitch_yaw": [ -0.22587, -1.49081, 0.37735 ], "tcp_rotation_matrix": [ [ 0.10956, 0.19646, 0.97437 ], [ -0.09523, -0.97369, 0.20703 ], [ 0.98941, -0.11547, -0.08797 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 18 }, "api_seconds": 6.205460897646844, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.41, "pitch": -0.9, "roll": -0.22, "yaw": 0.37 }, "note": "Pull back toward robot while pitching gripper down to avoid elbow limit." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 41, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10676, -0.57062, 0.19772, -3.04053, 0.07488, 3.95646, 0.17649 ], "gripper_open": 0.8048, "tcp_xyz": [ 0.4553, 0.12195, 1.03656 ], "tcp_roll_pitch_yaw": [ -0.22587, -1.49081, 0.37735 ], "tcp_rotation_matrix": [ [ 0.10956, 0.19646, 0.97437 ], [ -0.09523, -0.97369, 0.20703 ], [ 0.98941, -0.11547, -0.08797 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 17 }, "api_seconds": 2.4026827570050955, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "roll": -0.22, "yaw": 0.37 }, "note": "Smaller step: pitch down only." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 42, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.14135, -0.75699, 0.16368, -3.00096, 0.03989, 3.54772, 0.16141 ], "gripper_open": 0.9813, "tcp_xyz": [ 0.45368, 0.12788, 1.03697 ], "tcp_roll_pitch_yaw": [ -0.25117, -1.30465, 0.41314 ], "tcp_rotation_matrix": [ [ 0.27654, 0.19076, 0.94188 ], [ -0.01912, -0.97881, 0.20386 ], [ 0.96081, -0.07439, -0.26704 ] ], "simulated_seconds_remaining": 8.976, "calls_remaining_including_this": 16 }, "api_seconds": 4.2040223916992545, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "roll": -0.22, "yaw": 0.37, "x": 0.44 }, "note": "Continue pitching down and retract slightly to escape elbow limit." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 43, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.15453, -0.90685, 0.15656, -2.85778, 0.02622, 2.95648, 0.14415 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44031, 0.12796, 1.03724 ], "tcp_roll_pitch_yaw": [ -0.22035, -1.00476, 0.37058 ], "tcp_rotation_matrix": [ [ 0.5331, 0.16318, 0.83016 ], [ 0.06877, -0.98634, 0.14971 ], [ 0.84325, -0.02272, -0.53704 ] ], "simulated_seconds_remaining": 8.25, "calls_remaining_including_this": 15 }, "api_seconds": 5.204917145892978, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "y": 0.135, "z": 1.01, "gripper": 1 }, "note": "Right handle centered between fingers; advance along gripper axis." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 44, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.11429, -0.76446, 0.18, -2.83096, 0.02124, 3.10912, 0.1544 ], "gripper_open": 1.0, "tcp_xyz": [ 0.47178, 0.13087, 1.0274 ], "tcp_roll_pitch_yaw": [ -0.22549, -1.03998, 0.36618 ], "tcp_rotation_matrix": [ [ 0.50482, 0.15534, 0.84913 ], [ 0.05553, -0.98748, 0.14764 ], [ 0.86143, -0.02738, -0.50713 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 14 }, "api_seconds": 3.2031693691387773, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle between fingers and in contact; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 45, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.11713, -0.77845, 0.1825, -2.83954, 0.02263, 3.10519, 0.15777 ], "gripper_open": 1.0, "tcp_xyz": [ 0.46815, 0.13175, 1.02746 ], "tcp_roll_pitch_yaw": [ -0.22468, -1.04159, 0.36624 ], "tcp_rotation_matrix": [ [ 0.50361, 0.15613, 0.8497 ], [ 0.05509, -0.98734, 0.14877 ], [ 0.86217, -0.02812, -0.50584 ] ], "simulated_seconds_remaining": 6.732, "calls_remaining_including_this": 13 }, "api_seconds": 5.004906329326332, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.455, "z": 1.035, "gripper": 0 }, "note": "Fingers jammed pressing door; ease back 1.5cm while closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 46, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.1252, -0.8424, 0.17814, -2.86022, 0.02811, 3.0532, 0.163 ], "gripper_open": 0.7794, "tcp_xyz": [ 0.45481, 0.12777, 1.03076 ], "tcp_roll_pitch_yaw": [ -0.21298, -1.03452, 0.34781 ], "tcp_rotation_matrix": [ [ 0.51153, 0.14761, 0.84649 ], [ 0.04818, -0.98851, 0.14326 ], [ 0.85791, -0.0325, -0.51276 ] ], "simulated_seconds_remaining": 5.808, "calls_remaining_including_this": 12 }, "api_seconds": 6.005800667218864, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "y": 0.132, "z": 1.015, "gripper": 0 }, "note": "Handle still beyond fingertips; advance with partially closed fingers to engage." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 47, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.09984, -0.75744, 0.19933, -2.84012, 0.02403, 3.14389, 0.17027 ], "gripper_open": 1.0, "tcp_xyz": [ 0.47282, 0.13235, 1.02645 ], "tcp_roll_pitch_yaw": [ -0.22265, -1.05818, 0.35663 ], "tcp_rotation_matrix": [ [ 0.49087, 0.14883, 0.85842 ], [ 0.04528, -0.98833, 0.14546 ], [ 0.87005, -0.03253, -0.49188 ] ], "simulated_seconds_remaining": 4.884, "calls_remaining_including_this": 11 }, "api_seconds": 5.005123104900122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the cabinet handle. The arm kept hitting its elbow joint limit near the cabinet, the fingers stopped at about x=0.47 before reaching the handle, and the gripper would not close on it. Little simulated time remains. The cabinet was not opened." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 011 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 11, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "wall_seconds": 234.64, "usage": { "input_tokens": 66, "output_tokens": 15372, "cache_read_input_tokens": 576791, "cache_creation_input_tokens": 31602, "thinking_tokens": 11330, "cost_usd": 0.6758782 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011gEeuDoed4bD3zFZsDQMfi", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QFC4PRLBsxaThSxAKynF81", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lowering to see dresser front and handles better." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01391j639agv1a61JcspF5sh", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Moving forward to understand dresser layout in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Jw7ZV9Ksz5t1K6PRvau9VH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0.03, "z": 1.05, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Motion seems to have collided; resetting to start pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 923, "cache_read_input_tokens": 3334, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 923 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YB5cY3nXDhpcouAKUhCJci", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42 }, "note": "Small forward move to calibrate wrist image direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1165, "cache_read_input_tokens": 4257, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1165 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working out where the dresser front faces. Moving sideways to see how the wrist camera view shifts." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1131, "cache_read_input_tokens": 5422, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1131 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JKtnTjufRakfxicNFDu6bY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "y": -0.1, "pitch": 0 }, "note": "Test y direction in wrist image." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1131, "cache_read_input_tokens": 5422, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1131 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UM7NPZRaPZD6j6kcStwAb3", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": 0, "z": 0.95 }, "note": "Approach dresser front edge from above to gauge height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1114, "cache_read_input_tokens": 6553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1114 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PYApCgeTo8NrSYjjCiUjws", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 1.05, "pitch": 0.5 }, "note": "Tilt wrist to look around and understand scene layout." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1408, "cache_read_input_tokens": 7667, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1408 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FpW1ubDao5AefqA8WhoLPA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "y": 0, "z": 0.85, "pitch": -1.5 }, "note": "Robot base is at -x; dresser front faces robot. Orient gripper to point forward (+x) toward drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1747, "cache_read_input_tokens": 9075, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1747 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JrD3HQnUJEz5PpENUDeh3B", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.25, "y": 0, "z": 0.95, "pitch": -1 }, "note": "Try a less extreme forward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1368, "cache_read_input_tokens": 10822, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1368 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YUgCgCSzUtxcM1mH23D4i2", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "z": 1 }, "note": "Return to neutral orientation before tilting forward in steps." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 875, "cache_read_input_tokens": 12190, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 875 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Worked out the layout: the dresser's front faces the robot at roughly x≈0.25. Next I'll set up a top-down grasp on a drawer handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 699, "cache_read_input_tokens": 13065, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 699 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015RJXsBTPQJvfFQeEetPK7i", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.18, "y": 0, "z": 1, "yaw": 1.57 }, "note": "Dresser front is near x~0.25 facing robot. Move in front of it and yaw 90deg so fingers straddle horizontal handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 699, "cache_read_input_tokens": 13065, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 699 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VzLjd1bAn9SbBNKzJ2UFsW", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Lowering in front of the dresser to find handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1172, "cache_read_input_tokens": 13764, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1172 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V5LRQPgvsj6ujf1UewFCXw", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Continue lowering to locate handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 840, "cache_read_input_tokens": 14936, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 840 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kh1kL2cr1Av9fQZmkm4g4i", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.23, "z": 0.85 }, "note": "IK failed near base; try slightly further forward and lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 860, "cache_read_input_tokens": 15776, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 860 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JucC9MJjojUFEKntSBPXDt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.27 }, "note": "Handle is further +x; approach the front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1271, "cache_read_input_tokens": 16636, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1271 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015oGv3tVe5GHBTT5iNboRjo", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.32 }, "note": "Continue toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 783, "cache_read_input_tokens": 17907, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 783 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Getting close to the drawer front; nudging forward a bit more." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 18690, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 741 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Nvyw8ehcHxuyWMwhKhZfZS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36 }, "note": "Approach the face; handle is near." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 18690, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 741 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011DwAQ414P2f8mPEdJ4pGpt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.325, "z": 0.8, "roll": 0, "pitch": 0 }, "note": "Contacted face at x~0.33. Lower to handle height with fingers straddling in x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1006, "cache_read_input_tokens": 19431, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1006 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01P1pntsc36TrMDiE9UfwsxN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 0.95, "roll": -0.7, "pitch": 0 }, "note": "Resting on something; back off and tilt camera toward +x to see front face directly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1161, "cache_read_input_tokens": 20437, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1161 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X2Uu9dijmE5vm49rtDBEo7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.28, "z": 0.95, "roll": -0.4, "pitch": 0 }, "note": "Smaller tilt toward +x for a view of the front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1211, "cache_read_input_tokens": 21598, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1211 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JwbxJ9tevLMXoSnPL7QTK2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.31, "z": 0.87, "roll": 0, "pitch": 0, "gripper": 1 }, "note": "Handle appears ~x0.30-0.32 just below z0.84. Position above it with fingers straddling along x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 22809, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DfjVVh6d2uyaFNCpo5bSWv", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.815 }, "note": "Lower fingers around the handle bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2193, "cache_read_input_tokens": 23449, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 2193 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Lowered to handle height; the handle still looks slightly past the forward finger, so I'm shifting forward." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 25642, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BLBeWpJtGBJZZe6D1VLibx", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.345 }, "note": "Handle appears beyond +x finger; shift forward to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 25642, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QEW9onHZxhuJc3dNYrcYwk", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Try closing on whatever is between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 893, "cache_read_input_tokens": 26282, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 893 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012r4TDuXrDVb7rEuFpJa1RD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2 }, "note": "Gripper closed possibly on handle; pull toward robot to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 737, "cache_read_input_tokens": 27175, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 737 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Aae1AYFFAy585YKLaYKG7R", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.74, "gripper": 1 }, "note": "Missed; handle likely lower. Open and descend in front of face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 687, "cache_read_input_tokens": 27912, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 687 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NxT7XCyRPAWQVrospDypVa", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.345 }, "note": "Handle bar visible ahead; advance to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1449, "cache_read_input_tokens": 28599, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1449 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ALxRfM822xtE7dLbnByBVR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.37 }, "note": "Handle just beyond +finger; advance slightly more." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 687, "cache_read_input_tokens": 30048, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 687 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The forward finger is touching the handle area. Closing the gripper, then I'll pull." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 30735, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 696 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RR4H7s8cf1TMVhLSBVvV2T", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 30735, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 696 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rn6A1S6H1tbw57cRHH81ii", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.27 }, "note": "Pull back in case the fingers caught the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 31431, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y6BBBKsnPZAz8Ads8NUxQK", "name": "mcp__robot__give_up", "input": { "note": "Could not get a grip on the dresser drawer handle. Both close-and-pull attempts came up empty, and only about 3 s of motion time remains, which is not enough for another grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 818, "cache_read_input_tokens": 32121, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 818 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser. I stopped the episode (give_up) with about 3.4 seconds of motion time left, too little for another grasp.\n\n- **Wasted early time:** At first I misread which way the wrist camera faced. Tilting it showed the robot base, which told me the dresser's front faces the robot at about x≈0.33–0.37 m. A few moves before that collided or were rejected as out of reach, costing time.\n- **Grasp attempts:** I turned the gripper 90° so the fingers would close around a horizontal drawer handle from above. I tried twice, at heights of about 0.83 m and 0.74 m. Both times the forward finger hit the drawer front and the gripper closed on nothing.\n- **Pulls:** Pulling back toward the robot after each empty close did not move the drawer.\n\nThe most likely cause is that I never judged the handle's exact position well enough, either how far it sticks out from the front or its height. From directly above, the wrist camera showed the handle just past the forward finger each time." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 216, "cache_read_input_tokens": 32939, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 216 }, "output_tokens": 331, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 66, "cache_creation_input_tokens": 31602, "cache_read_input_tokens": 576791, "output_tokens": 15372, "output_tokens_details": { "thinking_tokens": 11330 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 31602, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 331, "cache_read_input_tokens": 32939, "cache_creation_input_tokens": 216, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 216 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 66, "outputTokens": 15372, "cacheReadInputTokens": 576791, "cacheCreationInputTokens": 31602, "webSearchRequests": 0, "costUSD": 0.6758782, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 11330, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.6758782, "num_turns": 33, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01369, -0.77598, 0.06034, -2.26539, 0.06963, 1.52503, 0.0338 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31007, 0.03345, 1.05052 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99943, 0.00121, 0.03368 ], [ 0.00026, -0.9996, 0.02833 ], [ 0.0337, -0.0283, -0.99903 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.006786027923226, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lowering to see dresser front and handles better." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00156, -0.80393, 0.08558, -2.79382, 0.09783, 2.02492, 0.01675 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31001, 0.03345, 0.85125 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00032, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99944, 0.00121, 0.03336 ], [ 0.00026, -0.9996, 0.02831 ], [ 0.03338, -0.02829, -0.99904 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 5.205303503200412, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Moving forward to understand dresser layout in wrist view." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04293, -0.48927, 0.09339, -2.26886, 0.04942, 0.91651, 0.02486 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.17464, 0.0234, 0.99394 ], "tcp_roll_pitch_yaw": [ -0.05297, 0.89802, -0.00695 ], "tcp_rotation_matrix": [ [ 0.64912, 0.01309, -0.76058 ], [ -0.00247, -0.99981, -0.01932 ], [ -0.76069, 0.01442, -0.64896 ] ], "simulated_seconds_remaining": 26.796, "calls_remaining_including_this": 55 }, "api_seconds": 8.007760836742818, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.03, "z": 1.05, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Motion seems to have collided; resetting to start pose." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04811, -0.80716, 0.07387, -2.28281, 0.0815, 1.50687, 0.00945 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29936, 0.02998, 1.04972 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.00431, 0.0001 ], "tcp_rotation_matrix": [ [ 0.99957, 0.00119, 0.02938 ], [ 0.00036, -0.9996, 0.02811 ], [ 0.0294, -0.02809, -0.99917 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 54 }, "api_seconds": 7.407198534347117, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Small forward move to calibrate wrist image direction." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.06383, -0.4608, 0.09133, -2.02593, 0.0651, 1.47781, 0.01892 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38148, 0.02987, 1.04784 ], "tcp_roll_pitch_yaw": [ -0.00543, 0.12305, 0.00104 ], "tcp_rotation_matrix": [ [ 0.99601, -0.00057, -0.08923 ], [ 0.00147, -0.99974, 0.02281 ], [ -0.08922, -0.02285, -0.99575 ] ], "simulated_seconds_remaining": 24.156, "calls_remaining_including_this": 53 }, "api_seconds": 7.807056547142565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "y": -0.1, "pitch": 0 }, "note": "Test y direction in wrist image." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.14318, -0.67234, -0.11339, -2.20391, -0.04063, 1.56118, -0.23552 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33047, -0.09886, 1.04787 ], "tcp_roll_pitch_yaw": [ -0.00537, 0.00107, 0.00081 ], "tcp_rotation_matrix": [ [ 0.99947, 0.002, 0.03259 ], [ 0.00125, -0.99973, 0.02299 ], [ 0.03263, -0.02294, -0.9992 ] ], "simulated_seconds_remaining": 22.902, "calls_remaining_including_this": 52 }, "api_seconds": 11.810537977144122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0, "z": 0.95 }, "note": "Approach dresser front edge from above to gauge height." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.08879, -0.72788, 0.02859, -2.45571, 0.04805, 1.89836, -0.05057 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3747, -0.01343, 0.98194 ], "tcp_roll_pitch_yaw": [ -0.00817, -0.13769, -0.02907 ], "tcp_rotation_matrix": [ [ 0.98495, -0.0251, 0.17102 ], [ -0.02811, -0.99949, 0.0152 ], [ 0.17055, -0.01978, -0.98515 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 51 }, "api_seconds": 15.012332319281995, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.05, "pitch": 0.5 }, "note": "Tilt wrist to look around and understand scene layout." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09573, -0.39136, 0.03257, -1.95117, 0.01685, 1.09792, -0.03112 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30062, -0.01344, 1.04943 ], "tcp_roll_pitch_yaw": [ -0.00816, 0.49531, -0.02907 ], "tcp_rotation_matrix": [ [ 0.89498, -0.03757, -0.44453 ], [ -0.02549, -0.99913, 0.03311 ], [ -0.44538, -0.0183, -0.89515 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 50 }, "api_seconds": 9.808461010456085, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0, "z": 0.85, "pitch": -1.5 }, "note": "Robot base is at -x; dresser front faces robot. Orient gripper to point forward (+x) toward drawer fronts." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09573, -0.39136, 0.03257, -1.95117, 0.01685, 1.09792, -0.03112 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30062, -0.01344, 1.04943 ], "tcp_roll_pitch_yaw": [ -0.00816, 0.49531, -0.02907 ], "tcp_rotation_matrix": [ [ 0.89498, -0.03757, -0.44453 ], [ -0.02549, -0.99913, 0.03311 ], [ -0.44538, -0.0183, -0.89515 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 49 }, "api_seconds": 4.404294675216079, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0, "z": 0.95, "pitch": -1 }, "note": "Try a less extreme forward tilt." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09573, -0.39136, 0.03257, -1.95117, 0.01685, 1.09792, -0.03112 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30062, -0.01344, 1.04943 ], "tcp_roll_pitch_yaw": [ -0.00816, 0.49531, -0.02907 ], "tcp_rotation_matrix": [ [ 0.89498, -0.03757, -0.44453 ], [ -0.02549, -0.99913, 0.03311 ], [ -0.44538, -0.0183, -0.89515 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 48 }, "api_seconds": 2.6028643352910876, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "z": 1 }, "note": "Return to neutral orientation before tilting forward in steps." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09238, -0.84072, 0.01918, -2.43213, 0.03597, 1.61998, -0.05242 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30052, -0.01343, 1.00041 ], "tcp_roll_pitch_yaw": [ -0.00816, 0.00421, -0.02905 ], "tcp_rotation_matrix": [ [ 0.99916, -0.02792, 0.03004 ], [ -0.0285, -0.99941, 0.01931 ], [ 0.02949, -0.02015, -0.99936 ] ], "simulated_seconds_remaining": 19.536, "calls_remaining_including_this": 47 }, "api_seconds": 7.806856907904148, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.18, "y": 0, "z": 1, "yaw": 1.57 }, "note": "Dresser front is near x~0.25 facing robot. Move in front of it and yaw 90deg so fingers straddle horizontal handle." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.428, -1.23441, -0.20656, -2.55555, -0.16518, 1.32278, -1.24689 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.18032, -2e-05, 1.00002 ], "tcp_roll_pitch_yaw": [ -0.00823, 0.00418, 1.56551 ], "tcp_rotation_matrix": [ [ 0.00475, 0.99979, -0.01995 ], [ 0.99955, -0.00416, 0.02961 ], [ 0.02952, -0.02008, -0.99936 ] ], "simulated_seconds_remaining": 17.094, "calls_remaining_including_this": 46 }, "api_seconds": 4.604275424964726, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lowering in front of the dresser to find handle height." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.38751, -1.36543, -0.26435, -2.85082, -0.22498, 1.48516, -1.25124 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.1803, -3e-05, 0.90123 ], "tcp_roll_pitch_yaw": [ -0.00806, 0.00422, 1.56551 ], "tcp_rotation_matrix": [ [ 0.00476, 0.99979, -0.02012 ], [ 0.99955, -0.00417, 0.02957 ], [ 0.02948, -0.02025, -0.99936 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 45 }, "api_seconds": 4.604308966547251, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Continue lowering to locate handle height." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.38751, -1.36543, -0.26435, -2.85082, -0.22498, 1.48516, -1.25124 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.1803, -3e-05, 0.90123 ], "tcp_roll_pitch_yaw": [ -0.00806, 0.00422, 1.56551 ], "tcp_rotation_matrix": [ [ 0.00476, 0.99979, -0.02012 ], [ 0.99955, -0.00417, 0.02957 ], [ 0.02948, -0.02025, -0.99936 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 44 }, "api_seconds": 9.007617760449648, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.23, "z": 0.85 }, "note": "IK failed near base; try slightly further forward and lower." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.39455, -1.17709, -0.36601, -2.91242, -0.30768, 1.73895, -1.26052 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22908, -3e-05, 0.85085 ], "tcp_roll_pitch_yaw": [ -0.00776, 0.0043, 1.56553 ], "tcp_rotation_matrix": [ [ 0.00474, 0.99978, -0.02042 ], [ 0.99956, -0.00414, 0.0295 ], [ 0.0294, -0.02055, -0.99936 ] ], "simulated_seconds_remaining": 15.312, "calls_remaining_including_this": 43 }, "api_seconds": 4.203984396532178, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27 }, "note": "Handle is further +x; approach the front face." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.43587, -1.00134, -0.41125, -2.83405, -0.32266, 1.84405, -1.26672 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26885, -3e-05, 0.85085 ], "tcp_roll_pitch_yaw": [ -0.00765, 0.0043, 1.56556 ], "tcp_rotation_matrix": [ [ 0.00472, 0.99978, -0.02053 ], [ 0.99956, -0.00412, 0.0295 ], [ 0.0294, -0.02066, -0.99935 ] ], "simulated_seconds_remaining": 14.718, "calls_remaining_including_this": 42 }, "api_seconds": 3.0030920607969165, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32 }, "note": "Continue toward handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.4928, -0.80134, -0.46761, -2.72214, -0.31994, 1.94301, -1.28643 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3188, -2e-05, 0.85085 ], "tcp_roll_pitch_yaw": [ -0.00756, 0.00429, 1.56558 ], "tcp_rotation_matrix": [ [ 0.00471, 0.99978, -0.02062 ], [ 0.99956, -0.0041, 0.0295 ], [ 0.02941, -0.02075, -0.99935 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 41 }, "api_seconds": 7.006145090796053, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36 }, "note": "Approach the face; handle is near." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.54351, -0.68457, -0.50134, -2.60739, -0.28529, 1.86516, -1.31396 ], "gripper_open": 0.9821, "tcp_xyz": [ 0.33088, -0.00237, 0.85862 ], "tcp_roll_pitch_yaw": [ 0.08069, 0.01434, 1.57363 ], "tcp_rotation_matrix": [ [ -0.00037, 0.99406, -0.10882 ], [ 0.99981, 0.00247, 0.01912 ], [ 0.01928, -0.10879, -0.99388 ] ], "simulated_seconds_remaining": 13.464, "calls_remaining_including_this": 40 }, "api_seconds": 8.006781690753996, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.325, "z": 0.8, "roll": 0, "pitch": 0 }, "note": "Contacted face at x~0.33. Lower to handle height with fingers straddling in x." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.50045, -0.83242, -0.53172, -2.77327, -0.35417, 2.09121, -1.30164 ], "gripper_open": 1.0, "tcp_xyz": [ 0.33981, 0.00108, 0.84404 ], "tcp_roll_pitch_yaw": [ -0.11752, -0.05492, 1.57136 ], "tcp_rotation_matrix": [ [ -0.00477, 0.99602, 0.08896 ], [ 0.99609, -0.00312, 0.08832 ], [ 0.08825, 0.08903, -0.99211 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 39 }, "api_seconds": 8.00625344645232, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 0.95, "roll": -0.7, "pitch": 0 }, "note": "Resting on something; back off and tilt camera toward +x to see front face directly." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.50045, -0.83242, -0.53172, -2.77327, -0.35417, 2.09121, -1.30164 ], "gripper_open": 1.0, "tcp_xyz": [ 0.33981, 0.00108, 0.84404 ], "tcp_roll_pitch_yaw": [ -0.11752, -0.05492, 1.57136 ], "tcp_rotation_matrix": [ [ -0.00477, 0.99602, 0.08896 ], [ 0.99609, -0.00312, 0.08832 ], [ 0.08825, 0.08903, -0.99211 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 38 }, "api_seconds": 2.20237110927701, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28, "z": 0.95, "roll": -0.4, "pitch": 0 }, "note": "Smaller tilt toward +x for a view of the front face." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.40119, -1.34367, -0.28034, -2.84689, -0.35855, 1.87578, -1.24753 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28054, 0.00108, 0.94925 ], "tcp_roll_pitch_yaw": [ -0.39794, -0.00053, 1.57147 ], "tcp_rotation_matrix": [ [ -0.01397, 0.93246, 0.361 ], [ 0.99941, 0.00165, 0.03441 ], [ 0.03149, 0.36127, -0.93193 ] ], "simulated_seconds_remaining": 11.682, "calls_remaining_including_this": 37 }, "api_seconds": 19.019505340605974, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.31, "z": 0.87, "roll": 0, "pitch": 0, "gripper": 1 }, "note": "Handle appears ~x0.30-0.32 just below z0.84. Position above it with fingers straddling along x." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.49432, -0.84846, -0.44562, -2.69839, -0.30532, 1.86887, -1.28597 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3097, 0.00113, 0.87075 ], "tcp_roll_pitch_yaw": [ -0.00374, -0.0001, 1.57162 ], "tcp_rotation_matrix": [ [ -0.0012, 0.9997, -0.02462 ], [ 0.99943, 0.00204, 0.03376 ], [ 0.0338, -0.02457, -0.99913 ] ], "simulated_seconds_remaining": 10.824, "calls_remaining_including_this": 36 }, "api_seconds": 2.2024270817637444, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.815 }, "note": "Lower fingers around the handle bar." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.4825, -0.79633, -0.4964, -2.80738, -0.34797, 2.02858, -1.28604 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30964, 0.00112, 0.81621 ], "tcp_roll_pitch_yaw": [ -0.00345, -2e-05, 1.57164 ], "tcp_rotation_matrix": [ [ -0.00121, 0.99969, -0.02491 ], [ 0.99943, 0.00205, 0.03368 ], [ 0.03372, -0.02486, -0.99912 ] ], "simulated_seconds_remaining": 10.164, "calls_remaining_including_this": 35 }, "api_seconds": 5.004480924457312, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.345 }, "note": "Handle appears beyond +x finger; shift forward to straddle it." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.53127, -0.67497, -0.53013, -2.71707, -0.32497, 2.01556, -1.30783 ], "gripper_open": 1.0, "tcp_xyz": [ 0.32921, -0.00106, 0.81622 ], "tcp_roll_pitch_yaw": [ 0.04675, 0.01254, 1.57739 ], "tcp_rotation_matrix": [ [ -0.00527, 0.99716, -0.07512 ], [ 0.99976, 0.00684, 0.02068 ], [ 0.02114, -0.075, -0.99696 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 34 }, "api_seconds": 3.6031773118302226, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Try closing on whatever is between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.53063, -0.69112, -0.52243, -2.69512, -0.32527, 2.03633, -1.30739 ], "gripper_open": 0.0425, "tcp_xyz": [ 0.3446, 0.00021, 0.83272 ], "tcp_roll_pitch_yaw": [ -0.01044, 0.0014, 1.57429 ], "tcp_rotation_matrix": [ [ -0.0041, 0.99983, -0.01801 ], [ 0.99947, 0.00467, 0.03222 ], [ 0.0323, -0.01787, -0.99932 ] ], "simulated_seconds_remaining": 8.712, "calls_remaining_including_this": 33 }, "api_seconds": 2.602542283013463, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2 }, "note": "Gripper closed possibly on handle; pull toward robot to open drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.35734, -1.31854, -0.35673, -3.00761, -0.31136, 1.69008, -1.26936 ], "gripper_open": 0.0, "tcp_xyz": [ 0.20138, 0.00023, 0.83277 ], "tcp_roll_pitch_yaw": [ -0.01061, 0.00129, 1.57429 ], "tcp_rotation_matrix": [ [ -0.00411, 0.99983, -0.01784 ], [ 0.99947, 0.00468, 0.03233 ], [ 0.03241, -0.0177, -0.99932 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 32 }, "api_seconds": 11.409155081026256, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.74, "gripper": 1 }, "note": "Missed; handle likely lower. Open and descend in front of face." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.46419, -0.69098, -0.57807, -2.95319, -0.43208, 2.2803, -1.27868 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29894, 0.00024, 0.74091 ], "tcp_roll_pitch_yaw": [ -0.01028, 0.00129, 1.57435 ], "tcp_rotation_matrix": [ [ -0.00416, 0.99983, -0.01817 ], [ 0.99947, 0.00474, 0.03233 ], [ 0.03241, -0.01803, -0.99931 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 31 }, "api_seconds": 2.80312636308372, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.345 }, "note": "Handle bar visible ahead; advance to straddle it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.55481, -0.51686, -0.63216, -2.8284, -0.37323, 2.34354, -1.31529 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34374, 0.00024, 0.74093 ], "tcp_roll_pitch_yaw": [ -0.01026, 0.00128, 1.57437 ], "tcp_rotation_matrix": [ [ -0.00417, 0.99983, -0.01819 ], [ 0.99947, 0.00476, 0.03234 ], [ 0.03242, -0.01805, -0.99931 ] ], "simulated_seconds_remaining": 5.676, "calls_remaining_including_this": 30 }, "api_seconds": 3.0031058536842465, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.37 }, "note": "Handle just beyond +finger; advance slightly more." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.60726, -0.43664, -0.65924, -2.75874, -0.32504, 2.30748, -1.34776 ], "gripper_open": 0.9908, "tcp_xyz": [ 0.35425, 0.00033, 0.73889 ], "tcp_roll_pitch_yaw": [ 0.04028, 0.00992, 1.58337 ], "tcp_rotation_matrix": [ [ -0.01147, 0.99756, -0.06883 ], [ 0.99965, 0.01307, 0.02292 ], [ 0.02377, -0.06855, -0.99736 ] ], "simulated_seconds_remaining": 5.214, "calls_remaining_including_this": 29 }, "api_seconds": 3.0030591702088714, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.60679, -0.44054, -0.65854, -2.76196, -0.3258, 2.30656, -1.34932 ], "gripper_open": 0.0, "tcp_xyz": [ 0.35304, 0.00091, 0.73881 ], "tcp_roll_pitch_yaw": [ 0.04073, 0.00854, 1.58651 ], "tcp_rotation_matrix": [ [ -0.01459, 0.99748, -0.06937 ], [ 0.99958, 0.0163, 0.02408 ], [ 0.02515, -0.06899, -0.9973 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 28 }, "api_seconds": 5.004623490385711, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27 }, "note": "Pull back in case the fingers caught the handle." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.44788, -0.75927, -0.5616, -2.99003, -0.43419, 2.19311, -1.27653 ], "gripper_open": 0.0, "tcp_xyz": [ 0.27127, 0.00093, 0.73881 ], "tcp_roll_pitch_yaw": [ 0.04076, 0.0084, 1.58652 ], "tcp_rotation_matrix": [ [ -0.0146, 0.99748, -0.0694 ], [ 0.99957, 0.01631, 0.02421 ], [ 0.02528, -0.06902, -0.99729 ] ], "simulated_seconds_remaining": 3.432, "calls_remaining_including_this": 27 }, "api_seconds": 3.0028110863640904, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not get a grip on the dresser drawer handle. Both close-and-pull attempts came up empty, and only about 3 s of motion time remains, which is not enough for another grasp." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 012 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 12, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 19, "wall_seconds": 152.76, "usage": { "input_tokens": 42, "output_tokens": 9299, "cache_read_input_tokens": 232747, "cache_creation_input_tokens": 19307, "thinking_tokens": 6752, "cost_usd": 0.3871534000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GZFryyDk1276RHnfrGX5ot", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JLpkUENQue4z9FBYii4LK4", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 1.1 }, "note": "Raise and retreat to get a better wrist view of the table and its drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LjgSMBDQH2Rz3bTFcxXbut", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Probe axis directions: move +y to see how the gripper moves in exterior view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 780, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 780 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014jNeMd7gb5EuHQpiksx9LX", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.4, "z": 0.95 }, "note": "Table appears to +y side; move toward it to locate edge and drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 898, "cache_read_input_tokens": 3289, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 898 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MRog2hkqsxGri2CNHTsxKi", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "y": 0.45, "z": 1.2, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Contact with table edge; lift above table to view it from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1111, "cache_read_input_tokens": 4187, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1111 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kp9zakYUnKVHAMryzshiDu", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.05 }, "note": "Probe -x direction in exterior image to locate drawer face orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1418, "cache_read_input_tokens": 5298, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1418 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V38cJVJsfaLNepUPphVN9P", "name": "mcp__robot__move_to", "input": { "targets": { "x": -0.02, "z": 1, "pitch": -0.7 }, "note": "Drawer face likely faces -x; move in front of it and tilt gripper toward +x to view it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 866, "cache_read_input_tokens": 6716, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 866 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HYx4mGvDP6jygRWiGhRAH3", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower to drawer height in front of -x face to see the drawer and handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1747, "cache_read_input_tokens": 7582, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1747 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Mjq78TZDzF7dp6xf9Qn2LL", "name": "mcp__robot__move_to", "input": { "targets": { "x": -0.15 }, "note": "Wrist seems to see table underside frame; back off in -x to view the table's near face and drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 876, "cache_read_input_tokens": 9329, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 876 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QxZwdUUiQNb367UKXbymir", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.05, "y": 0.6, "z": 0.95, "pitch": 0 }, "note": "Place gripper where it should appear in exterior near the table's near face to calibrate drawer location." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1661, "cache_read_input_tokens": 10205, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1661 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Found the gripper in the exterior view just in front of the table's near face, close to where the drawer is. Now I'll turn the gripper to point forward (+x) at drawer height to find the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1045, "cache_read_input_tokens": 11866, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1045 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014JoFv4PtApxrmnJvL6vh8U", "name": "mcp__robot__move_to", "input": { "targets": { "x": -0.02, "z": 0.9, "pitch": -1.45 }, "note": "Gripper just in front of table near face; point gripper +x toward drawer face to view handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1045, "cache_read_input_tokens": 11866, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1045 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LUvMxZt3HNW5BNQGTNotej", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.75 }, "note": "Wooden panel (likely drawer front) visible to the left (+y); shift +y to center on it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 962, "cache_read_input_tokens": 12911, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 962 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Q4rCjHQ3u6AQsP7nPmQozn", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.86, "x": 0.02 }, "note": "Drawer front now at right of wrist view; center on it and approach to find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 13873, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 882 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XKdD19ynUcVTm79wbwXUYi", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.8, "x": 0 }, "note": "Smaller step toward drawer front after IK jump rejection." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 903, "cache_read_input_tokens": 14755, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 903 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018U8kDgYexrFSaSGJT1KE3Q", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.03 }, "note": "Try approaching drawer face along +x only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 765, "cache_read_input_tokens": 15658, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 765 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015M6giMxbds3NKjLNyiaJQL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "No handle visible at this height; lower to look for drawer handle below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 637, "cache_read_input_tokens": 16423, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 637 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Xx5z2MGwtrDfS3PLRH6Kot", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92, "x": 0.1 }, "note": "Approach the suspected drawer front to find its handle/contact." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 829, "cache_read_input_tokens": 17060, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 829 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NdbsKxWHkJEb1D96KBessg", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.71 }, "note": "Center the right panel's vertical edge between fingers to try grasping it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1165, "cache_read_input_tokens": 17889, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1165 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MTXN2FXvD9f3kecNgN8NLZ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Panel edge lies between fingers; close to grasp it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 19054, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 847 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01K7jLpVSJiLZB1ETBYCHRTS", "name": "mcp__robot__give_up", "input": { "note": "Could not locate a drawer handle on the table; the grasp attempt closed on nothing, and there is too little simulated time left to keep exploring." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 763, "cache_read_input_tokens": 19901, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 763 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table, and I ended the episode with give_up.\n\n- **What I found:** The table is off to the robot's left, and its drawer seems to be on the face toward the robot's back side. In the exterior camera, the drawer front sits just below the tabletop edge.\n- **What went wrong:** I couldn't match what the wrist camera showed to that drawer. Pointing the gripper at that face showed only wooden panels, with no handle anywhere. Two moves to line up on the panel were rejected because they needed a large joint jump. My last try was to close the gripper on a panel edge, and it closed fully on nothing.\n- **Why I stopped:** About 7.5 of the 30 seconds of motion time were left, which wasn't enough for another search and grasp. Calling done would have wrongly claimed success, so I gave up instead." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 196, "cache_read_input_tokens": 20664, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 196 }, "output_tokens": 271, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 42, "cache_creation_input_tokens": 19307, "cache_read_input_tokens": 232747, "output_tokens": 9299, "output_tokens_details": { "thinking_tokens": 6752 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 19307, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 271, "cache_read_input_tokens": 20664, "cache_creation_input_tokens": 196, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 196 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 42, "outputTokens": 9299, "cacheReadInputTokens": 232747, "cacheCreationInputTokens": 19307, "webSearchRequests": 0, "costUSD": 0.3871534000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6752, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.3871534000000001, "num_turns": 21, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ -0.02225, -0.7504, -0.02978, -2.3896, 0.10812, 1.63287, -0.09524 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32088, 0.01184, 0.99586 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99902, 0.04415, -0.00052 ], [ 0.04386, -0.9908, 0.12801 ], [ 0.00513, -0.12791, -0.99177 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.405929381027818, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 1.1 }, "note": "Raise and retreat to get a better wrist view of the table and its drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ -0.02721, -0.9975, -0.03968, -2.22827, 0.10081, 1.22628, -0.059 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20102, 0.01184, 1.09923 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00032, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99902, 0.04418, -0.0002 ], [ 0.04385, -0.9908, 0.12802 ], [ 0.00546, -0.1279, -0.99177 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 5.405197551473975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Probe axis directions: move +y to see how the gripper moves in exterior view." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ -0.00688, -0.93291, 0.31789, -2.16247, 0.39483, 1.30095, 0.26082 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20102, 0.19871, 1.09922 ], "tcp_roll_pitch_yaw": [ -0.00011, -0.00035, 0.00011 ], "tcp_rotation_matrix": [ [ 0.99902, 0.04431, -0.0002 ], [ 0.04397, -0.99081, 0.12791 ], [ 0.00547, -0.12779, -0.99179 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 55 }, "api_seconds": 7.406216929666698, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4, "z": 0.95 }, "note": "Table appears to +y side; move toward it to locate edge and drawer." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ -0.0555, -0.85701, 0.64758, -2.24129, 0.64906, 1.32386, 0.50706 ], "gripper_open": 0.9993, "tcp_xyz": [ 0.149, 0.31503, 0.99861 ], "tcp_roll_pitch_yaw": [ -0.07164, 0.24307, -0.07899 ], "tcp_rotation_matrix": [ [ 0.97059, -0.04958, -0.23558 ], [ -0.03258, -0.99661, 0.07552 ], [ -0.23852, -0.06562, -0.96892 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 54 }, "api_seconds": 11.009815094061196, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0.45, "z": 1.2, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Contact with table edge; lift above table to view it from above." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ -0.3637, -0.38565, 1.0623, -1.31071, 0.46272, 1.23621, 0.81594 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.19964, 0.44917, 1.19879 ], "tcp_roll_pitch_yaw": [ -0.00097, 0.00183, -0.00028 ], "tcp_rotation_matrix": [ [ 0.99904, 0.04365, -0.0023 ], [ 0.04359, -0.99094, 0.12705 ], [ 0.00327, -0.12703, -0.99189 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 53 }, "api_seconds": 5.4059308506548405, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.05 }, "note": "Probe -x direction in exterior image to locate drawer face orientation." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ -0.11473, -0.65132, 0.858, -1.43588, 0.64304, 1.1499, 0.92614 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.05117, 0.44922, 1.1988 ], "tcp_roll_pitch_yaw": [ -0.001, 0.00161, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99903, 0.04392, -0.00212 ], [ 0.04384, -0.99093, 0.12702 ], [ 0.00348, -0.12699, -0.9919 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 52 }, "api_seconds": 14.813384527340531, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": -0.02, "z": 1, "pitch": -0.7 }, "note": "Drawer face likely faces -x; move in front of it and tilt gripper toward +x to view it." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.19904, -1.47828, 1.02455, -2.16343, 0.64117, 1.66959, 0.90055 ], "gripper_open": 0.9966, "tcp_xyz": [ -0.01989, 0.44927, 1.00069 ], "tcp_roll_pitch_yaw": [ -0.00144, -0.6973, 0.00046 ], "tcp_rotation_matrix": [ [ 0.76255, 0.11552, 0.63653 ], [ 0.04422, -0.99093, 0.12687 ], [ 0.64541, -0.0686, -0.76075 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 51 }, "api_seconds": 4.8052793787792325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower to drawer height in front of -x face to see the drawer and handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ 0.32161, -1.60825, 1.30942, -2.38794, 0.86669, 1.82996, 0.98722 ], "gripper_open": 0.9966, "tcp_xyz": [ -0.01989, 0.44926, 0.85126 ], "tcp_roll_pitch_yaw": [ -0.00169, -0.69738, 0.00061 ], "tcp_rotation_matrix": [ [ 0.7625, 0.11552, 0.63659 ], [ 0.04433, -0.99095, 0.12673 ], [ 0.64546, -0.06841, -0.76072 ] ], "simulated_seconds_remaining": 18.744, "calls_remaining_including_this": 50 }, "api_seconds": 14.214594340883195, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": -0.15 }, "note": "Wrist seems to see table underside frame; back off in -x to view the table's near face and drawer." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ 0.38649, -1.61475, 1.30061, -2.15063, 0.8152, 1.62681, 1.21294 ], "gripper_open": 0.9966, "tcp_xyz": [ -0.1488, 0.44929, 0.85127 ], "tcp_roll_pitch_yaw": [ -0.00166, -0.69741, 0.00087 ], "tcp_rotation_matrix": [ [ 0.76247, 0.1158, 0.63657 ], [ 0.04453, -0.99091, 0.12692 ], [ 0.64548, -0.06843, -0.7607 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 49 }, "api_seconds": 6.405554163269699, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.05, "y": 0.6, "z": 0.95, "pitch": 0 }, "note": "Place gripper where it should appear in exterior near the table's near face to calibrate drawer location." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ -0.38331, -0.94111, 1.31713, -1.75929, 0.98209, 1.58125, 0.84343 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.04946, 0.59941, 0.94964 ], "tcp_roll_pitch_yaw": [ -0.00164, -0.00252, 0.00041 ], "tcp_rotation_matrix": [ [ 0.99899, 0.04488, 0.00192 ], [ 0.04428, -0.99099, 0.12639 ], [ 0.00758, -0.12618, -0.99198 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 48 }, "api_seconds": 5.6053795395419, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": -0.02, "z": 0.9, "pitch": -1.45 }, "note": "Gripper just in front of table near face; point gripper +x toward drawer face to view handle." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ -0.04007, -1.7837, 1.446, -1.86786, 0.38606, 1.972, 1.29134 ], "gripper_open": 0.9966, "tcp_xyz": [ -0.01984, 0.5994, 0.89998 ], "tcp_roll_pitch_yaw": [ -0.00345, -1.44527, 0.00208 ], "tcp_rotation_matrix": [ [ 0.12004, 0.1311, 0.98408 ], [ 0.04412, -0.99097, 0.12664 ], [ 0.99179, 0.02822, -0.12474 ] ], "simulated_seconds_remaining": 13.2, "calls_remaining_including_this": 47 }, "api_seconds": 5.204982308670878, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.75 }, "note": "Wooden panel (likely drawer front) visible to the left (+y); shift +y to center on it." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ -0.57566, -1.67901, 1.39219, -1.10238, 0.32878, 1.76949, 1.40471 ], "gripper_open": 0.9966, "tcp_xyz": [ -0.0197, 0.7487, 0.89999 ], "tcp_roll_pitch_yaw": [ -0.00339, -1.44521, 0.0018 ], "tcp_rotation_matrix": [ [ 0.12011, 0.13089, 0.98409 ], [ 0.04409, -0.991, 0.12643 ], [ 0.99178, 0.0282, -0.1248 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 46 }, "api_seconds": 5.205140239559114, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.86, "x": 0.02 }, "note": "Drawer front now at right of wrist view; center on it and approach to find handle." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ -0.57566, -1.67901, 1.39219, -1.10238, 0.32878, 1.76949, 1.40471 ], "gripper_open": 0.9966, "tcp_xyz": [ -0.0197, 0.7487, 0.89999 ], "tcp_roll_pitch_yaw": [ -0.00339, -1.44521, 0.0018 ], "tcp_rotation_matrix": [ [ 0.12011, 0.13089, 0.98409 ], [ 0.04409, -0.991, 0.12643 ], [ 0.99178, 0.0282, -0.1248 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 45 }, "api_seconds": 4.004783114418387, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.8, "x": 0 }, "note": "Smaller step toward drawer front after IK jump rejection." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ -0.57566, -1.67901, 1.39219, -1.10238, 0.32878, 1.76949, 1.40471 ], "gripper_open": 0.9966, "tcp_xyz": [ -0.0197, 0.7487, 0.89999 ], "tcp_roll_pitch_yaw": [ -0.00339, -1.44521, 0.0018 ], "tcp_rotation_matrix": [ [ 0.12011, 0.13089, 0.98409 ], [ 0.04409, -0.991, 0.12643 ], [ 0.99178, 0.0282, -0.1248 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 44 }, "api_seconds": 2.4032784793525934, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.03 }, "note": "Try approaching drawer face along +x only." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ -0.56623, -1.69533, 1.40285, -1.24153, 0.34599, 1.89389, 1.37531 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.02902, 0.74866, 0.89997 ], "tcp_roll_pitch_yaw": [ -0.00357, -1.44519, 0.00165 ], "tcp_rotation_matrix": [ [ 0.12015, 0.13056, 0.98413 ], [ 0.04407, -0.99104, 0.1261 ], [ 0.99178, 0.02822, -0.12483 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 43 }, "api_seconds": 4.204412626102567, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "No handle visible at this height; lower to look for drawer handle below." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ -0.56805, -1.78366, 1.49866, -1.21379, 0.35479, 1.90077, 1.50769 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.02895, 0.74871, 0.80088 ], "tcp_roll_pitch_yaw": [ -0.00158, -1.44448, -0.00033 ], "tcp_rotation_matrix": [ [ 0.12085, 0.13057, 0.98405 ], [ 0.04383, -0.99105, 0.12611 ], [ 0.9917, 0.02789, -0.12549 ] ], "simulated_seconds_remaining": 10.23, "calls_remaining_including_this": 42 }, "api_seconds": 8.207701283507049, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "x": 0.1 }, "note": "Approach the suspected drawer front to find its handle/contact." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ -0.59579, -1.66526, 1.42194, -1.37005, 0.3336, 2.05163, 1.33224 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.09944, 0.74868, 0.91901 ], "tcp_roll_pitch_yaw": [ 2e-05, -1.44443, -0.00211 ], "tcp_rotation_matrix": [ [ 0.12091, 0.13038, 0.98406 ], [ 0.0436, -0.99108, 0.12596 ], [ 0.99171, 0.02768, -0.12552 ] ], "simulated_seconds_remaining": 8.976, "calls_remaining_including_this": 41 }, "api_seconds": 4.604154345579445, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.71 }, "note": "Center the right panel's vertical edge between fingers to try grasping it." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ -0.46543, -1.6857, 1.43383, -1.5778, 0.35098, 2.12327, 1.30095 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.09935, 0.71135, 0.919 ], "tcp_roll_pitch_yaw": [ -0.00017, -1.44442, -0.00184 ], "tcp_rotation_matrix": [ [ 0.12092, 0.13047, 0.98405 ], [ 0.04364, -0.99107, 0.12604 ], [ 0.9917, 0.0277, -0.12553 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 40 }, "api_seconds": 4.004279596731067, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Panel edge lies between fingers; close to grasp it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ -0.46543, -1.6857, 1.43383, -1.5778, 0.35098, 2.12327, 1.30095 ], "gripper_open": 0.0, "tcp_xyz": [ 0.09935, 0.71133, 0.919 ], "tcp_roll_pitch_yaw": [ -0.00016, -1.44442, -0.00184 ], "tcp_rotation_matrix": [ [ 0.12092, 0.13047, 0.98405 ], [ 0.04364, -0.99107, 0.12604 ], [ 0.9917, 0.0277, -0.12553 ] ], "simulated_seconds_remaining": 7.524, "calls_remaining_including_this": 39 }, "api_seconds": 2.602852595038712, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not locate a drawer handle on the table; the grasp attempt closed on nothing, and there is too little simulated time left to keep exploring." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 013 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 13, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 30, "wall_seconds": 177.56, "usage": { "input_tokens": 66, "output_tokens": 10842, "cache_read_input_tokens": 484933, "cache_creation_input_tokens": 27139, "thinking_tokens": 6944, "cost_usd": 0.5312026000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014yb1urUYT8JYKEbpj5bERp", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Gn6x9TQA6wMXKfa3gTt5FM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Probe motion forward to understand frame relative to cameras." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012m1rU3BttS25wdcQd4ynqP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.8, "roll": 1.57, "yaw": -1.57 }, "note": "Reorient gripper to point forward (+x) with fingers opening vertically for horizontal drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 847 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017Ha6KygDDnZsgShCZ8bn1u", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.8, "roll": -1.57, "yaw": 1.57 }, "note": "Try alternate equivalent forward-pointing orientation with vertical finger opening." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 3359, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1778 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AUtBAYY4WPfk6pxBkxYTn2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.8, "pitch": -1.2 }, "note": "Try pitching gripper toward forward-pointing orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 830, "cache_read_input_tokens": 5137, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 830 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still figuring out which gripper orientations are reachable before I go for the dresser handle. Trying a smaller rotation at the current position." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 5967, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0193RWqKtrd36Ym2H3yTp87X", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Test smaller pitch rotation in place to see IK feasibility." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 5967, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XdivFPJHxD9WKXv43nv8x5", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "z": 0.8 }, "note": "Continue pitching toward forward-facing, lowering a bit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 770, "cache_read_input_tokens": 6672, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 770 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01G6iEWVFb9aC8eYPjqvPqgN", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Incremental pitch increase." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 712, "cache_read_input_tokens": 7442, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 712 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PDNAgkHsubMZVMHF41RK5r", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 0.8, "pitch": -1.2 }, "note": "Elbow near limit; move forward/down to allow more pitch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 8154, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 757 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EVhLe4REtAtTGZK1FJxtsf", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.86, "pitch": -1.45, "x": 0.52 }, "note": "Handles appear above in wrist view; raise and level the gripper to face forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 701, "cache_read_input_tokens": 8911, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 701 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JpuADexSoafYxB73XtJgU2", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.86 }, "note": "Raise to see the handles better." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 846, "cache_read_input_tokens": 9612, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 846 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm close to the dresser's door handles, but the wrist camera can't see them from here. I'll back off a little to get a clear look." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 707, "cache_read_input_tokens": 10458, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 707 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AsY2HhVWtsux8aVxooL4Jf", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47 }, "note": "Wrist view blank (too close); back off to see handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 707, "cache_read_input_tokens": 10458, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 707 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LiEXErjDTurjfxNi5whSxJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Advance toward the door handle area to engage." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 11165, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 768 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PPZrK6o71aQcxUVHfaABkK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.66 }, "note": "Still no contact; advance further toward the cabinet face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1022, "cache_read_input_tokens": 11933, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1022 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019AyfoWDyHHEJ2MZnpaoNUc", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Seems to have reached cabinet face near handles; close gripper to try grasping handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 658, "cache_read_input_tokens": 12955, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 658 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E5NhY818Jh8nmoB72v51QA", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 13613, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ETMUu6kFXtkyQdxkEfxXD2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57 }, "note": "Gripper reports still open; try pulling back to test whether anything is engaged." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 532, "cache_read_input_tokens": 14303, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 532 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper didn't catch anything; the handles look lower and farther away than I thought. I'm moving lower to look again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 849, "cache_read_input_tokens": 14835, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 849 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YGYJuNMxkzxphDUa3nRotC", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.72, "x": 0.55, "gripper": 1 }, "note": "Earlier wrist views suggest handles are below cabinet top; lower to handle height to look." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 849, "cache_read_input_tokens": 14835, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 849 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VJFBWtXyeKWe3rKukxfrq1", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.04, "z": 0.75 }, "note": "Handles visible upper-left in wrist view; shift +y and up to test mapping and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1206, "cache_read_input_tokens": 15684, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1206 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017qxTGiSwaxroCqpGGWnxFq", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.08, "z": 0.78 }, "note": "+y shifted handles left in image, so handles lie toward -y; move -y and slightly up." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 897, "cache_read_input_tokens": 16890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 897 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FKPM4F2XfVarxYuFZfmuwX", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.12, "z": 0.82 }, "note": "Align with right handle: shift -y and up." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 886, "cache_read_input_tokens": 17787, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 886 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HwduLC25cbRGAkUXTo7T8N", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.68 }, "note": "Raising moved handles up in image, so image up is world down; handles are lower. Descend." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 997, "cache_read_input_tokens": 18673, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 997 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011esG5QhQ6N478Hoo3yoMpc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62 }, "note": "Two vertical handles centered in wrist view; advance toward them." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 878, "cache_read_input_tokens": 19670, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 878 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Both vertical handles are in view and the gripper has stopped against something. I'll close the gripper to try to grab the right handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 843, "cache_read_input_tokens": 20548, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 843 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QsUTpyMTQnR9DpKvtTm5nc", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Motion stalled near handles; try closing to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 843, "cache_read_input_tokens": 20548, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 843 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WYDXm48L5euCfmrXA8Ztgr", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Test pull to check if handle is grasped." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 899, "cache_read_input_tokens": 21391, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 899 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NNwL7kTGXnTBdQ98haYJPa", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.62, "y": -0.15 }, "note": "Missed. Wrist image appears rotated 180°; handles are below the fingers. Open, lower to align with handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 22290, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 769 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FvwZyS3YDpRsvsvxb2Ks46", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.63, "y": -0.15, "pitch": -1, "roll": 0, "yaw": 0 }, "note": "Retry lowering with less pitch to stay within joint limits." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1474, "cache_read_input_tokens": 23059, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1474 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y2zLmEsJFXKnRcEca7tq27", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62 }, "note": "Handle now near finger center in wrist view; advance to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 737, "cache_read_input_tokens": 24533, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 737 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DvHmjyqDDkhhC6SgBy6pKG", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "At cabinet face with handle near fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 715, "cache_read_input_tokens": 25270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 715 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper hasn't closed yet, probably because the fingertips are pressed against the door. I'm easing back a little so it can close." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 25985, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 740 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EsEwffBVUEtM9hNr5q4w2a", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.595, "gripper": 0 }, "note": "Fingers seem jammed against door; ease back slightly to let them close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 25985, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 740 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01W5ThvwrKSW2kjUH1ZhcVDg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.53 }, "note": "Gripper stopped at 0.185 — likely holding handle. Pull back to open." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 26725, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DhMSc4c63Ak9b9ho8pnWbK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47, "y": -0.07 }, "note": "Pulling produced +y drift consistent with door arc; continue along arc." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 726, "cache_read_input_tokens": 27548, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 726 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The episode ended while I was pulling on the dresser door, and I didn't get a final camera image, so I can't confirm the dresser was opened.\n\nOn the second try the gripper caught a vertical door handle; it stopped closing partway, which suggests it was holding something. When I pulled back, the arm drifted sideways, which is what you'd expect if a hinged door was starting to swing open. The episode stopped during the next pull along that arc.\n\nMost of the time went into finding orientations the arm could reach and working out that the wrist camera image is rotated 180°. My first grasp attempt missed." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 418, "cache_read_input_tokens": 28274, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 418 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 66, "cache_creation_input_tokens": 27139, "cache_read_input_tokens": 484933, "output_tokens": 10842, "output_tokens_details": { "thinking_tokens": 6944 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 27139, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 209, "cache_read_input_tokens": 28274, "cache_creation_input_tokens": 418, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 418 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 66, "outputTokens": 10842, "cacheReadInputTokens": 484933, "cacheCreationInputTokens": 27139, "webSearchRequests": 0, "costUSD": 0.5312026000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6944, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.5312026000000001, "num_turns": 33, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.01101, -0.77225, 0.02406, -2.41378, -0.0809, 1.6051, 0.13552 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30638, -0.01101, 0.98819 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99428, -0.10144, -0.03357 ], [ -0.10429, -0.98966, -0.09846 ], [ -0.02324, 0.1014, -0.99457 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.806516441516578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Probe motion forward to understand frame relative to cameras." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00031, -0.30312, 0.02323, -2.27647, -0.09736, 1.93573, 0.16155 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, -0.01102, 0.90061 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00025, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99427, -0.10143, -0.03382 ], [ -0.10431, -0.98966, -0.09846 ], [ -0.02348, 0.10142, -0.99457 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 13.811536714434624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.8, "roll": 1.57, "yaw": -1.57 }, "note": "Reorient gripper to point forward (+x) with fingers opening vertically for horizontal drawer handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00031, -0.30312, 0.02323, -2.27647, -0.09736, 1.93573, 0.16155 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, -0.01102, 0.90061 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00025, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99427, -0.10143, -0.03382 ], [ -0.10431, -0.98966, -0.09846 ], [ -0.02348, 0.10142, -0.99457 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 55 }, "api_seconds": 3.803912978619337, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.8, "roll": -1.57, "yaw": 1.57 }, "note": "Try alternate equivalent forward-pointing orientation with vertical finger opening." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00031, -0.30312, 0.02323, -2.27647, -0.09736, 1.93573, 0.16155 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, -0.01102, 0.90061 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00025, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99427, -0.10143, -0.03382 ], [ -0.10431, -0.98966, -0.09846 ], [ -0.02348, 0.10142, -0.99457 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 54 }, "api_seconds": 2.402739131823182, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.8, "pitch": -1.2 }, "note": "Try pitching gripper toward forward-pointing orientation." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00031, -0.30312, 0.02323, -2.27647, -0.09736, 1.93573, 0.16155 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, -0.01102, 0.90061 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00025, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99427, -0.10143, -0.03382 ], [ -0.10431, -0.98966, -0.09846 ], [ -0.02348, 0.10142, -0.99457 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 53 }, "api_seconds": 3.403589946217835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Test smaller pitch rotation in place to see IK feasibility." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04005, -0.67564, 0.03741, -2.80919, -0.16835, 2.68985, 0.26008 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44879, -0.01106, 0.90046 ], "tcp_roll_pitch_yaw": [ -0.00014, -0.59535, -7e-05 ], "tcp_rotation_matrix": [ [ 0.83623, -0.14099, 0.52995 ], [ -0.10435, -0.98964, -0.09863 ], [ 0.53836, 0.02718, -0.84228 ] ], "simulated_seconds_remaining": 27.456, "calls_remaining_including_this": 52 }, "api_seconds": 2.8028208930045366, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "z": 0.8 }, "note": "Continue pitching toward forward-facing, lowering a bit." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04005, -0.67564, 0.03741, -2.80919, -0.16835, 2.68985, 0.26008 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44879, -0.01106, 0.90046 ], "tcp_roll_pitch_yaw": [ -0.00014, -0.59535, -7e-05 ], "tcp_rotation_matrix": [ [ 0.83623, -0.14099, 0.52995 ], [ -0.10435, -0.98964, -0.09863 ], [ 0.53836, 0.02718, -0.84228 ] ], "simulated_seconds_remaining": 27.456, "calls_remaining_including_this": 51 }, "api_seconds": 3.6037776367738843, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Incremental pitch increase." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.16491, -0.71966, 0.12531, -3.02906, -0.2221, 3.17805, 0.34389 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44877, -0.01113, 0.9002 ], "tcp_roll_pitch_yaw": [ -0.00037, -0.89539, -0.00013 ], "tcp_rotation_matrix": [ [ 0.63973, -0.14297, 0.75519 ], [ -0.10438, -0.98961, -0.09892 ], [ 0.76148, -0.01554, -0.648 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 50 }, "api_seconds": 2.8028779067099094, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.8, "pitch": -1.2 }, "note": "Elbow near limit; move forward/down to allow more pitch." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.65041, 0.3502, 0.75775, -2.7805, 0.28769, 4.26431, -0.21701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54938, -0.01106, 0.80072 ], "tcp_roll_pitch_yaw": [ 0.00132, -1.19766, -0.00129 ], "tcp_rotation_matrix": [ [ 0.38408, -0.13146, 0.91389 ], [ -0.10476, -0.98962, -0.09833 ], [ 0.91734, -0.05797, -0.39387 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 49 }, "api_seconds": 4.204129275865853, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86, "pitch": -1.45, "x": 0.52 }, "note": "Handles appear above in wrist view; raise and level the gripper to face forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.65041, 0.3502, 0.75775, -2.7805, 0.28769, 4.26431, -0.21701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54938, -0.01106, 0.80072 ], "tcp_roll_pitch_yaw": [ 0.00132, -1.19766, -0.00129 ], "tcp_rotation_matrix": [ [ 0.38408, -0.13146, 0.91389 ], [ -0.10476, -0.98962, -0.09833 ], [ 0.91734, -0.05797, -0.39387 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 48 }, "api_seconds": 2.6025005849078298, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Raise to see the handles better." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.72442, 0.03905, 0.82163, -2.82965, 0.25569, 4.0363, -0.04466 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54945, -0.01102, 0.85878 ], "tcp_roll_pitch_yaw": [ 0.00101, -1.19806, -0.00081 ], "tcp_rotation_matrix": [ [ 0.38374, -0.13125, 0.91407 ], [ -0.10458, -0.98966, -0.09819 ], [ 0.9175, -0.05791, -0.39349 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 47 }, "api_seconds": 3.6032731691375375, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47 }, "note": "Wrist view blank (too close); back off to see handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.72442, 0.03905, 0.82163, -2.82965, 0.25569, 4.0363, -0.04466 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54945, -0.01102, 0.85878 ], "tcp_roll_pitch_yaw": [ 0.00101, -1.19806, -0.00081 ], "tcp_rotation_matrix": [ [ 0.38374, -0.13125, 0.91407 ], [ -0.10458, -0.98966, -0.09819 ], [ 0.9175, -0.05791, -0.39349 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 46 }, "api_seconds": 6.807429886423051, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Advance toward the door handle area to engage." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.68366, 0.1824, 0.80325, -2.66479, 0.33317, 4.00563, -0.19461 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59885, -0.01103, 0.85881 ], "tcp_roll_pitch_yaw": [ 0.00129, -1.19812, -0.00112 ], "tcp_rotation_matrix": [ [ 0.38368, -0.13128, 0.91409 ], [ -0.10469, -0.98965, -0.09819 ], [ 0.91751, -0.05802, -0.39345 ] ], "simulated_seconds_remaining": 24.156, "calls_remaining_including_this": 45 }, "api_seconds": 2.6026965463533998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66 }, "note": "Still no contact; advance further toward the cabinet face." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.59993, 0.32784, 0.75409, -2.47155, 0.42865, 3.98409, -0.34763 ], "gripper_open": 1.0, "tcp_xyz": [ 0.65259, -0.01354, 0.85879 ], "tcp_roll_pitch_yaw": [ -0.00176, -1.20711, -0.01724 ], "tcp_rotation_matrix": [ [ 0.37337, -0.14952, 0.91555 ], [ -0.11079, -0.98705, -0.11601 ], [ 0.92104, -0.05812, -0.3851 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 44 }, "api_seconds": 2.80255092587322, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Seems to have reached cabinet face near handles; close gripper to try grasping handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.59894, 0.3242, 0.75615, -2.47898, 0.43174, 3.99008, -0.34722 ], "gripper_open": 0.9994, "tcp_xyz": [ 0.65014, -0.01255, 0.85871 ], "tcp_roll_pitch_yaw": [ -0.00873, -1.20796, -0.01129 ], "tcp_rotation_matrix": [ [ 0.37256, -0.15003, 0.9158 ], [ -0.10871, -0.98711, -0.11748 ], [ 0.92162, -0.05578, -0.38407 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 43 }, "api_seconds": 5.805478984490037, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57 }, "note": "Gripper reports still open; try pulling back to test whether anything is engaged." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.69317, 0.12366, 0.81905, -2.75086, 0.33826, 4.05037, -0.14092 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57124, -0.01252, 0.85871 ], "tcp_roll_pitch_yaw": [ -0.00902, -1.20795, -0.01094 ], "tcp_rotation_matrix": [ [ 0.37258, -0.14994, 0.9158 ], [ -0.10858, -0.98713, -0.11745 ], [ 0.92162, -0.05568, -0.38407 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 42 }, "api_seconds": 8.207193397916853, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72, "x": 0.55, "gripper": 1 }, "note": "Earlier wrist views suggest handles are below cabinet top; lower to handle height to look." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.54611, 0.71144, 0.62215, -2.66195, 0.22003, 4.50671, -0.32244 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55018, -0.01254, 0.72121 ], "tcp_roll_pitch_yaw": [ -0.00871, -1.20769, -0.01126 ], "tcp_rotation_matrix": [ [ 0.37281, -0.15, 0.9157 ], [ -0.1087, -0.98711, -0.11744 ], [ 0.92152, -0.05575, -0.38431 ] ], "simulated_seconds_remaining": 20.394, "calls_remaining_including_this": 41 }, "api_seconds": 4.804613555781543, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04, "z": 0.75 }, "note": "Handles visible upper-left in wrist view; shift +y and up to test mapping and approach." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.46135, 0.64321, 0.73176, -2.66205, 0.41698, 4.48995, -0.33487 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55022, 0.03909, 0.74949 ], "tcp_roll_pitch_yaw": [ -0.00859, -1.20786, -0.01108 ], "tcp_rotation_matrix": [ [ 0.37269, -0.14969, 0.9158 ], [ -0.10863, -0.98716, -0.11715 ], [ 0.92157, -0.05582, -0.38417 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 40 }, "api_seconds": 5.205311617814004, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08, "z": 0.78 }, "note": "+y shifted handles left in image, so handles lie toward -y; move -y and slightly up." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.78445, 0.44109, 0.65805, -2.75788, 0.06415, 4.29422, -0.22747 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55024, -0.07888, 0.7797 ], "tcp_roll_pitch_yaw": [ -0.00871, -1.20795, -0.01131 ], "tcp_rotation_matrix": [ [ 0.37257, -0.15003, 0.91579 ], [ -0.10871, -0.98711, -0.11749 ], [ 0.92161, -0.05579, -0.38408 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 39 }, "api_seconds": 7.006372317671776, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.12, "z": 0.82 }, "note": "Align with right handle: shift -y and up." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.93268, 0.26244, 0.66044, -2.77639, -0.10142, 4.14268, -0.09486 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55027, -0.11917, 0.81916 ], "tcp_roll_pitch_yaw": [ -0.00894, -1.20821, -0.01131 ], "tcp_rotation_matrix": [ [ 0.37231, -0.15022, 0.91587 ], [ -0.10871, -0.98708, -0.11771 ], [ 0.92172, -0.05574, -0.38383 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 38 }, "api_seconds": 5.2050795601680875, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.68 }, "note": "Raising moved handles up in image, so image up is world down; handles are lower. Descend." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.78996, 0.81825, 0.49273, -2.59413, -0.13752, 4.4423, -0.35004 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55026, -0.11918, 0.68123 ], "tcp_roll_pitch_yaw": [ -0.00853, -1.20804, -0.01173 ], "tcp_rotation_matrix": [ [ 0.37246, -0.15027, 0.9158 ], [ -0.10886, -0.98707, -0.11769 ], [ 0.92164, -0.05586, -0.384 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 37 }, "api_seconds": 4.004552846774459, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Two vertical handles centered in wrist view; advance toward them." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.73288, 0.85207, 0.51681, -2.41027, -0.06762, 4.30983, -0.35799 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61603, -0.12092, 0.681 ], "tcp_roll_pitch_yaw": [ -0.01211, -1.20843, -0.01366 ], "tcp_rotation_matrix": [ [ 0.37154, -0.15546, 0.91531 ], [ -0.10965, -0.98633, -0.12301 ], [ 0.92192, -0.05466, -0.38351 ] ], "simulated_seconds_remaining": 15.84, "calls_remaining_including_this": 36 }, "api_seconds": 5.005128181539476, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Motion stalled near handles; try closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.73764, 0.85336, 0.51034, -2.42024, 0.04087, 4.3857, -0.35773 ], "gripper_open": 0.0304, "tcp_xyz": [ 0.59953, -0.15822, 0.68402 ], "tcp_roll_pitch_yaw": [ -0.05337, -1.22292, -0.10909 ], "tcp_rotation_matrix": [ [ 0.34194, -0.28534, 0.89535 ], [ -0.14347, -0.95747, -0.25034 ], [ 0.9287, -0.04285, -0.36834 ] ], "simulated_seconds_remaining": 14.916, "calls_remaining_including_this": 35 }, "api_seconds": 3.803611423820257, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Test pull to check if handle is grasped." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.7825, 0.8296, 0.49178, -2.55496, -0.01322, 4.48316, -0.34052 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55111, -0.15825, 0.68396 ], "tcp_roll_pitch_yaw": [ -0.0534, -1.22279, -0.10911 ], "tcp_rotation_matrix": [ [ 0.34206, -0.28538, 0.89529 ], [ -0.14348, -0.95746, -0.25038 ], [ 0.92866, -0.04282, -0.36846 ] ], "simulated_seconds_remaining": 14.256, "calls_remaining_including_this": 34 }, "api_seconds": 10.814362158998847, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.62, "y": -0.15 }, "note": "Missed. Wrist image appears rotated 180°; handles are below the fingers. Open, lower to align with handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 25, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.7825, 0.8296, 0.49178, -2.55496, -0.01322, 4.48316, -0.34052 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55111, -0.15825, 0.68396 ], "tcp_roll_pitch_yaw": [ -0.0534, -1.22279, -0.10911 ], "tcp_rotation_matrix": [ [ 0.34206, -0.28538, 0.89529 ], [ -0.14348, -0.95746, -0.25038 ], [ 0.92866, -0.04282, -0.36846 ] ], "simulated_seconds_remaining": 14.256, "calls_remaining_including_this": 33 }, "api_seconds": 3.403337818570435, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.63, "y": -0.15, "pitch": -1, "roll": 0, "yaw": 0 }, "note": "Retry lowering with less pitch to stay within joint limits." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.822, 0.78467, 0.45055, -2.55138, -0.13005, 4.1737, -0.36421 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.55114, -0.15015, 0.63061 ], "tcp_roll_pitch_yaw": [ -0.0008, -1.00249, -0.00111 ], "tcp_rotation_matrix": [ [ 0.55452, -0.14182, 0.82 ], [ -0.10493, -0.98942, -0.10017 ], [ 0.82553, -0.0305, -0.56353 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 32 }, "api_seconds": 3.203531707637012, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Handle now near finger center in wrist view; advance to straddle it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.7495, 0.82775, 0.46222, -2.38445, -0.04124, 4.08318, -0.37261 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60876, -0.15444, 0.62992 ], "tcp_roll_pitch_yaw": [ -0.00707, -1.01065, -0.01813 ], "tcp_rotation_matrix": [ [ 0.54534, -0.16362, 0.82209 ], [ -0.11436, -0.98612, -0.12041 ], [ 0.83037, -0.02835, -0.55648 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 31 }, "api_seconds": 3.2032247679308057, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At cabinet face with handle near fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.74989, 0.82672, 0.46215, -2.39737, -0.0399, 4.09798, -0.37215 ], "gripper_open": 0.9995, "tcp_xyz": [ 0.60445, -0.15306, 0.62992 ], "tcp_roll_pitch_yaw": [ -0.0077, -1.01288, -0.02021 ], "tcp_rotation_matrix": [ [ 0.5432, -0.16614, 0.823 ], [ -0.11547, -0.9857, -0.12277 ], [ 0.83163, -0.02834, -0.55461 ] ], "simulated_seconds_remaining": 11.682, "calls_remaining_including_this": 30 }, "api_seconds": 4.003899337723851, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.595, "gripper": 0 }, "note": "Fingers seem jammed against door; ease back slightly to let them close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.75409, 0.8226, 0.46757, -2.42786, -0.08074, 4.11361, -0.36957 ], "gripper_open": 0.1851, "tcp_xyz": [ 0.59849, -0.13654, 0.63136 ], "tcp_roll_pitch_yaw": [ 0.00145, -1.01935, 0.01352 ], "tcp_rotation_matrix": [ [ 0.5422, -0.12489, 0.83091 ], [ -0.09694, -0.99159, -0.08579 ], [ 0.83464, -0.03403, -0.54975 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 29 }, "api_seconds": 3.0030458262190223, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53 }, "note": "Gripper stopped at 0.185 — likely holding handle. Pull back to open." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.81515, 0.79589, 0.45018, -2.61168, -0.23558, 4.2309, -0.36721 ], "gripper_open": 0.2107, "tcp_xyz": [ 0.53704, -0.10643, 0.6338 ], "tcp_roll_pitch_yaw": [ 0.03106, -1.03321, 0.07824 ], "tcp_rotation_matrix": [ [ 0.53833, -0.03469, 0.84202 ], [ -0.06163, -0.9981, -0.00172 ], [ 0.84048, -0.05097, -0.53944 ] ], "simulated_seconds_remaining": 10.032, "calls_remaining_including_this": 28 }, "api_seconds": 5.204457208514214, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": -0.07 }, "note": "Pulling produced +y drift consistent with door arc; continue along arc." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 014 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 14, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 24, "wall_seconds": 182.61, "usage": { "input_tokens": 52, "output_tokens": 10814, "cache_read_input_tokens": 349370, "cache_creation_input_tokens": 23376, "thinking_tokens": 7780, "cost_usd": 0.47337 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013J8UJWN6kqnCsnUiq9i7Cm", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014m41SnJiNGeyFKJAdif4fL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower to get closer view of dresser top drawer and handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Pc8EpqBU1C3DmnRM5DEikg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Probe +x direction to understand camera/world mapping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 966, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 966 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VbCgHyKe3BfV3oe4rAuhDx", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15 }, "note": "Probe +y to learn mapping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 897, "cache_read_input_tokens": 3478, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 897 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QQJ5LUp28ACUUZXVNme192", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3 }, "note": "Move further +y (toward camera, presumably in front of dresser) to clarify geometry." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1330, "cache_read_input_tokens": 4375, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1330 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working out which way the dresser faces. It looks like the drawer fronts face the robot along +y, so I'm turning the gripper to point horizontally toward the drawers." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1786, "cache_read_input_tokens": 5705, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1786 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AdM4DjvGAiAyAnBfM571yD", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -1.57, "z": 0.8 }, "note": "Rotate gripper to point toward -y (dresser front) with fingers vertical to grasp horizontal handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1786, "cache_read_input_tokens": 5705, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1786 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015PebDiAP2Uh3EN95S37Pda", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Approach drawer front along -y; handles visible in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1309, "cache_read_input_tokens": 7491, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1309 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YHGjnXna8DeH2xbP3WhQPL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75 }, "note": "Shift down to center the right-side handle between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1106, "cache_read_input_tokens": 8800, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1106 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RbtwRHJmLBwXzjvG3v36Ho", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05 }, "note": "Approach further toward drawer face; it appears still far." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1007, "cache_read_input_tokens": 9906, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1007 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PgdjvQhRrzsuT5cpH9X25u", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.68 }, "note": "Lower toward the lower handle which was to the image-right (below)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 940, "cache_read_input_tokens": 10913, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 940 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015Qssyx4UXnPwxELjcuR2p9", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.25 }, "note": "Back off to get wider view of handles at this height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 808, "cache_read_input_tokens": 11853, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 808 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Lining up the gripper with a drawer handle and moving in slowly." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 946, "cache_read_input_tokens": 12661, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 946 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0184devmkZXDkt6cK9Bn6ou9", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.655, "y": 0.13 }, "note": "Handle slightly right of gripper center (lower); lower slightly and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 946, "cache_read_input_tokens": 12661, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 946 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GsGQkk1ups7QG81pGgyoY9", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.635, "y": 0.04 }, "note": "Center handle between fingers and approach face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1126, "cache_read_input_tokens": 13607, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1126 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JEiCMtcXhbUqCtoBPCKtjx", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.02, "z": 0.625 }, "note": "Continue approach; handle near right finger." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 706, "cache_read_input_tokens": 14733, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 706 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D1He53Jb5XXFBeH8rh6ja7", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.06 }, "note": "Advance further to reach handle depth." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 718, "cache_read_input_tokens": 15439, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 718 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UTgVuceFaeb4PSSfViRvF8", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Contact reached near handle; close gripper to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 733, "cache_read_input_tokens": 16157, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 733 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013JZ6DdLAhUK3vvJN5EgMY5", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "y": 0.12 }, "note": "Missed handle; open and back off to re-view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 655, "cache_read_input_tokens": 16890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 655 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Handle is now centered between the fingers; approaching straight in to grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 807, "cache_read_input_tokens": 17545, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 807 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017qLcR9ByuoaEF6Ep2skVvf", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.03 }, "note": "Handle centered between fingers; approach straight in." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 807, "cache_read_input_tokens": 17545, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 807 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HwFv8PzZgDfxrD733tqyiE", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.05, "gripper": 0 }, "note": "Push slightly deeper and close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1146, "cache_read_input_tokens": 18352, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1146 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EqnoWks8X7ejG9cp7bPL6F", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Test pull in case the thin handle is held despite low gripper reading." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 19498, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Pf6cKXFvrQx9HCb43DjAYf", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.48, "gripper": 1 }, "note": "Pull failed; handle may be offset in x. Shift and open." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1146, "cache_read_input_tokens": 20138, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1146 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UmL3u2PtvX5SuBhRHqM9F7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": -0.05 }, "note": "Handle better aligned between fingers; approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1199, "cache_read_input_tokens": 21284, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1199 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T7MqrwtW895NFeLzVWhsJr", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 799, "cache_read_input_tokens": 22483, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 799 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grip reading is odd (0.93), so the fingers may be blocked on the handle. I'll try a pull with my remaining time." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 699, "cache_read_input_tokens": 23282, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 699 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WB5ziAtJ9XBf9JrT6iQbap", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Attempt pull toward +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 699, "cache_read_input_tokens": 23282, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 699 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01K8bxdxsxvZJWVphU6QYrvj", "name": "mcp__robot__give_up", "input": { "note": "Could not get a secure grip on the dresser drawer handle, and there is not enough simulated time left (about 3 s) to approach, grasp and pull again." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 728, "cache_read_input_tokens": 23981, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 728 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser. I never got a hold on a drawer handle, so I ended the episode with give_up when about 3 seconds of motion time were left.\n\n- **Finding the dresser:** It took several test moves to work out the layout. The drawer fronts face the robot along +y and the handles run horizontally along x. I turned the gripper to point straight at the drawers, with the fingers opening up and down to close around a handle.\n- **First two grasps:** Both times the fingers closed all the way on nothing. A test pull after the second one didn't move the drawer.\n- **Third grasp:** I shifted the gripper about 5 cm in +x and got the handle between the fingers in the wrist camera view. After I told the gripper to close, it read 0.93 open, so the fingers never shut. When I pulled back, the fingers were fully open again and the handle was still in place, so the drawer hadn't moved.\n\nAbout half the 30 seconds went on working out the layout. Another attempt would have needed about 3.5 seconds to approach, close and pull, and only about 3 were left." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 220, "cache_read_input_tokens": 24709, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 220 }, "output_tokens": 346, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 52, "cache_creation_input_tokens": 23376, "cache_read_input_tokens": 349370, "output_tokens": 10814, "output_tokens_details": { "thinking_tokens": 7780 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 23376, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 346, "cache_read_input_tokens": 24709, "cache_creation_input_tokens": 220, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 220 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 52, "outputTokens": 10814, "cacheReadInputTokens": 349370, "cacheCreationInputTokens": 23376, "webSearchRequests": 0, "costUSD": 0.47337, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7780, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.47337, "num_turns": 26, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01711, -0.82613, 0.07174, -2.28578, 0.00786, 1.62557, 0.12546 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32581, 0.02048, 1.06781 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98203, -0.09121, 0.1652 ], [ -0.08591, -0.99554, -0.03896 ], [ 0.16801, 0.02407, -0.98549 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.208008078858256, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower to get closer view of dresser top drawer and handle." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00133, -0.86445, 0.09733, -2.86444, 0.02881, 2.16506, 0.14313 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32576, 0.02048, 0.85123 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00032, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98209, -0.09121, 0.16488 ], [ -0.08591, -0.99554, -0.03899 ], [ 0.1677, 0.02412, -0.98554 ] ], "simulated_seconds_remaining": 28.248, "calls_remaining_including_this": 56 }, "api_seconds": 5.004874124191701, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Probe +x direction to understand camera/world mapping." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.05062, -0.41073, 0.1071, -2.54964, -0.00589, 2.31214, 0.15468 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44889, 0.01812, 0.85482 ], "tcp_roll_pitch_yaw": [ 0.00251, -0.00761, -0.0101 ], "tcp_rotation_matrix": [ [ 0.97981, -0.10142, 0.17231 ], [ -0.09623, -0.99462, -0.03824 ], [ 0.17526, 0.02088, -0.9843 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 55 }, "api_seconds": 9.609924314543605, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Probe +y to learn mapping." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.0377, -0.3348, 0.3082, -2.46292, 0.00877, 2.29404, 0.43156 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44889, 0.14875, 0.85482 ], "tcp_roll_pitch_yaw": [ 0.00245, -0.00762, -0.00984 ], "tcp_rotation_matrix": [ [ 0.97983, -0.10117, 0.17233 ], [ -0.09597, -0.99465, -0.03825 ], [ 0.17528, 0.02094, -0.9843 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 54 }, "api_seconds": 14.414273190312088, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Move further +y (toward camera, presumably in front of dresser) to clarify geometry." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.10257, -0.11388, 0.52053, -2.22484, -0.09651, 2.24228, 0.7786 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, 0.29875, 0.85481 ], "tcp_roll_pitch_yaw": [ 0.00242, -0.0076, -0.00959 ], "tcp_rotation_matrix": [ [ 0.97986, -0.10092, 0.17233 ], [ -0.09572, -0.99467, -0.03823 ], [ 0.17527, 0.02096, -0.9843 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 53 }, "api_seconds": 9.808742005378008, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -1.57, "z": 0.8 }, "note": "Rotate gripper to point toward -y (dresser front) with fingers vertical to grasp horizontal handle." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.77434, 0.96998, 0.34436, -1.29568, -1.16906, 0.77866, 1.03817 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44883, 0.2987, 0.7999 ], "tcp_roll_pitch_yaw": [ -1.56578, -0.00711, -0.00943 ], "tcp_rotation_matrix": [ [ 0.98293, -0.09811, 0.15565 ], [ 0.15832, 0.02, -0.98719 ], [ 0.09374, 0.99497, 0.03519 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 52 }, "api_seconds": 7.0089418375864625, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Approach drawer front along -y; handles visible in wrist view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.60289, 0.74227, 0.36208, -1.70671, -1.11928, 0.93079, 1.169 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44891, 0.2013, 0.79994 ], "tcp_roll_pitch_yaw": [ -1.56588, -0.00719, -0.00965 ], "tcp_rotation_matrix": [ [ 0.98296, -0.09818, 0.15543 ], [ 0.15811, 0.02012, -0.98722 ], [ 0.0938, 0.99497, 0.0353 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 51 }, "api_seconds": 6.806960055604577, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Shift down to center the right-side handle between fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.61248, 0.84474, 0.34684, -1.66353, -1.11498, 0.95951, 1.22729 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44888, 0.20126, 0.75107 ], "tcp_roll_pitch_yaw": [ -1.56604, -0.007, -0.00966 ], "tcp_rotation_matrix": [ [ 0.98298, -0.09799, 0.15543 ], [ 0.15812, 0.02028, -0.98721 ], [ 0.09358, 0.99498, 0.03543 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 50 }, "api_seconds": 5.805565153248608, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Approach further toward drawer face; it appears still far." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.40259, 0.60675, 0.30136, -2.09728, -1.18875, 1.18563, 1.31524 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44891, 0.05121, 0.75109 ], "tcp_roll_pitch_yaw": [ -1.56618, -0.00704, -0.00989 ], "tcp_rotation_matrix": [ [ 0.98301, -0.09802, 0.15519 ], [ 0.1579, 0.02044, -0.98724 ], [ 0.0936, 0.99497, 0.03557 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 49 }, "api_seconds": 4.404742098413408, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.68 }, "note": "Lower toward the lower handle which was to the image-right (below)." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.41932, 0.78688, 0.27337, -2.00809, -1.19961, 1.21229, 1.40363 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44887, 0.05117, 0.68117 ], "tcp_roll_pitch_yaw": [ -1.56628, -0.00682, -0.0099 ], "tcp_rotation_matrix": [ [ 0.98303, -0.0978, 0.15519 ], [ 0.15789, 0.02054, -0.98724 ], [ 0.09336, 0.99499, 0.03564 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 48 }, "api_seconds": 5.204777321778238, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "Back off to get wider view of handles at this height." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.71035, 1.0996, 0.32265, -1.37922, -1.12511, 0.92425, 1.22449 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44882, 0.24879, 0.68113 ], "tcp_roll_pitch_yaw": [ -1.56618, -0.00675, -0.00966 ], "tcp_rotation_matrix": [ [ 0.983, -0.09774, 0.15543 ], [ 0.15813, 0.02042, -0.98721 ], [ 0.09331, 0.995, 0.03553 ] ], "simulated_seconds_remaining": 16.896, "calls_remaining_including_this": 47 }, "api_seconds": 7.407095603644848, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.655, "y": 0.13 }, "note": "Handle slightly right of gripper center (lower); lower slightly and approach." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.53355, 0.95455, 0.29917, -1.75984, -1.1453, 1.11127, 1.37581 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44886, 0.13116, 0.65528 ], "tcp_roll_pitch_yaw": [ -1.56638, -0.00676, -0.00986 ], "tcp_rotation_matrix": [ [ 0.98303, -0.09774, 0.15524 ], [ 0.15795, 0.02064, -0.98723 ], [ 0.09329, 0.995, 0.03573 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 46 }, "api_seconds": 2.8041204595938325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.635, "y": 0.04 }, "note": "Center handle between fingers and approach face." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.4214, 0.898, 0.24617, -1.95483, -1.21801, 1.24331, 1.45286 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44887, 0.04114, 0.63529 ], "tcp_roll_pitch_yaw": [ -1.56659, -0.00675, -0.01007 ], "tcp_rotation_matrix": [ [ 0.98307, -0.09772, 0.15502 ], [ 0.15776, 0.02087, -0.98726 ], [ 0.09324, 0.995, 0.03593 ] ], "simulated_seconds_remaining": 14.85, "calls_remaining_including_this": 45 }, "api_seconds": 3.0042262971401215, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.02, "z": 0.625 }, "note": "Continue approach; handle near right finger." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.35194, 0.87204, 0.19719, -2.05433, -1.28787, 1.324, 1.49344 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44887, -0.01891, 0.62522 ], "tcp_roll_pitch_yaw": [ -1.56677, -0.00674, -0.01029 ], "tcp_rotation_matrix": [ [ 0.9831, -0.0977, 0.15481 ], [ 0.15756, 0.02107, -0.98728 ], [ 0.0932, 0.99499, 0.0361 ] ], "simulated_seconds_remaining": 14.124, "calls_remaining_including_this": 44 }, "api_seconds": 3.603695811703801, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06 }, "note": "Advance further to reach handle depth." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.31171, 0.84286, 0.16975, -2.11863, -1.33944, 1.37449, 1.51146 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44841, -0.05185, 0.62393 ], "tcp_roll_pitch_yaw": [ -1.55914, -0.00424, -0.00097 ], "tcp_rotation_matrix": [ [ 0.98182, -0.09542, 0.16412 ], [ 0.16604, 0.01255, -0.98604 ], [ 0.09202, 0.99536, 0.02817 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 43 }, "api_seconds": 2.6029129112139344, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Contact reached near handle; close gripper to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.31542, 0.8475, 0.17765, -2.122, -1.33431, 1.3972, 1.51121 ], "gripper_open": 0.0156, "tcp_xyz": [ 0.4449, -0.04536, 0.6145 ], "tcp_roll_pitch_yaw": [ -1.53362, 0.01002, 0.00682 ], "tcp_rotation_matrix": [ [ 0.98176, -0.08114, 0.17193 ], [ 0.1714, -0.01351, -0.98511 ], [ 0.08225, 0.99661, 0.00065 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 42 }, "api_seconds": 4.004180489107966, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.12 }, "note": "Missed handle; open and back off to re-view." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.5177, 1.00657, 0.29182, -1.77072, -1.16213, 1.18238, 1.41402 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44489, 0.11877, 0.61448 ], "tcp_roll_pitch_yaw": [ -1.53345, 0.01003, 0.00707 ], "tcp_rotation_matrix": [ [ 0.98172, -0.08113, 0.17218 ], [ 0.17163, -0.01369, -0.98507 ], [ 0.08227, 0.99661, 0.00048 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 41 }, "api_seconds": 8.608678990975022, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.03 }, "note": "Handle centered between fingers; approach straight in." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.3342, 0.85905, 0.19319, -2.09578, -1.31131, 1.37682, 1.50361 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4449, -0.02884, 0.6145 ], "tcp_roll_pitch_yaw": [ -1.53363, 0.01001, 0.00683 ], "tcp_rotation_matrix": [ [ 0.98176, -0.08115, 0.17195 ], [ 0.17142, -0.01349, -0.98511 ], [ 0.08227, 0.99661, 0.00066 ] ], "simulated_seconds_remaining": 9.9, "calls_remaining_including_this": 40 }, "api_seconds": 2.4030496245250106, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05, "gripper": 0 }, "note": "Push slightly deeper and close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.31417, 0.84458, 0.17882, -2.12784, -1.33856, 1.40188, 1.51299 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44462, -0.04537, 0.61394 ], "tcp_roll_pitch_yaw": [ -1.52988, 0.01097, 0.01196 ], "tcp_rotation_matrix": [ [ 0.98096, -0.08008, 0.17695 ], [ 0.1761, -0.01763, -0.98421 ], [ 0.08193, 0.99663, -0.00319 ] ], "simulated_seconds_remaining": 8.976, "calls_remaining_including_this": 39 }, "api_seconds": 8.208301650360227, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Test pull in case the thin handle is held despite low gripper reading." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.4894, 0.97831, 0.28447, -1.83163, -1.17917, 1.21521, 1.431 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44462, 0.09878, 0.61392 ], "tcp_roll_pitch_yaw": [ -1.52971, 0.01097, 0.01221 ], "tcp_rotation_matrix": [ [ 0.98091, -0.08007, 0.1772 ], [ 0.17633, -0.01782, -0.98417 ], [ 0.08196, 0.99663, -0.00336 ] ], "simulated_seconds_remaining": 7.722, "calls_remaining_including_this": 38 }, "api_seconds": 9.407987804152071, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "gripper": 1 }, "note": "Pull failed; handle may be offset in x. Shift and open." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.48467, 1.01359, 0.25804, -1.74024, -1.22187, 1.21781, 1.36312 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.47925, 0.09876, 0.61393 ], "tcp_roll_pitch_yaw": [ -1.52972, 0.01092, 0.01216 ], "tcp_rotation_matrix": [ [ 0.98092, -0.08012, 0.17715 ], [ 0.17628, -0.01781, -0.98418 ], [ 0.08201, 0.99663, -0.00334 ] ], "simulated_seconds_remaining": 6.798, "calls_remaining_including_this": 37 }, "api_seconds": 4.203754347749054, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.05 }, "note": "Handle better aligned between fingers; approach." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.32105, 0.89223, 0.2199, -1.98517, -1.37422, 1.41264, 1.41258 ], "gripper_open": 1.0, "tcp_xyz": [ 0.49233, 0.00086, 0.60377 ], "tcp_roll_pitch_yaw": [ -1.46811, 0.02866, 0.06487 ], "tcp_rotation_matrix": [ [ 0.97224, -0.05753, 0.22681 ], [ 0.22182, -0.082, -0.97163 ], [ 0.07449, 0.99497, -0.06697 ] ], "simulated_seconds_remaining": 5.478, "calls_remaining_including_this": 36 }, "api_seconds": 2.6028560381382704, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.32469, 0.89226, 0.22457, -1.98733, -1.37006, 1.40967, 1.41411 ], "gripper_open": 0.9308, "tcp_xyz": [ 0.48997, 0.00423, 0.60338 ], "tcp_roll_pitch_yaw": [ -1.46727, 0.0307, 0.06716 ], "tcp_rotation_matrix": [ [ 0.97189, -0.05526, 0.22886 ], [ 0.22396, -0.08283, -0.97107 ], [ 0.07262, 0.99503, -0.06812 ] ], "simulated_seconds_remaining": 4.554, "calls_remaining_including_this": 35 }, "api_seconds": 3.403629352338612, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Attempt pull toward +y." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.58795, 1.13594, 0.32258, -1.47729, -1.22724, 1.15139, 1.2597 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48993, 0.19877, 0.60335 ], "tcp_roll_pitch_yaw": [ -1.46713, 0.03074, 0.06742 ], "tcp_rotation_matrix": [ [ 0.97183, -0.0552, 0.22911 ], [ 0.2242, -0.08299, -0.971 ], [ 0.07261, 0.99502, -0.06828 ] ], "simulated_seconds_remaining": 2.97, "calls_remaining_including_this": 34 }, "api_seconds": 3.0033041229471564, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not get a secure grip on the dresser drawer handle, and there is not enough simulated time left (about 3 s) to approach, grasp and pull again." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 015 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 15, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 18, "wall_seconds": 154.34, "usage": { "input_tokens": 40, "output_tokens": 9700, "cache_read_input_tokens": 207027, "cache_creation_input_tokens": 19195, "thinking_tokens": 7155, "cost_usd": 0.38912539999999995 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XY8rzVwUx7qMb5LMieGyQx", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014Ur2dxufHKoxAYTWvfiVRt", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Scene unclear; tilt wrist camera to look forward to locate dresser front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T4mtrq7xKgk4B3xQKdtRj6", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.9 }, "note": "Try tilting the other way to look forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 832, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 832 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E4UgGbpvcfVq3kTuAUjHxK", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6, "z": 0.85, "x": 0.35 }, "note": "Pitch positive looked backward at robot base; try looking forward with negative pitch at lower height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 623, "cache_read_input_tokens": 3344, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 623 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E9LbcaGs8gDvnXQkoe4u9b", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.4, "z": 0.9 }, "note": "Return to downward orientation and move forward to explore where the dresser is." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 928, "cache_read_input_tokens": 3967, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 928 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still exploring: the wood surface looks like the dresser top next to the gripper. I'm lowering the gripper to find the drawer front." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1265, "cache_read_input_tokens": 4895, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1265 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XCvfihqDxQ6iGs1huXeECd", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7 }, "note": "Wood surface visible at bottom of wrist view; lower to see dresser front and edge heights." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1265, "cache_read_input_tokens": 4895, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1265 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011kZKJfsLhCp2eNwW7CAPyq", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Probe camera orientation: move +y and watch how wood shifts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1096, "cache_read_input_tokens": 6160, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1096 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ADJrzpQX5A7oqFQ7PkjAVa", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0, "z": 0.45, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Dresser appears on +y side; lower below its top to look for drawer fronts/handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 969, "cache_read_input_tokens": 7256, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 969 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BN61QWF88E7S43HbRCXDvA", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7, "x": 0.3, "pitch": -0.7 }, "note": "Wood in wrist is floor-level; tilt camera forward (+x) to find the dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1126, "cache_read_input_tokens": 8225, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1126 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NQ8jEssu9HhzpMWXuprBjw", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8, "roll": 0.8 }, "note": "Look toward +y side to find the dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1498, "cache_read_input_tokens": 9351, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1498 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y7skjzcmVwGW56JKY1EJ61", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.5, "roll": 1.2, "x": 0.35 }, "note": "Wood surface lies to +y; look more horizontally toward +y at lower height to find drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1051, "cache_read_input_tokens": 10849, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1051 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still searching. The wood looks like floor, so I'll check the other side (-y)." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1325, "cache_read_input_tokens": 11900, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1325 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GbdgaN6HT2MtXSQaUSv53d", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7, "roll": -1 }, "note": "+y side seems to be wooden floor; look toward -y for the dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1325, "cache_read_input_tokens": 11900, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1325 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QyskDHCoGmABH99mXXZsdr", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8, "roll": 0 }, "note": "Reset roll before turning to look -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 985, "cache_read_input_tokens": 13225, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 985 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YDMYt2JTLqpaxaLoFa6kCk", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.7 }, "note": "Dark object at top of wrist view (likely -y side); turn camera toward -y to inspect." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1199, "cache_read_input_tokens": 14210, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1199 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JF1sRTB8dH3aThKi9bLZ1B", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0.6, "y": 0, "z": 0.65, "yaw": 0, "pitch": 0 }, "note": "Hypothesis: wooden dresser front on +y side; turn toward it step-by-step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 15409, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 790 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012oBoxQmo93jA3z1t92n9xY", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.2, "y": 0.2, "z": 0.5 }, "note": "Dark box visible toward +y beyond the wood floor; approach and look horizontally toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1343, "cache_read_input_tokens": 16199, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1343 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FtcWhxsHcCDR7LEfRtsAHj", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.5 }, "note": "Wood appears close at +y with a seam; look horizontally to check for drawer handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 972, "cache_read_input_tokens": 17542, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 972 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DV5P5vuMwi38UEHXaDrKkw", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3 }, "note": "Approach the wooden face at +y to look for a handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1002, "cache_read_input_tokens": 18514, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1002 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MxBr8qMtSxQdb1BpbUE3T1", "name": "mcp__robot__give_up", "input": { "note": "Could not identify the dresser handle within the remaining time budget. Found a wooden vertical face at y≈0.25 (contact) but no visible handle; insufficient time left to search and pull." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 19516, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 859 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser, and I ended the episode by giving up.\n\nThe camera views were hard to read, so I spent most of the 30 seconds of motion time just looking for the dresser. On the +y side (to the robot's left), at about y ≈ 0.25 m, I found what looked like a wooden front with a seam, probably a gap between drawers. The gripper made contact with it there. I never saw a handle on it. With about 8 seconds left, there wasn't enough time to search further and then grasp and pull, so I stopped.\n\nWhat slowed me down:\n- **Several moves were rejected.** Tilting the wrist camera to look forward, and one turn toward -y, were refused as unreachable or as needing too large a joint jump.\n- **I misread the scene at first.** I took the large wooden surface on the +y side for a floor or tabletop before finding that part of it was a vertical face I could touch." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 373, "cache_read_input_tokens": 20375, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 373 }, "output_tokens": 290, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 40, "cache_creation_input_tokens": 19195, "cache_read_input_tokens": 207027, "output_tokens": 9700, "output_tokens_details": { "thinking_tokens": 7155 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 19195, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 290, "cache_read_input_tokens": 20375, "cache_creation_input_tokens": 373, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 373 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 40, "outputTokens": 9700, "cacheReadInputTokens": 207027, "cacheCreationInputTokens": 19195, "webSearchRequests": 0, "costUSD": 0.38912539999999995, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7155, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.38912539999999995, "num_turns": 20, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01867, -0.82619, 0.0262, -2.44787, -0.05909, 1.55926, -0.15031 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28274, -0.01442, 0.98439 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98647, 0.15152, -0.06253 ], [ 0.14651, -0.98612, -0.07817 ], [ -0.07351, 0.06796, -0.99498 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.605967531912029, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Scene unclear; tilt wrist camera to look forward to locate dresser front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01867, -0.82619, 0.0262, -2.44787, -0.05909, 1.55926, -0.15031 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28274, -0.01442, 0.98439 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98647, 0.15152, -0.06253 ], [ 0.14651, -0.98612, -0.07817 ], [ -0.07351, 0.06796, -0.99498 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.002277484163642, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.9 }, "note": "Try tilting the other way to look forward." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02516, -0.08878, 0.04431, -1.94479, -0.07733, 0.89825, -0.18803 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28274, -0.01443, 0.98427 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.8959, 1e-05 ], "tcp_rotation_matrix": [ [ 0.55897, 0.14773, -0.81592 ], [ 0.14652, -0.98611, -0.07817 ], [ -0.81614, -0.07585, -0.57285 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 55 }, "api_seconds": 5.205088737420738, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6, "z": 0.85, "x": 0.35 }, "note": "Pitch positive looked backward at robot base; try looking forward with negative pitch at lower height." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02516, -0.08878, 0.04431, -1.94479, -0.07733, 0.89825, -0.18803 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28274, -0.01443, 0.98427 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.8959, 1e-05 ], "tcp_rotation_matrix": [ [ 0.55897, 0.14773, -0.81592 ], [ 0.14652, -0.98611, -0.07817 ], [ -0.81614, -0.07585, -0.57285 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 54 }, "api_seconds": 8.807712646201253, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.4, "z": 0.9 }, "note": "Return to downward orientation and move forward to explore where the dresser is." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02743, -0.43338, 0.0324, -2.38815, -0.06795, 1.8868, -0.12528 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39932, -0.01444, 0.90031 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00471, -2e-05 ], "tcp_rotation_matrix": [ [ 0.98612, 0.15183, -0.06722 ], [ 0.14649, -0.98612, -0.07821 ], [ -0.07816, 0.06727, -0.99467 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 53 }, "api_seconds": 7.206304071471095, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7 }, "note": "Wood surface visible at bottom of wrist view; lower to see dresser front and edge heights." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04329, -0.1241, 0.03816, -2.65886, -0.11816, 2.46403, -0.06099 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39922, -0.01445, 0.70124 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00509, -3e-05 ], "tcp_rotation_matrix": [ [ 0.98609, 0.15183, -0.0676 ], [ 0.14647, -0.98612, -0.07823 ], [ -0.07854, 0.06724, -0.99464 ] ], "simulated_seconds_remaining": 25.344, "calls_remaining_including_this": 52 }, "api_seconds": 6.005633677355945, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Probe camera orientation: move +y and watch how wood shifts." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.06557, -0.09523, 0.15831, -2.61957, 0.20344, 2.42131, 0.16313 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38966, 0.10727, 0.70086 ], "tcp_roll_pitch_yaw": [ 0.14127, 0.07488, -0.25275 ], "tcp_rotation_matrix": [ [ 0.98754, -0.10542, -0.11685 ], [ -0.09456, -0.99098, 0.09493 ], [ -0.1258, -0.0827, -0.9886 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 51 }, "api_seconds": 6.8056885320693254, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0, "z": 0.45, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Dresser appears on +y side; lower below its top to look for drawer fronts/handles." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.14118, 0.68345, -0.11739, -2.52668, -0.17517, 3.13968, 0.07408 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38955, 0.00051, 0.45119 ], "tcp_roll_pitch_yaw": [ 0.00072, 0.00058, -0.0014 ], "tcp_rotation_matrix": [ [ 0.98664, 0.15018, -0.06321 ], [ 0.14518, -0.98637, -0.07737 ], [ -0.07397, 0.06716, -0.995 ] ], "simulated_seconds_remaining": 22.176, "calls_remaining_including_this": 50 }, "api_seconds": 11.010910304263234, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7, "x": 0.3, "pitch": -0.7 }, "note": "Wood in wrist is floor-level; tilt camera forward (+x) to find the dresser." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.14118, 0.68345, -0.11739, -2.52668, -0.17517, 3.13968, 0.07408 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38955, 0.00051, 0.45119 ], "tcp_roll_pitch_yaw": [ 0.00072, 0.00058, -0.0014 ], "tcp_rotation_matrix": [ [ 0.98664, 0.15018, -0.06321 ], [ 0.14518, -0.98637, -0.07737 ], [ -0.07397, 0.06716, -0.995 ] ], "simulated_seconds_remaining": 22.176, "calls_remaining_including_this": 49 }, "api_seconds": 6.205533195286989, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "roll": 0.8 }, "note": "Look toward +y side to find the dresser." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ -1.06357, -0.21821, 0.67913, -2.47636, 0.76941, 1.78756, -0.97414 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38964, 0.00042, 0.79897 ], "tcp_roll_pitch_yaw": [ 0.79742, 0.0004, -0.00164 ], "tcp_rotation_matrix": [ [ 0.98675, 0.15005, -0.06176 ], [ 0.15333, -0.73773, 0.65746 ], [ 0.05309, -0.65821, -0.75096 ] ], "simulated_seconds_remaining": 19.536, "calls_remaining_including_this": 48 }, "api_seconds": 10.00837884657085, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.5, "roll": 1.2, "x": 0.35 }, "note": "Wood surface lies to +y; look more horizontally toward +y at lower height to find drawer fronts." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ -1.03771, 0.90679, 0.44815, -2.26807, 0.5728, 2.22283, -1.3577 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35009, 0.00043, 0.501 ], "tcp_roll_pitch_yaw": [ 1.19879, 0.00059, -0.00177 ], "tcp_rotation_matrix": [ [ 0.98675, 0.15025, -0.0612 ], [ 0.11999, -0.42201, 0.89862 ], [ 0.10919, -0.89405, -0.43445 ] ], "simulated_seconds_remaining": 17.226, "calls_remaining_including_this": 47 }, "api_seconds": 6.213496387936175, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7, "roll": -1 }, "note": "+y side seems to be wooden floor; look toward -y for the dresser." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ -1.03771, 0.90679, 0.44815, -2.26807, 0.5728, 2.22283, -1.3577 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35009, 0.00043, 0.501 ], "tcp_roll_pitch_yaw": [ 1.19879, 0.00059, -0.00177 ], "tcp_rotation_matrix": [ [ 0.98675, 0.15025, -0.0612 ], [ 0.11999, -0.42201, 0.89862 ], [ 0.10919, -0.89405, -0.43445 ] ], "simulated_seconds_remaining": 17.226, "calls_remaining_including_this": 46 }, "api_seconds": 8.807411943562329, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "roll": 0 }, "note": "Reset roll before turning to look -y." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.80902, -0.72016, 0.83833, -2.68436, 0.4873, 2.04226, -0.5249 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35022, 0.00049, 0.7992 ], "tcp_roll_pitch_yaw": [ 0.00349, 0.00037, -0.00132 ], "tcp_rotation_matrix": [ [ 0.98664, 0.15024, -0.063 ], [ 0.14546, -0.98655, -0.07462 ], [ -0.07337, 0.06446, -0.99522 ] ], "simulated_seconds_remaining": 14.916, "calls_remaining_including_this": 45 }, "api_seconds": 4.008769931271672, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.7 }, "note": "Dark object at top of wrist view (likely -y side); turn camera toward -y to inspect." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.92015, -0.99087, 1.31626, -2.6406, 0.65084, 2.04275, -0.11961 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35695, 0.05789, 0.75611 ], "tcp_roll_pitch_yaw": [ -0.30442, -0.11734, -0.2164 ], "tcp_rotation_matrix": [ [ 0.99516, -0.09186, -0.03485 ], [ -0.09823, -0.92219, -0.37405 ], [ 0.00223, 0.37567, -0.92675 ] ], "simulated_seconds_remaining": 13.662, "calls_remaining_including_this": 44 }, "api_seconds": 10.408447120338678, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.6, "y": 0, "z": 0.65, "yaw": 0, "pitch": 0 }, "note": "Hypothesis: wooden dresser front on +y side; turn toward it step-by-step." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ -1.3399, 0.03627, 1.10775, -2.69449, 0.69383, 2.38707, -0.98643 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35692, 0.00011, 0.65048 ], "tcp_roll_pitch_yaw": [ 0.59596, 0.00044, -0.00183 ], "tcp_rotation_matrix": [ [ 0.98678, 0.14975, -0.06201 ], [ 0.16071, -0.85454, 0.4939 ], [ 0.02097, -0.49734, -0.8673 ] ], "simulated_seconds_remaining": 12.078, "calls_remaining_including_this": 43 }, "api_seconds": 5.6049915021285415, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.2, "y": 0.2, "z": 0.5 }, "note": "Dark box visible toward +y beyond the wood floor; approach and look horizontally toward it." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ -1.02674, 1.18663, 0.79426, -2.43497, 0.60889, 2.75607, -1.233 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35688, 0.19922, 0.50061 ], "tcp_roll_pitch_yaw": [ 1.1977, 0.0006, -0.00178 ], "tcp_rotation_matrix": [ [ 0.98676, 0.15023, -0.06119 ], [ 0.1201, -0.42299, 0.89814 ], [ 0.10905, -0.89359, -0.43543 ] ], "simulated_seconds_remaining": 10.098, "calls_remaining_including_this": 42 }, "api_seconds": 6.205983771942556, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.5 }, "note": "Wood appears close at +y with a seam; look horizontally to check for drawer handles." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ -1.09814, 1.36116, 0.705, -2.2692, 0.52975, 2.43895, -1.3121 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35692, 0.19918, 0.50048 ], "tcp_roll_pitch_yaw": [ 1.49591, 0.00081, -0.00203 ], "tcp_rotation_matrix": [ [ 0.98676, 0.15044, -0.06065 ], [ 0.08226, -0.14185, 0.98646 ], [ 0.1398, -0.97839, -0.15235 ] ], "simulated_seconds_remaining": 9.372, "calls_remaining_including_this": 41 }, "api_seconds": 5.004184656776488, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Approach the wooden face at +y to look for a handle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ -1.13213, 1.47952, 0.76263, -2.25724, 0.31021, 2.53043, -1.34379 ], "gripper_open": 1.0, "tcp_xyz": [ 0.36252, 0.22695, 0.49678 ], "tcp_roll_pitch_yaw": [ 1.48539, -0.20516, 0.07391 ], "tcp_rotation_matrix": [ [ 0.92843, 0.35759, -0.1007 ], [ 0.15472, -0.12577, 0.97992 ], [ 0.33775, -0.92537, -0.17209 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 40 }, "api_seconds": 5.004451112821698, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not identify the dresser handle within the remaining time budget. Found a wooden vertical face at y≈0.25 (contact) but no visible handle; insufficient time left to search and pull." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 016 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 16, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 35, "wall_seconds": 229.78, "usage": { "input_tokens": 76, "output_tokens": 14567, "cache_read_input_tokens": 686051, "cache_creation_input_tokens": 33240, "thinking_tokens": 9906, "cost_usd": 0.6947742000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01J8Hd5PCiZNyykGwtS9o97S", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01W6ChytSTxkskK6ybSaGdhr", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Tilt wrist camera to look for the dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KkcxuCCFoTm6N2yFC4LKDW", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5, "z": 0.8 }, "note": "Dresser appears ahead in +x. Point gripper horizontally forward and lower to see drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 765, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 765 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UE6uAywrkxUsUfUtstxv1y", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 0.75, "x": 0.35 }, "note": "Try less extreme pitch and lower height to look at drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 796, "cache_read_input_tokens": 3277, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 796 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012cxsnhEficdXapHavJWkFg", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower the gripper only, keeping orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 732, "cache_read_input_tokens": 4073, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 732 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm trying to point the gripper at the dresser's drawer fronts. The last few moves were rejected as unreachable, so I'm trying smaller steps now." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 679, "cache_read_input_tokens": 4805, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 679 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QBzM44prNmddW4srmveFUR", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.97, "x": 0.33 }, "note": "Small step forward/down to test reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 679, "cache_read_input_tokens": 4805, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 679 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QxaCkNWnsGJafRzv61BC45", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Extend forward to unfold elbow and approach dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 737, "cache_read_input_tokens": 5484, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 737 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GJqUnKPbSay2YgbdPCkzmi", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Rotate to look more horizontally forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 796, "cache_read_input_tokens": 6221, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 796 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015hnu4hHygBHtd7mKNBuAxM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.75 }, "note": "Lower and extend to reduce elbow fold, then try pitching." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 997, "cache_read_input_tokens": 7017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 997 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NjPsWFcUtJ3Nw1CCdGr7TZ", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.84 }, "note": "Small downward step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 934, "cache_read_input_tokens": 8014, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 934 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018RpkQZF78PbuBVCoB4wLYZ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.3 }, "note": "Reduce pitch to relieve wrist joint limit and look down at handle area." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 835, "cache_read_input_tokens": 8948, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 835 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working out where the dresser handle is relative to the gripper. I'm making a small sideways test move to see how the camera views shift." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1373, "cache_read_input_tokens": 9783, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1373 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Wv9FCbHBmBjCj7GvJugVc5", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Test move in +y to calibrate wrist image directions." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1373, "cache_read_input_tokens": 9783, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1373 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TyfCLS54cTytDnHaew5oDV", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.16 }, "note": "Dresser appears on +y side; move closer to see the handle from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 836, "cache_read_input_tokens": 11156, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 836 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WrdsH4VyfwvW5CkTwzyPPL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.93, "y": 0.15, "pitch": 0, "yaw": 0, "roll": 0 }, "note": "Contact at y~0.126; lift up and move over the handle, pointing straight down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1048, "cache_read_input_tokens": 11992, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1048 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019UGT7N7GFVuzs1ctwrmECr", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "x": 0.4, "y": 0.1 }, "note": "Motion obstructed; back off upward to free the gripper and reassess." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1009, "cache_read_input_tokens": 13040, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1009 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PMW1N7iEaMadR4DJLsFSqZ", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 820, "cache_read_input_tokens": 14049, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 820 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rczt2XQ5qV1WTctV6TmQwE", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0.05, "z": 1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Gripper got knocked to pointing backward; reset to straight-down orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 587, "cache_read_input_tokens": 14869, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 587 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've reset the gripper. The dresser front seems to be on the robot's +y side, so I'm turning the gripper to face it and look for the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 15456, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 769 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MqXxiGXkdwXVwRAGXYZFSU", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "y": 0, "z": 0.88, "roll": 1.57 }, "note": "Point gripper toward +y (dresser face) with fingers vertical to view/grab horizontal handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 15456, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 769 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011BLTuKJevaiixwG5W4nBt2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Wrist sees floral drawer fronts with small yellow knobs near top of image; shift +x to calibrate direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1504, "cache_read_input_tokens": 16225, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1504 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01K3evSfpEm6J4cdDc8wpHey", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "y": 0.06 }, "note": "Knobs appear toward -x; move closer to dresser face and toward -x to get a clearer view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1171, "cache_read_input_tokens": 17729, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1171 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V7dXQNwcgTZSjwhLDmdfPA", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12, "z": 0.9 }, "note": "Approach the dresser face slowly to resolve knob position." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1441, "cache_read_input_tokens": 18900, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1441 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014xYfMQ8u2VBwBiWr3eJRpi", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.84, "y": 0.07 }, "note": "Exterior suggests a long horizontal bar handle along x at about gripper height on the dresser's white lower drawer; lower slightly and move along -x to center on it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1099, "cache_read_input_tokens": 20341, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1099 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UPLkp3JdUVi7hkvY6E4VbY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.885, "y": 0.2 }, "note": "Bar appears slightly above gripper in exterior; raise to bar height and push forward (+y) to straddle the bar with open vertical fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2748, "cache_read_input_tokens": 21440, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 2748 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The wrist camera now shows a yellow drawer knob close to the center of the view. I'm moving in slowly to grasp it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1099, "cache_read_input_tokens": 24188, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1099 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EKnxh87uAZKcuUdfa75J4e", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.25, "z": 0.9 }, "note": "Yellow knob visible near center of wrist view; advance toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1099, "cache_read_input_tokens": 24188, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1099 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0117sjpgSw6EyWyRPSo7uHWm", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.29, "z": 0.915 }, "note": "Knob moved behind fingers as I approached; continue forward and slightly up to engage it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1010, "cache_read_input_tokens": 25287, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1010 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0119e2eVRX4AuQQrMWBYhWig", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.305 }, "note": "Knob appears just between fingertips; nudge forward a bit before closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 811, "cache_read_input_tokens": 26297, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 811 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Xonb3DfsjeUYGMqFQ5GT2f", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95 }, "note": "Knob aligned with upper finger; raise so knob sits centered between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 739, "cache_read_input_tokens": 27108, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 739 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MMGyD1btUNWvFQtUZhKAXu", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.965, "y": 0.315 }, "note": "Knob nearly centered; small raise and nudge forward before closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 745, "cache_read_input_tokens": 27847, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 745 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Knob between the fingers; close gripper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 683, "cache_read_input_tokens": 28592, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 683 }, "output_tokens": 43, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015DTBHyk5oiLUAXUQDbF1jZ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Knob centered between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 683, "cache_read_input_tokens": 28592, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 683 }, "output_tokens": 43, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kd6KYgL8aft1umvhgnz7Yo", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.17 }, "note": "Pull back along -y to open the drawer if knob grasped." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 626, "cache_read_input_tokens": 29275, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 626 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Missed the knob, so I'm reopening and approaching slightly deeper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 671, "cache_read_input_tokens": 29901, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 671 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PSoh97kaesQDHNut41i7iU", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "y": 0.335 }, "note": "Missed knob; reopen and approach deeper toward the knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 671, "cache_read_input_tokens": 29901, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 671 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RC6sMSfjjoAmFGtV8CdSdV", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Deeper position; close on knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 810, "cache_read_input_tokens": 30572, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 810 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014AbzU4frFfzCph2QEyubLx", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15 }, "note": "Pull back along -y to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 628, "cache_read_input_tokens": 31382, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 628 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Missed again with about 3.7 s left. I'm making one final quick attempt." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 32010, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 607 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019EbdYQ8XPqHmYLxw4BCBnt", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "y": 0.33, "z": 0.95 }, "note": "Final attempt: reopen, approach knob slightly lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 32010, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 607 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BKLRxqDMLvxuioLqTT56H6", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 800, "cache_read_input_tokens": 32617, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 800 }, "output_tokens": 28, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01U9c9rUN1kxzPyXivjgyr1q", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Pull back to open drawer with remaining time." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 600, "cache_read_input_tokens": 33417, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 600 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Simulated time is used up and the drawer didn't open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 615, "cache_read_input_tokens": 34017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 615 }, "output_tokens": 46, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ChPA7PCq5GPJPqyaS5eRkZ", "name": "mcp__robot__give_up", "input": { "note": "Out of simulated time. Three tries at grasping the dresser drawer knob all missed, and the drawer never opened." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 615, "cache_read_input_tokens": 34017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 615 }, "output_tokens": 46, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser: the 30 seconds of simulated motion ran out, so I ended the episode with give_up.\n\n- **Finding the dresser:** This took about half the time. Several moves were rejected as unreachable, and one bumped into the dresser and knocked the gripper out of position, so I had to reset it. From the wrist camera, the dresser seemed to be on the robot's left (+y), with a small yellow knob on one of the patterned drawer fronts.\n- **Grasping:** I turned the gripper to face the drawer front with the fingers vertical and made three grasps near the knob, at slightly different depths and heights (y ≈ 0.31–0.335 m, z ≈ 0.95–0.96 m). Each time the gripper closed all the way and the drawer didn't move when I pulled back, so the fingers never caught the knob.\n\nThe exterior camera also showed a long horizontal bar handle on a white panel. I couldn't tell whether it belonged to the dresser, and I never tried it. It might have been easier to grab than the small knob." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 161, "cache_read_input_tokens": 34632, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 161 }, "output_tokens": 345, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 76, "cache_creation_input_tokens": 33240, "cache_read_input_tokens": 686051, "output_tokens": 14567, "output_tokens_details": { "thinking_tokens": 9906 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 33240, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 345, "cache_read_input_tokens": 34632, "cache_creation_input_tokens": 161, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 161 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 76, "outputTokens": 14567, "cacheReadInputTokens": 686051, "cacheCreationInputTokens": 33240, "webSearchRequests": 0, "costUSD": 0.6947742000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 9906, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.6947742000000001, "num_turns": 38, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.02172, -0.75069, -0.06726, -2.29361, 0.06938, 1.44196, 0.08796 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28784, 0.00576, 1.02505 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9887, -0.11275, -0.0988 ], [ -0.10098, -0.98799, 0.11693 ], [ -0.11079, -0.10564, -0.98821 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.6068277126178145, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Tilt wrist camera to look for the dresser." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00269, -1.49814, -0.0658, -2.88455, 0.08179, 2.07646, 0.01423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28779, 0.00576, 1.02502 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.79565, 2e-05 ], "tcp_rotation_matrix": [ [ 0.77106, -0.00341, 0.63676 ], [ -0.10097, -0.98799, 0.11696 ], [ 0.62871, -0.15448, -0.76214 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 4.2035913579165936, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5, "z": 0.8 }, "note": "Dresser appears ahead in +x. Point gripper horizontally forward and lower to see drawer fronts." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00269, -1.49814, -0.0658, -2.88455, 0.08179, 2.07646, 0.01423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28779, 0.00576, 1.02502 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.79565, 2e-05 ], "tcp_rotation_matrix": [ [ 0.77106, -0.00341, 0.63676 ], [ -0.10097, -0.98799, 0.11696 ], [ 0.62871, -0.15448, -0.76214 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 55 }, "api_seconds": 3.4033781057223678, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 0.75, "x": 0.35 }, "note": "Try less extreme pitch and lower height to look at drawer fronts." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00269, -1.49814, -0.0658, -2.88455, 0.08179, 2.07646, 0.01423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28779, 0.00576, 1.02502 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.79565, 2e-05 ], "tcp_rotation_matrix": [ [ 0.77106, -0.00341, 0.63676 ], [ -0.10097, -0.98799, 0.11696 ], [ 0.62871, -0.15448, -0.76214 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 54 }, "api_seconds": 2.4022574480623007, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower the gripper only, keeping orientation." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00269, -1.49814, -0.0658, -2.88455, 0.08179, 2.07646, 0.01423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28779, 0.00576, 1.02502 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.79565, 2e-05 ], "tcp_rotation_matrix": [ [ 0.77106, -0.00341, 0.63676 ], [ -0.10097, -0.98799, 0.11696 ], [ 0.62871, -0.15448, -0.76214 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 53 }, "api_seconds": 3.2031674832105637, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97, "x": 0.33 }, "note": "Small step forward/down to test reachability." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.00977, -1.37262, -0.07439, -3.00199, 0.08776, 2.31887, -0.00855 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32925, 0.00578, 0.97085 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.79531, 5e-05 ], "tcp_rotation_matrix": [ [ 0.77128, -0.00343, 0.63649 ], [ -0.10094, -0.98799, 0.117 ], [ 0.62844, -0.15448, -0.76236 ] ], "simulated_seconds_remaining": 27.852, "calls_remaining_including_this": 52 }, "api_seconds": 4.003582750447094, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Extend forward to unfold elbow and approach dresser." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.12683, -0.7206, -0.14703, -2.9138, 0.13113, 2.88891, -0.07495 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44884, 0.0058, 0.9006 ], "tcp_roll_pitch_yaw": [ 0.00014, -0.79501, 4e-05 ], "tcp_rotation_matrix": [ [ 0.77147, -0.0034, 0.63626 ], [ -0.10093, -0.98798, 0.1171 ], [ 0.62821, -0.15456, -0.76254 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 51 }, "api_seconds": 6.405766110867262, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Rotate to look more horizontally forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.12683, -0.7206, -0.14703, -2.9138, 0.13113, 2.88891, -0.07495 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44884, 0.0058, 0.9006 ], "tcp_roll_pitch_yaw": [ 0.00014, -0.79501, 4e-05 ], "tcp_rotation_matrix": [ [ 0.77147, -0.0034, 0.63626 ], [ -0.10093, -0.98798, 0.1171 ], [ 0.62821, -0.15456, -0.76254 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 50 }, "api_seconds": 5.404339045286179, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.75 }, "note": "Lower and extend to reduce elbow fold, then try pitching." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.12683, -0.7206, -0.14703, -2.9138, 0.13113, 2.88891, -0.07495 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44884, 0.0058, 0.9006 ], "tcp_roll_pitch_yaw": [ 0.00014, -0.79501, 4e-05 ], "tcp_rotation_matrix": [ [ 0.77147, -0.0034, 0.63626 ], [ -0.10093, -0.98798, 0.1171 ], [ 0.62821, -0.15456, -0.76254 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 49 }, "api_seconds": 4.403692349791527, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Small downward step." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.22274, -0.57828, -0.23838, -2.99091, 0.16338, 3.1178, -0.12748 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44879, 0.00583, 0.84108 ], "tcp_roll_pitch_yaw": [ 0.00024, -0.79466, 3e-05 ], "tcp_rotation_matrix": [ [ 0.7717, -0.00339, 0.63598 ], [ -0.10093, -0.98797, 0.1172 ], [ 0.62793, -0.15463, -0.76275 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 48 }, "api_seconds": 10.21284914482385, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.3 }, "note": "Reduce pitch to relieve wrist joint limit and look down at handle area." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.11195, -0.41283, -0.14453, -2.60107, 0.09544, 2.39155, -7e-05 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44898, 0.00583, 0.84111 ], "tcp_roll_pitch_yaw": [ 0.00027, -0.30498, 1e-05 ], "tcp_rotation_matrix": [ [ 0.97635, -0.07573, 0.20249 ], [ -0.10094, -0.98796, 0.1172 ], [ 0.19117, -0.13487, -0.97225 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 47 }, "api_seconds": 4.60337005276233, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Test move in +y to calibrate wrist image directions." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.18569, -0.3866, 0.00375, -2.58795, 0.11912, 2.42125, 0.19786 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44898, 0.09875, 0.84111 ], "tcp_roll_pitch_yaw": [ 0.00019, -0.30498, 0.00029 ], "tcp_rotation_matrix": [ [ 0.97638, -0.07548, 0.20246 ], [ -0.10068, -0.98799, 0.11718 ], [ 0.19118, -0.13479, -0.97226 ] ], "simulated_seconds_remaining": 24.024, "calls_remaining_including_this": 46 }, "api_seconds": 7.004789886064827, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.16 }, "note": "Dresser appears on +y side; move closer to see the handle from above." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.20816, -0.3662, 0.04286, -2.55643, 0.12383, 2.39046, 0.32996 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44587, 0.12647, 0.84292 ], "tcp_roll_pitch_yaw": [ 0.01263, -0.27156, -0.07288 ], "tcp_rotation_matrix": [ [ 0.97267, -0.14857, 0.17846 ], [ -0.17085, -0.97836, 0.11672 ], [ 0.15725, -0.14402, -0.977 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 45 }, "api_seconds": 6.204897343181074, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93, "y": 0.15, "pitch": 0, "yaw": 0, "roll": 0 }, "note": "Contact at y~0.126; lift up and move over the handle, pointing straight down." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.22524, -0.29058, 0.02106, -2.30015, 0.14762, 1.80154, 0.31687 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3838, 0.13154, 0.8785 ], "tcp_roll_pitch_yaw": [ -0.03451, 0.13349, -0.00593 ], "tcp_rotation_matrix": [ [ 0.96499, -0.12713, -0.2294 ], [ -0.11047, -0.99031, 0.08413 ], [ -0.23788, -0.05584, -0.96969 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 44 }, "api_seconds": 4.403858278878033, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "x": 0.4, "y": 0.1 }, "note": "Motion obstructed; back off upward to free the gripper and reassess." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.19985, -0.28973, -0.02014, -1.99872, 0.11557, 0.79643, 0.29105 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2186, 0.06833, 1.04009 ], "tcp_roll_pitch_yaw": [ -0.14816, 0.81967, 0.03421 ], "tcp_rotation_matrix": [ [ 0.60917, -0.01273, -0.79293 ], [ -0.09545, -0.99378, -0.05738 ], [ -0.78727, 0.11064, -0.6066 ] ], "simulated_seconds_remaining": 21.252, "calls_remaining_including_this": 43 }, "api_seconds": 5.604839191772044, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.05, "z": 1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Gripper got knocked to pointing backward; reset to straight-down orientation." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.15065, -0.72816, -0.06304, -2.34756, 0.08483, 1.5294, 0.21266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29948, 0.05008, 1.00019 ], "tcp_roll_pitch_yaw": [ -0.00078, 0.00451, 0.00048 ], "tcp_rotation_matrix": [ [ 0.98824, -0.11274, -0.10331 ], [ -0.10059, -0.98813, 0.11611 ], [ -0.11517, -0.10436, -0.98785 ] ], "simulated_seconds_remaining": 19.866, "calls_remaining_including_this": 42 }, "api_seconds": 11.209051155485213, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0, "z": 0.88, "roll": 1.57 }, "note": "Point gripper toward +y (dresser face) with fingers vertical to view/grab horizontal handle." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.14428, 0.45017, -0.81478, -2.16796, 1.13942, 0.83696, -1.05831 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39969, 0.00025, 0.88018 ], "tcp_roll_pitch_yaw": [ 1.56496, 0.00512, 0.00087 ], "tcp_rotation_matrix": [ [ 0.98807, -0.11789, -0.09908 ], [ 0.11106, 0.09977, 0.98879 ], [ -0.10668, -0.988, 0.11167 ] ], "simulated_seconds_remaining": 17.49, "calls_remaining_including_this": 41 }, "api_seconds": 8.809534489177167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Wrist sees floral drawer fronts with small yellow knobs near top of image; shift +x to calibrate direction." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.07314, 0.62832, -0.7226, -1.92798, 1.35185, 0.78518, -0.8857 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48345, -0.00637, 0.87416 ], "tcp_roll_pitch_yaw": [ 1.58047, 0.04956, -0.0155 ], "tcp_rotation_matrix": [ [ 0.98415, -0.1597, -0.0771 ], [ 0.09652, 0.11768, 0.98835 ], [ -0.14876, -0.98013, 0.13123 ] ], "simulated_seconds_remaining": 16.5, "calls_remaining_including_this": 40 }, "api_seconds": 11.008705260232091, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": 0.06 }, "note": "Knobs appear toward -x; move closer to dresser face and toward -x to get a clearer view." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.25704, 0.32443, -0.81265, -2.35629, 1.18214, 0.96726, -1.01689 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38112, 0.05929, 0.87419 ], "tcp_roll_pitch_yaw": [ 1.58053, 0.04958, -0.0155 ], "tcp_rotation_matrix": [ [ 0.98415, -0.15972, -0.07709 ], [ 0.09652, 0.11774, 0.98834 ], [ -0.14878, -0.98012, 0.13129 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 39 }, "api_seconds": 7.606102303601801, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12, "z": 0.9 }, "note": "Approach the dresser face slowly to resolve knob position." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.3743, 0.13967, -0.79007, -2.46999, 1.2622, 1.12076, -0.91029 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38111, 0.11885, 0.89953 ], "tcp_roll_pitch_yaw": [ 1.58061, 0.04944, -0.01528 ], "tcp_rotation_matrix": [ [ 0.98415, -0.1596, -0.07732 ], [ 0.09675, 0.11778, 0.98832 ], [ -0.14863, -0.98013, 0.13135 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 38 }, "api_seconds": 25.619787554256618, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.84, "y": 0.07 }, "note": "Exterior suggests a long horizontal bar handle along x at about gripper height on the dresser's white lower drawer; lower slightly and move along -x to center on it." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.26251, 0.25482, -0.85608, -2.56588, 1.03372, 1.05324, -1.17952 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30095, 0.07054, 0.84065 ], "tcp_roll_pitch_yaw": [ 1.58055, 0.04963, -0.01542 ], "tcp_rotation_matrix": [ [ 0.98413, -0.15977, -0.07717 ], [ 0.09661, 0.11774, 0.98833 ], [ -0.14882, -0.98011, 0.13131 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 37 }, "api_seconds": 6.605539794079959, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.885, "y": 0.2 }, "note": "Bar appears slightly above gripper in exterior; raise to bar height and push forward (+y) to straddle the bar with open vertical fingers." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.48726, 0.01225, -0.70663, -2.64479, 1.37096, 1.30901, -0.94054 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34951, 0.19885, 0.8846 ], "tcp_roll_pitch_yaw": [ 1.58055, 0.04952, -0.01513 ], "tcp_rotation_matrix": [ [ 0.98412, -0.1597, -0.07747 ], [ 0.0969, 0.1177, 0.98831 ], [ -0.14871, -0.98012, 0.13131 ] ], "simulated_seconds_remaining": 12.342, "calls_remaining_including_this": 36 }, "api_seconds": 6.205077199265361, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 0.9 }, "note": "Yellow knob visible near center of wrist view; advance toward it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.56045, -0.06773, -0.62992, -2.67663, 1.48961, 1.41819, -0.89416 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34946, 0.24888, 0.89966 ], "tcp_roll_pitch_yaw": [ 1.58059, 0.04944, -0.01487 ], "tcp_rotation_matrix": [ [ 0.98411, -0.15965, -0.07774 ], [ 0.09716, 0.11769, 0.98829 ], [ -0.14863, -0.98013, 0.13133 ] ], "simulated_seconds_remaining": 11.682, "calls_remaining_including_this": 35 }, "api_seconds": 4.003565615974367, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.29, "z": 0.915 }, "note": "Knob moved behind fingers as I approached; continue forward and slightly up to engage it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.61938, -0.11843, -0.56342, -2.68211, 1.59075, 1.50233, -0.85806 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34942, 0.28893, 0.9146 ], "tcp_roll_pitch_yaw": [ 1.58061, 0.04935, -0.01462 ], "tcp_rotation_matrix": [ [ 0.9841, -0.15959, -0.07799 ], [ 0.09741, 0.11768, 0.98826 ], [ -0.14854, -0.98014, 0.13135 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 34 }, "api_seconds": 3.60307639837265, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.305 }, "note": "Knob appears just between fingertips; nudge forward a bit before closing." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.64246, -0.11301, -0.54037, -2.67789, 1.63187, 1.52213, -0.86065 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34937, 0.30408, 0.91459 ], "tcp_roll_pitch_yaw": [ 1.58059, 0.04935, -0.01445 ], "tcp_rotation_matrix": [ [ 0.98408, -0.15961, -0.07816 ], [ 0.09757, 0.11763, 0.98825 ], [ -0.14854, -0.98015, 0.13133 ] ], "simulated_seconds_remaining": 10.692, "calls_remaining_including_this": 33 }, "api_seconds": 3.602855311706662, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Knob aligned with upper finger; raise so knob sits centered between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.63764, -0.22324, -0.52395, -2.68157, 1.61938, 1.58165, -0.77229 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3494, 0.30408, 0.94889 ], "tcp_roll_pitch_yaw": [ 1.58072, 0.04912, -0.01444 ], "tcp_rotation_matrix": [ [ 0.98412, -0.15939, -0.07819 ], [ 0.09759, 0.11775, 0.98824 ], [ -0.14831, -0.98017, 0.13144 ] ], "simulated_seconds_remaining": 10.164, "calls_remaining_including_this": 32 }, "api_seconds": 2.8025631653144956, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.965, "y": 0.315 }, "note": "Knob nearly centered; small raise and nudge forward before closing." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.65045, -0.26114, -0.49893, -2.67539, 1.6423, 1.61946, -0.73689 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34938, 0.31437, 0.96409 ], "tcp_roll_pitch_yaw": [ 1.5808, 0.04898, -0.01434 ], "tcp_rotation_matrix": [ [ 0.98413, -0.15926, -0.0783 ], [ 0.09769, 0.11781, 0.98822 ], [ -0.14815, -0.98018, 0.1315 ] ], "simulated_seconds_remaining": 9.768, "calls_remaining_including_this": 31 }, "api_seconds": 2.6025868616998196, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Knob centered between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.65045, -0.26114, -0.49893, -2.67539, 1.6423, 1.61946, -0.73689 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34938, 0.31438, 0.9641 ], "tcp_roll_pitch_yaw": [ 1.5808, 0.04898, -0.01434 ], "tcp_rotation_matrix": [ [ 0.98413, -0.15926, -0.0783 ], [ 0.09769, 0.11781, 0.98822 ], [ -0.14816, -0.98018, 0.13149 ] ], "simulated_seconds_remaining": 8.844, "calls_remaining_including_this": 30 }, "api_seconds": 2.8025171095505357, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.17 }, "note": "Pull back along -y to open the drawer if knob grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.45023, -0.26166, -0.73531, -2.64383, 1.282, 1.37905, -0.70157 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34948, 0.17128, 0.96412 ], "tcp_roll_pitch_yaw": [ 1.58083, 0.04892, -0.01465 ], "tcp_rotation_matrix": [ [ 0.98417, -0.15916, -0.07801 ], [ 0.0974, 0.11788, 0.98824 ], [ -0.14809, -0.98019, 0.13152 ] ], "simulated_seconds_remaining": 7.59, "calls_remaining_including_this": 29 }, "api_seconds": 4.603958426974714, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.335 }, "note": "Missed knob; reopen and approach deeper toward the knob." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.67958, -0.24587, -0.47029, -2.66368, 1.69365, 1.64413, -0.74463 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3494, 0.33372, 0.9641 ], "tcp_roll_pitch_yaw": [ 1.58076, 0.04889, -0.01434 ], "tcp_rotation_matrix": [ [ 0.98414, -0.15916, -0.07832 ], [ 0.09769, 0.11777, 0.98822 ], [ -0.14807, -0.9802, 0.13145 ] ], "simulated_seconds_remaining": 6.204, "calls_remaining_including_this": 28 }, "api_seconds": 2.8027961300686, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Deeper position; close on knob." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.67958, -0.24587, -0.47029, -2.66368, 1.69365, 1.64413, -0.74463 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3494, 0.33373, 0.9641 ], "tcp_roll_pitch_yaw": [ 1.58076, 0.04889, -0.01434 ], "tcp_rotation_matrix": [ [ 0.98414, -0.15917, -0.07832 ], [ 0.09769, 0.11777, 0.98822 ], [ -0.14807, -0.9802, 0.13145 ] ], "simulated_seconds_remaining": 5.28, "calls_remaining_including_this": 27 }, "api_seconds": 2.2021233709529042, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Pull back along -y to open drawer." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.4289, -0.24327, -0.77067, -2.62246, 1.24068, 1.33589, -0.70336 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34949, 0.15129, 0.96411 ], "tcp_roll_pitch_yaw": [ 1.58077, 0.04882, -0.01465 ], "tcp_rotation_matrix": [ [ 0.98418, -0.15906, -0.07803 ], [ 0.09739, 0.11783, 0.98825 ], [ -0.148, -0.98021, 0.13146 ] ], "simulated_seconds_remaining": 3.762, "calls_remaining_including_this": 26 }, "api_seconds": 3.8026125095784664, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.33, "z": 0.95 }, "note": "Final attempt: reopen, approach knob slightly lower." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.67856, -0.21048, -0.48994, -2.66864, 1.68478, 1.61588, -0.7779 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34942, 0.32875, 0.95008 ], "tcp_roll_pitch_yaw": [ 1.5807, 0.04881, -0.01434 ], "tcp_rotation_matrix": [ [ 0.98415, -0.15909, -0.07833 ], [ 0.09769, 0.11771, 0.98823 ], [ -0.148, -0.98022, 0.13139 ] ], "simulated_seconds_remaining": 2.244, "calls_remaining_including_this": 25 }, "api_seconds": 2.202131798490882, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on knob." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.67856, -0.21048, -0.48994, -2.66864, 1.68478, 1.61588, -0.7779 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34942, 0.32876, 0.95008 ], "tcp_roll_pitch_yaw": [ 1.5807, 0.04881, -0.01434 ], "tcp_rotation_matrix": [ [ 0.98415, -0.15909, -0.07833 ], [ 0.09768, 0.11771, 0.98823 ], [ -0.148, -0.98022, 0.13139 ] ], "simulated_seconds_remaining": 1.32, "calls_remaining_including_this": 24 }, "api_seconds": 2.2022924600169063, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Pull back to open drawer with remaining time." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.49108, -0.23428, -0.69318, -2.66793, 1.35172, 1.42006, -0.74477 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34951, 0.20122, 0.9501 ], "tcp_roll_pitch_yaw": [ 1.58074, 0.04876, -0.01464 ], "tcp_rotation_matrix": [ [ 0.98419, -0.15901, -0.07804 ], [ 0.0974, 0.1178, 0.98825 ], [ -0.14794, -0.98023, 0.13142 ] ], "simulated_seconds_remaining": 0.132, "calls_remaining_including_this": 23 }, "api_seconds": 2.6025309450924397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Out of simulated time. Three tries at grasping the dresser drawer knob all missed, and the drawer never opened." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 017 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 17, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 27, "wall_seconds": 172.84, "usage": { "input_tokens": 58, "output_tokens": 10388, "cache_read_input_tokens": 393394, "cache_creation_input_tokens": 24480, "thinking_tokens": 6793, "cost_usd": 0.48251080000000013 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013c3SuhPRPtEUoCXed79YqQ", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JYyVhFhmc6f8au7R3xAQhW", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper to look forward with wrist camera to locate the table drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TvqJ8HenbSaX16w1TDYET5", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 1.2 }, "note": "Try tilting the other way to look forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 881, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 881 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VgBPZppeCdEgJdMjxfnkQ1", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7, "z": 0.9, "x": 0.4 }, "note": "Wrist was looking back at base; tilt forward instead to see what's in front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 628, "cache_read_input_tokens": 3390, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 628 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BZbQxtLaz5qiJH4qQQbhyx", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.4, "z": 0.95 }, "note": "Return to downward orientation, move forward a bit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 4018, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 871 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Working out where the table's drawer is. Moving the gripper forward and down to get it in the wrist camera's view." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 681, "cache_read_input_tokens": 4889, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 681 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0125Bkr2noXwptGnoDouR8hF", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.85 }, "note": "Gripper moving toward table in exterior view; approach further to find drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 681, "cache_read_input_tokens": 4889, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 681 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0125wPw1eSQqAcb8UfcNYJPn", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "z": 1 }, "note": "Blocked by table top at z~0.93; back off to then go down in front of it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1066, "cache_read_input_tokens": 5570, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1066 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NVS2yiK3a8Qa7o6KS1A6Pd", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Descend to probe for table edge/drawer height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 923, "cache_read_input_tokens": 6636, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 923 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kjyr1UphX88foc2UrTSbhG", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Test y direction mapping in exterior view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 755, "cache_read_input_tokens": 7559, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 755 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GpXzeUS4Q1FTc8R7nWYn51", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3 }, "note": "Table front extends in +y; move toward drawer handle position." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 845, "cache_read_input_tokens": 8314, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 845 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012H5cGGNQpiKQjC9fFVux78", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "x": 0.3 }, "note": "Point gripper forward (+x) to face drawer front and see it in wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1262, "cache_read_input_tokens": 9159, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1262 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still looking for the drawer. That last tilt twisted the wrist, so I'm resetting to a downward-facing orientation before searching again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 885, "cache_read_input_tokens": 10421, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 885 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RyKqn3JmszCEv7NTxprGzo", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0, "pitch": -0.5, "yaw": 0, "x": 0.45, "y": 0.2, "z": 0.85 }, "note": "Orientation became twisted; reset with moderate forward tilt to view ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 885, "cache_read_input_tokens": 10421, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 885 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N48Zoz15CXcptsPDNWf5kq", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.22, "z": 0.72, "pitch": -1.2 }, "note": "Gripper is above the table top; back off in front of the drawer face and tilt forward to view it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1258, "cache_read_input_tokens": 11306, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1258 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XDg8CwKQXtBptVia54aAND", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "z": 0.75, "pitch": -0.9 }, "note": "Smaller step: back off and lower with more forward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1328, "cache_read_input_tokens": 12564, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1328 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015ZbCeVTxP4rEMXbokyoj3p", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Only tilt forward a bit more." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 762, "cache_read_input_tokens": 13892, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 762 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015pQMikAaKAB7HcR9uXoiqx", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0.9 }, "note": "Wrist sees only a plain surface ahead; yaw to scan toward +y for the table." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 662, "cache_read_input_tokens": 14654, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 662 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XSwxcxEZJdWgxMUboUdDde", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3 }, "note": "Back off to get a wider wrist view of what is in front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1004, "cache_read_input_tokens": 15316, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1004 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm has twisted into an awkward joint configuration, so the IK keeps rejecting my targets. I'm moving back to a neutral pose so I can try again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1203, "cache_read_input_tokens": 16320, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1203 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ef7MNvup3C8sKupuL7G8ct", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.3, "x": 0.4, "y": 0.1, "z": 0.95 }, "note": "Joints near limits; return to a more neutral pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1203, "cache_read_input_tokens": 16320, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1203 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EZERJ9Q9qbKdwFWKPdNU5B", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.38, "y": 0.38, "z": 1.02 }, "note": "Table appears to lie toward +y; move above estimated drawer handle area looking down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 17523, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 769 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011jU6BzR2xKWBjYvBDLcb3P", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 1.57, "y": 0.34 }, "note": "Gripper is in front of the drawer near handle; rotate so fingers open along x to straddle handle from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1668, "cache_read_input_tokens": 18292, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1668 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GEkj7p2Gy3h7L8BcRhMp11", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.96 }, "note": "Gripper above handle; descend so fingers straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 941, "cache_read_input_tokens": 19960, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 941 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BSzKLk5RThUhBhqSQ5eDmq", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Fingers appear at handle; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 738, "cache_read_input_tokens": 20901, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 738 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0153d3mz9nPPrtmsrzcis7up", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.44 }, "note": "Closed on nothing; handle probably further forward. Open and advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 21639, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Missed the handle on the first grasp, so I moved about 6 cm forward. Closing the gripper again now." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 22337, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 844 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RdvzbnRJvz48qXfBK2AdDv", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Fingers now against drawer face near handle; close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 22337, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 844 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AxNoKetpnSy47XuwsA8W63", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.91 }, "note": "Still missed; try lower handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 23181, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HyXNRCPkGFx9kQwh2Sk8Xd", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at lower height to try to catch handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 719, "cache_read_input_tokens": 23857, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 719 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C6a35eEsyQcXzZfWE7K8UN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.32 }, "note": "Last attempt: pull back in case the fingers catch the drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 609, "cache_read_input_tokens": 24576, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 609 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The drawer didn't move, and there isn't enough motion time left for another attempt." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 663, "cache_read_input_tokens": 25185, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 663 }, "output_tokens": 53, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fr6BA7DDDLyQmQJAGEZ8mh", "name": "mcp__robot__give_up", "input": { "note": "Found the table's drawer front but could not grasp its handle: three close attempts caught nothing, and the simulated motion time is nearly used up. The drawer is still closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 663, "cache_read_input_tokens": 25185, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 663 }, "output_tokens": 53, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table's drawer. I ran out of time, and the episode ended with the drawer still closed.\n\n- **Finding the table:** Too much of the time went into working out where the table was relative to the robot. Several tilt and turn moves were rejected by the arm's motion planner, and one left the wrist twisted, so I had to reset it. I eventually worked out that the drawer front was off to the robot's left (about y = 0.34 m) and faced the robot.\n- **Grasp attempts:** I turned the gripper so its fingers would straddle the handle from above. I closed it three times at different depths and heights, and it shut fully on nothing each time. I never saw the handle clearly in the wrist camera, so I think my estimate of its position was off.\n- **Last try:** With about 2 seconds of motion time left, I pulled back with the gripper closed in case it caught the drawer. The drawer didn't move, so I ended the episode as a give-up rather than calling it done." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 185, "cache_read_input_tokens": 25848, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 185 }, "output_tokens": 314, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 58, "cache_creation_input_tokens": 24480, "cache_read_input_tokens": 393394, "output_tokens": 10388, "output_tokens_details": { "thinking_tokens": 6793 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 24480, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 314, "cache_read_input_tokens": 25848, "cache_creation_input_tokens": 185, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 185 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 58, "outputTokens": 10388, "cacheReadInputTokens": 393394, "cacheCreationInputTokens": 24480, "webSearchRequests": 0, "costUSD": 0.48251080000000013, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6793, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.48251080000000013, "num_turns": 29, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ -0.01349, -0.81055, -0.01992, -2.29759, -0.09555, 1.53674, -0.11875 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30357, -0.0355, 1.04837 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99541, 0.08342, 0.04698 ], [ 0.08708, -0.9928, -0.08229 ], [ 0.03978, 0.08601, -0.9955 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.406281461007893, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper to look forward with wrist camera to locate the table drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ -0.01349, -0.81055, -0.01992, -2.29759, -0.09555, 1.53674, -0.11875 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30357, -0.0355, 1.04837 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99541, 0.08342, 0.04698 ], [ 0.08708, -0.9928, -0.08229 ], [ 0.03978, 0.08601, -0.9955 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.0024196226149797, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 1.2 }, "note": "Try tilting the other way to look forward." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ -0.00906, 0.01925, 0.00589, -1.62622, -0.15842, 0.60381, -0.21414 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.296, -0.03585, 1.07551 ], "tcp_roll_pitch_yaw": [ -0.01543, 1.09426, -0.01261 ], "tcp_rotation_matrix": [ [ 0.49181, 0.11579, -0.86297 ], [ 0.08149, -0.99289, -0.08678 ], [ -0.86688, -0.02765, -0.49775 ] ], "simulated_seconds_remaining": 28.116, "calls_remaining_including_this": 55 }, "api_seconds": 4.604304829612374, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7, "z": 0.9, "x": 0.4 }, "note": "Wrist was looking back at base; tilt forward instead to see what's in front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ -0.00906, 0.01925, 0.00589, -1.62622, -0.15842, 0.60381, -0.21414 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.296, -0.03585, 1.07551 ], "tcp_roll_pitch_yaw": [ -0.01543, 1.09426, -0.01261 ], "tcp_rotation_matrix": [ [ 0.49181, 0.11579, -0.86297 ], [ 0.08149, -0.99289, -0.08678 ], [ -0.86688, -0.02765, -0.49775 ] ], "simulated_seconds_remaining": 28.116, "calls_remaining_including_this": 54 }, "api_seconds": 2.402638510800898, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.4, "z": 0.95 }, "note": "Return to downward orientation, move forward a bit." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ -0.01516, -0.5388, -0.01463, -2.37021, -0.10972, 1.87375, -0.07081 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39947, -0.03587, 0.9504 ], "tcp_roll_pitch_yaw": [ -0.01549, 0.00479, -0.01265 ], "tcp_rotation_matrix": [ [ 0.99661, 0.07135, 0.04098 ], [ 0.07508, -0.99233, -0.09823 ], [ 0.03366, 0.10098, -0.99432 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 53 }, "api_seconds": 7.4085890697315335, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.85 }, "note": "Gripper moving toward table in exterior view; approach further to find drawer." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ -0.01696, -0.33196, -0.01523, -2.27829, -0.11941, 2.12922, -0.03853 ], "gripper_open": 0.9939, "tcp_xyz": [ 0.49626, -0.03659, 0.93397 ], "tcp_roll_pitch_yaw": [ -0.01634, -0.13755, -0.01836 ], "tcp_rotation_matrix": [ [ 0.98219, 0.0504, 0.18099 ], [ 0.0697, -0.99235, -0.10189 ], [ 0.17447, 0.11269, -0.97819 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 52 }, "api_seconds": 5.805156156420708, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 1 }, "note": "Blocked by table top at z~0.93; back off to then go down in front of it." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ -0.01768, -0.87818, -0.01621, -2.50312, -0.1124, 1.80977, -0.07343 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33125, -0.03659, 0.99962 ], "tcp_roll_pitch_yaw": [ -0.01635, -0.13783, -0.01835 ], "tcp_rotation_matrix": [ [ 0.98214, 0.05038, 0.18127 ], [ 0.06971, -0.99235, -0.1019 ], [ 0.17475, 0.11272, -0.97814 ] ], "simulated_seconds_remaining": 23.562, "calls_remaining_including_this": 51 }, "api_seconds": 3.4032855723053217, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descend to probe for table edge/drawer height." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ -0.0404, -0.78056, -0.02734, -2.96466, -0.15752, 2.36699, -0.01978 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33118, -0.0366, 0.80122 ], "tcp_roll_pitch_yaw": [ -0.01637, -0.13746, -0.01837 ], "tcp_rotation_matrix": [ [ 0.98221, 0.0504, 0.18091 ], [ 0.06969, -0.99235, -0.10192 ], [ 0.17438, 0.11271, -0.97821 ] ], "simulated_seconds_remaining": 21.912, "calls_remaining_including_this": 50 }, "api_seconds": 4.604218143038452, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Test y direction mapping in exterior view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ 0.15899, -0.69577, 0.23756, -2.89224, -0.01051, 2.34701, 0.29905 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33121, 0.09865, 0.80124 ], "tcp_roll_pitch_yaw": [ -0.01645, -0.13749, -0.01818 ], "tcp_rotation_matrix": [ [ 0.98219, 0.05058, 0.18095 ], [ 0.06988, -0.99233, -0.10196 ], [ 0.1744, 0.11279, -0.97819 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 49 }, "api_seconds": 9.207861297763884, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Table front extends in +y; move toward drawer handle position." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ 0.10727, -0.326, 0.58501, -2.53362, -0.02925, 2.32788, 0.75155 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3665, 0.25967, 0.80651 ], "tcp_roll_pitch_yaw": [ -0.00459, -0.14488, -0.13768 ], "tcp_rotation_matrix": [ [ 0.982, -0.06739, 0.17644 ], [ -0.04797, -0.99253, -0.11214 ], [ 0.18268, 0.10166, -0.9779 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 48 }, "api_seconds": 4.4040589444339275, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "x": 0.3 }, "note": "Point gripper forward (+x) to face drawer front and see it in wrist camera." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ -0.02361, -1.21319, 1.55478, -2.9934, 0.89968, 2.67696, 1.89483 ], "gripper_open": 0.9474, "tcp_xyz": [ 0.30161, 0.23057, 0.77422 ], "tcp_roll_pitch_yaw": [ 0.8956, -0.2467, -1.49356 ], "tcp_rotation_matrix": [ [ 0.09604, -0.6658, 0.73992 ], [ -0.93798, -0.30931, -0.15657 ], [ 0.33311, -0.679, -0.65422 ] ], "simulated_seconds_remaining": 17.226, "calls_remaining_including_this": 47 }, "api_seconds": 8.607397431507707, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "pitch": -0.5, "yaw": 0, "x": 0.45, "y": 0.2, "z": 0.85 }, "note": "Orientation became twisted; reset with moderate forward tilt to view ahead." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ -0.3606, -0.58755, 0.91808, -2.67364, 0.2452, 2.72136, 0.30802 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44957, 0.20012, 0.84979 ], "tcp_roll_pitch_yaw": [ 0.0032, -0.50132, -0.00517 ], "tcp_rotation_matrix": [ [ 0.85411, 0.02821, 0.51933 ], [ 0.08254, -0.99323, -0.08179 ], [ 0.5135, 0.11273, -0.85065 ] ], "simulated_seconds_remaining": 15.048, "calls_remaining_including_this": 46 }, "api_seconds": 10.00833970028907, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 0.72, "pitch": -1.2 }, "note": "Gripper is above the table top; back off in front of the drawer face and tilt forward to view it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ -0.3606, -0.58755, 0.91808, -2.67364, 0.2452, 2.72136, 0.30802 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44957, 0.20012, 0.84979 ], "tcp_roll_pitch_yaw": [ 0.0032, -0.50132, -0.00517 ], "tcp_rotation_matrix": [ [ 0.85411, 0.02821, 0.51933 ], [ 0.08254, -0.99323, -0.08179 ], [ 0.5135, 0.11273, -0.85065 ] ], "simulated_seconds_remaining": 15.048, "calls_remaining_including_this": 45 }, "api_seconds": 3.6102232253178954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.75, "pitch": -0.9 }, "note": "Smaller step: back off and lower with more forward tilt." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ -0.3606, -0.58755, 0.91808, -2.67364, 0.2452, 2.72136, 0.30802 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44957, 0.20012, 0.84979 ], "tcp_roll_pitch_yaw": [ 0.0032, -0.50132, -0.00517 ], "tcp_rotation_matrix": [ [ 0.85411, 0.02821, 0.51933 ], [ 0.08254, -0.99323, -0.08179 ], [ 0.5135, 0.11273, -0.85065 ] ], "simulated_seconds_remaining": 15.048, "calls_remaining_including_this": 44 }, "api_seconds": 2.602758535183966, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Only tilt forward a bit more." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ -0.43464, -0.70933, 1.11727, -2.84819, 0.26758, 3.11061, 0.46102 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44954, 0.20009, 0.84966 ], "tcp_roll_pitch_yaw": [ 0.00278, -0.79588, -0.00505 ], "tcp_rotation_matrix": [ [ 0.66827, -0.00613, 0.74389 ], [ 0.0836, -0.99301, -0.08328 ], [ 0.7392, 0.11784, -0.66309 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 43 }, "api_seconds": 6.205308387987316, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.9 }, "note": "Wrist sees only a plain surface ahead; yaw to scan toward +y for the table." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ -0.43464, -0.70933, 1.11727, -2.84819, 0.26758, 3.11061, 0.46102 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44954, 0.20009, 0.84966 ], "tcp_roll_pitch_yaw": [ 0.00278, -0.79588, -0.00505 ], "tcp_rotation_matrix": [ [ 0.66827, -0.00613, 0.74389 ], [ 0.0836, -0.99301, -0.08328 ], [ 0.7392, 0.11784, -0.66309 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 42 }, "api_seconds": 8.407545394264162, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3 }, "note": "Back off to get a wider wrist view of what is in front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ -0.43464, -0.70933, 1.11727, -2.84819, 0.26758, 3.11061, 0.46102 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44954, 0.20009, 0.84966 ], "tcp_roll_pitch_yaw": [ 0.00278, -0.79588, -0.00505 ], "tcp_rotation_matrix": [ [ 0.66827, -0.00613, 0.74389 ], [ 0.0836, -0.99301, -0.08328 ], [ 0.7392, 0.11784, -0.66309 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 41 }, "api_seconds": 3.6034931000322104, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.3, "x": 0.4, "y": 0.1, "z": 0.95 }, "note": "Joints near limits; return to a more neutral pose." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ -0.19958, -0.78856, 0.4509, -2.57959, 0.20895, 2.17311, 0.02439 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40044, 0.10057, 0.94954 ], "tcp_roll_pitch_yaw": [ 0.00288, -0.30326, -0.00521 ], "tcp_rotation_matrix": [ [ 0.93847, 0.04961, 0.34178 ], [ 0.08208, -0.99331, -0.08121 ], [ 0.33547, 0.10426, -0.93626 ] ], "simulated_seconds_remaining": 13.002, "calls_remaining_including_this": 40 }, "api_seconds": 13.410482064820826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.38, "y": 0.38, "z": 1.02 }, "note": "Table appears to lie toward +y; move above estimated drawer handle area looking down." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ -0.31971, -0.12151, 1.07745, -1.70977, 0.01601, 1.63227, 0.67198 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38008, 0.37876, 1.0196 ], "tcp_roll_pitch_yaw": [ 0.00285, -0.00129, -0.00495 ], "tcp_rotation_matrix": [ [ 0.99577, 0.0784, 0.04788 ], [ 0.08204, -0.99344, -0.07969 ], [ 0.04131, 0.08328, -0.99567 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 39 }, "api_seconds": 5.604781585745513, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.57, "y": 0.34 }, "note": "Gripper is in front of the drawer near handle; rotate so fingers open along x to straddle handle from above." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the table.", "joint_positions": [ -0.05361, -0.31184, 0.67567, -1.92804, 0.19083, 1.77257, -1.07341 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3801, 0.34009, 1.01961 ], "tcp_roll_pitch_yaw": [ 0.00289, -0.00131, 1.56516 ], "tcp_rotation_matrix": [ [ -0.08135, 0.9935, 0.07969 ], [ 0.99583, 0.0777, 0.04784 ], [ 0.04133, 0.08325, -0.99567 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 38 }, "api_seconds": 3.602987440302968, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.96 }, "note": "Gripper above handle; descend so fingers straddle it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the table.", "joint_positions": [ -0.04502, -0.31523, 0.6931, -2.07835, 0.20334, 1.92004, -1.07937 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38007, 0.34007, 0.9611 ], "tcp_roll_pitch_yaw": [ 0.00312, -0.00119, 1.56516 ], "tcp_rotation_matrix": [ [ -0.08135, 0.99351, 0.07946 ], [ 0.99583, 0.07772, 0.04772 ], [ 0.04124, 0.08301, -0.99569 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 37 }, "api_seconds": 3.2028051456436515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Fingers appear at handle; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the table.", "joint_positions": [ -0.04502, -0.31523, 0.6931, -2.07835, 0.20334, 1.92004, -1.07937 ], "gripper_open": 0.0, "tcp_xyz": [ 0.38007, 0.34007, 0.96109 ], "tcp_roll_pitch_yaw": [ 0.00311, -0.00119, 1.56516 ], "tcp_rotation_matrix": [ [ -0.08135, 0.99351, 0.07946 ], [ 0.99583, 0.07772, 0.04773 ], [ 0.04124, 0.08301, -0.99569 ] ], "simulated_seconds_remaining": 6.732, "calls_remaining_including_this": 36 }, "api_seconds": 4.804559670388699, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.44 }, "note": "Closed on nothing; handle probably further forward. Open and advance." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the table.", "joint_positions": [ -0.09648, -0.13233, 0.71958, -1.93496, 0.08489, 1.92677, -1.05361 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.43875, 0.34001, 0.96105 ], "tcp_roll_pitch_yaw": [ 0.00322, -0.00122, 1.56501 ], "tcp_rotation_matrix": [ [ -0.08119, 0.99353, 0.07936 ], [ 0.99584, 0.07757, 0.04774 ], [ 0.04128, 0.08291, -0.9957 ] ], "simulated_seconds_remaining": 5.808, "calls_remaining_including_this": 35 }, "api_seconds": 2.802799493074417, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Fingers now against drawer face near handle; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the table.", "joint_positions": [ -0.09648, -0.13233, 0.71958, -1.93496, 0.08489, 1.92677, -1.05361 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43876, 0.34001, 0.96105 ], "tcp_roll_pitch_yaw": [ 0.00322, -0.00122, 1.56501 ], "tcp_rotation_matrix": [ [ -0.08119, 0.99353, 0.07936 ], [ 0.99584, 0.07757, 0.04774 ], [ 0.04128, 0.08291, -0.9957 ] ], "simulated_seconds_remaining": 4.884, "calls_remaining_including_this": 34 }, "api_seconds": 3.2033025166019797, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.91 }, "note": "Still missed; try lower handle height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the table.", "joint_positions": [ -0.09361, -0.11663, 0.73029, -2.03614, 0.07081, 2.05266, -1.04163 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44059, 0.34078, 0.9177 ], "tcp_roll_pitch_yaw": [ -0.01, -0.00363, 1.56381 ], "tcp_rotation_matrix": [ [ -0.08052, 0.99244, 0.0926 ], [ 0.99585, 0.07613, 0.04995 ], [ 0.04253, 0.09623, -0.99445 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 33 }, "api_seconds": 2.402633199468255, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at lower height to try to catch handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the table.", "joint_positions": [ -0.09361, -0.11663, 0.73029, -2.03614, 0.07081, 2.05266, -1.04163 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44059, 0.34078, 0.9177 ], "tcp_roll_pitch_yaw": [ -0.01002, -0.00364, 1.5638 ], "tcp_rotation_matrix": [ [ -0.08051, 0.99244, 0.09262 ], [ 0.99585, 0.07613, 0.04995 ], [ 0.04253, 0.09625, -0.99445 ] ], "simulated_seconds_remaining": 3.036, "calls_remaining_including_this": 32 }, "api_seconds": 2.402583386749029, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32 }, "note": "Last attempt: pull back in case the fingers catch the drawer." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the table.", "joint_positions": [ 0.04754, -0.47022, 0.68853, -2.30187, 0.30115, 2.01727, -1.07262 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32123, 0.34085, 0.91774 ], "tcp_roll_pitch_yaw": [ -0.01016, -0.00354, 1.56403 ], "tcp_rotation_matrix": [ [ -0.08074, 0.99241, 0.09274 ], [ 0.99583, 0.07636, 0.04988 ], [ 0.04242, 0.09638, -0.99444 ] ], "simulated_seconds_remaining": 1.914, "calls_remaining_including_this": 31 }, "api_seconds": 2.602689520455897, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Found the table's drawer front but could not grasp its handle: three close attempts caught nothing, and the simulated motion time is nearly used up. The drawer is still closed." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 018 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 18, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 32, "wall_seconds": 258.26, "usage": { "input_tokens": 72, "output_tokens": 17228, "cache_read_input_tokens": 655774, "cache_creation_input_tokens": 34828, "thinking_tokens": 12940, "cost_usd": 0.7546267999999999 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017S5wPLEocifABEd2nsPK1t", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ReT2yy4n8h7VYTxWTTPZ1U", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9, "x": 0.45 }, "note": "Table with drawer ahead; move forward/down to locate drawer handle in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AHkAy91zuXRGNibqxEYQ59", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 813, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 813 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X82iKFww8yULZSPAtzvN18", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.95, "pitch": 0 }, "note": "Motion appeared blocked; back off and reset pitch to explore." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 711, "cache_read_input_tokens": 3322, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 711 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Dm2UQJ53rMb4vZe2A6E9Dk", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower to find table drawer front level." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 4033, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Lowered the arm beside the table; next I'll point the gripper forward to find the drawer handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 835, "cache_read_input_tokens": 4723, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 835 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01G2UyDLBoVH5RDDgkJy4dvQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 0.72, "pitch": -1.5 }, "note": "Orient gripper forward (+x) to face drawer front and see handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 835, "cache_read_input_tokens": 4723, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 835 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RtYCM3ic6HUeJoYypryWen", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.75, "pitch": -1.2 }, "note": "Try forward-tilted orientation at nearer reach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 949, "cache_read_input_tokens": 5558, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 949 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ESaKwFGAeM91GLuuajYGuk", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.85, "pitch": -0.6 }, "note": "Arm folded near limits; extend forward and tilt gradually." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 629, "cache_read_input_tokens": 6507, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 629 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FyZMKLet3PsFRDMySBvLUx", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 0.85 }, "note": "Extend arm forward first to unfold elbow." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 720, "cache_read_input_tokens": 7136, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 720 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CcZXCSKBT3qLqEXucbJdEE", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "z": 0.8, "pitch": -0.6 }, "note": "Blocked at drawer face; back off slightly and tilt gripper forward to view handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 7856, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WxwAryfnEDKkLMRMpuKmUc", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.3 }, "note": "Test small forward tilt only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 8531, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Gripper is near the drawer face but the arm is folded; probing for the knob position." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 9319, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 844 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QULSZEC1Nqm2WcuTqv1Dg8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "z": 0.9, "pitch": -0.5 }, "note": "Back off and tilt to try seeing drawer face in wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 9319, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 844 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KMpFU4nBHEP6GKY92c3vhS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "z": 1, "pitch": 0 }, "note": "Go up and look straight down to locate table and drawer relative to gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1638, "cache_read_input_tokens": 10163, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1638 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0181Vjbp5baa3WPt6DJNkyAy", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Calibrate: move +y to see image direction in exterior view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 960, "cache_read_input_tokens": 11801, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 960 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0138f7s3eNVkwAe4XLVoJUnS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.34, "y": 0.06, "z": 0.88 }, "note": "Table top edge ~x0.42, z~0.97. Descend in front of drawer face to find knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1005, "cache_read_input_tokens": 12761, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1005 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rr1NY8FWnQVvpGdD3vPauM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36, "y": -0.02, "z": 1.02, "pitch": 0 }, "note": "Gripper landed on table top at y=0.08; lift and move to -y side." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1697, "cache_read_input_tokens": 13766, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1697 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UHvvwmLjeizkXimjxou8LB", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.08, "z": 0.9, "roll": 1.2 }, "note": "Hypothesis: drawer face faces -y. Rotate gripper to point toward +y to view/approach it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1323, "cache_read_input_tokens": 15463, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1323 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Rotated to face +y; now probing toward the drawer face." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 719, "cache_read_input_tokens": 16786, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 719 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01H8NUJTLmvNvQXFTsHDxFoM", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.02 }, "note": "Pointing +y; advance toward suspected drawer face and check contact/view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 719, "cache_read_input_tokens": 16786, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 719 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015cGHcnMpAqg6FHKsPfXcSq", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.5, "x": 0.36, "z": 0.92 }, "note": "Knob visible at upper right of wrist view on drawer face (x~0.42). Level gripper horizontally pointing +y, raise to knob height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 932, "cache_read_input_tokens": 17505, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 932 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TDinorR4aGzdmEC1dRNzCo", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": -0.8, "x": 0.3, "y": 0, "z": 0.9 }, "note": "Gripper horizontal pointing +y works; yaw toward +x to face drawer front (x~0.42)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1334, "cache_read_input_tokens": 18437, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1334 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UucC9JDzbbDdz7cYkUM4WP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4 }, "note": "Calibration: move +x 4cm to see how the knob moves in wrist image." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2709, "cache_read_input_tokens": 19771, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 2709 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GZgEkvrhWFcRjw4ySfUv4w", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12 }, "note": "Advance along +y (gripper direction) to find drawer face/knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1893, "cache_read_input_tokens": 22480, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1893 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013oxcAPwmuPoXctsRPEJ5x7", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0, "x": 0.385, "z": 0.91, "yaw": 0 }, "note": "Blocked; reset yaw, slightly back from drawer face, lower a bit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1419, "cache_read_input_tokens": 24373, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1419 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TwsP7HnUZPkUGb9qGthshv", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.89 }, "note": "Calibrate vertical axis of wrist image by moving down 3-4 cm." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1518, "cache_read_input_tokens": 25792, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1518 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KgE3uoo3iNQTtD9pP2UX21", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper is stuck in contact near the knob; try closing to see if it grabs something." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1003, "cache_read_input_tokens": 27310, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1003 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JUYcBcRPw12KS7gMhCos7g", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 922, "cache_read_input_tokens": 28313, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 922 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0196bwZMmRQtWCVr7XNCqJXn", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.26 }, "note": "Fingers stopped at 0.86 on something; try pulling toward robot (-x) to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 513, "cache_read_input_tokens": 29235, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 513 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QAPWMT42JLKnXn7goAA5Gv", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.39, "gripper": 1 }, "note": "Knob appears between fingers horizontally and above (=+x) in wrist view; align x to knob tip region." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 720, "cache_read_input_tokens": 29748, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 720 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013YovS8ZaFYEaGsXHXPy19M", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12 }, "note": "Advance along +y toward knob with fingers open vertically." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1373, "cache_read_input_tokens": 30468, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1373 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ev849PAv5Rie2HBxDboEzD", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Continue advancing toward knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 830, "cache_read_input_tokens": 31841, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 830 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JKdQ2dE6wdsQWnVUFAB26V", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.925, "y": 0.2, "x": 0.37 }, "note": "Blocked at y=0.13, knob appears slightly lower in exterior; lower and retry advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 682, "cache_read_input_tokens": 32671, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 682 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ADoCpauyJkQgneJ1f6n3ME", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Knob close between fingers in wrist view; attempt grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 810, "cache_read_input_tokens": 33353, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 810 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PQhSu1RjeDRgaNr5TG7HnH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.22 }, "note": "Fingers closed on something at drawer; pull toward robot." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 680, "cache_read_input_tokens": 34163, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 680 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EtHJubTDaC5iZGX7dKksVW", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.27, "y": 0.1 }, "note": "IK failed further back; pull a smaller distance toward robot." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 34843, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DPmmtPGU6XGxdBx97zF8Yu", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the drawer knob reliably: IK rejected forward-facing gripper poses near the table, and the grasp attempts slipped. Only ~5 s of motion remain, and the drawer is not open." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 621, "cache_read_input_tokens": 35519, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 621 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table's drawer, and I ended the episode by giving up with about 5 seconds of motion time left.\n\n- **Couldn't face the drawer:** The drawer front sits close to the robot base, about x ≈ 0.42 m. The motion controller couldn't find an arm position that pointed the gripper forward at it.\n- **Worked from the side instead:** I turned the gripper to point sideways (+y) with the fingers stacked vertically, and slid it toward the knob I could see in the wrist camera.\n- **The grasp slipped:** The fingers bumped into the table several times, and that seems to have pushed the table slightly out of place. I closed the gripper near the knob, but it had slipped open again by the time I tried to pull the drawer out.\n\nA lot of the time and calls went on working out which way the wrist camera image corresponds to in the robot's frame. By the time I got the gripper next to the knob, there wasn't enough time left to recover from the failed grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 241, "cache_read_input_tokens": 36140, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 241 }, "output_tokens": 318, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 72, "cache_creation_input_tokens": 34828, "cache_read_input_tokens": 655774, "output_tokens": 17228, "output_tokens_details": { "thinking_tokens": 12940 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 34828, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 318, "cache_read_input_tokens": 36140, "cache_creation_input_tokens": 241, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 241 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 72, "outputTokens": 17228, "cacheReadInputTokens": 655774, "cacheCreationInputTokens": 34828, "webSearchRequests": 0, "costUSD": 0.7546267999999999, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 12940, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.7546267999999999, "num_turns": 36, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ 0.00812, -0.76442, -0.02124, -2.26309, 0.00021, 1.6792, 0.08052 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3515, -0.00474, 1.06614 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97996, -0.0863, 0.17954 ], [ -0.09014, -0.99584, 0.01337 ], [ 0.17764, -0.02929, -0.98366 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.205864693969488, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9, "x": 0.45 }, "note": "Table with drawer ahead; move forward/down to locate drawer handle in wrist view." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ 0.01495, -0.79102, -0.02749, -2.46036, 0.0073, 2.08018, 0.06794 ], "gripper_open": 1.0, "tcp_xyz": [ 0.40889, -0.00278, 1.03304 ], "tcp_roll_pitch_yaw": [ 0.00579, -0.23048, 0.00872 ], "tcp_rotation_matrix": [ [ 0.91435, -0.06733, 0.3993 ], [ -0.0832, -0.99628, 0.02255 ], [ 0.39629, -0.05384, -0.91654 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 6.606936645694077, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.95, "pitch": 0 }, "note": "Motion appeared blocked; back off and reset pitch to explore." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ 0.00589, -1.01004, -0.02507, -2.6867, 0.00115, 1.8587, 0.07124 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30082, -0.00278, 0.95061 ], "tcp_roll_pitch_yaw": [ 0.00578, -0.00175, 0.00872 ], "tcp_rotation_matrix": [ [ 0.98041, -0.07755, 0.18108 ], [ -0.08262, -0.99637, 0.02064 ], [ 0.17882, -0.0352, -0.98325 ] ], "simulated_seconds_remaining": 27.258, "calls_remaining_including_this": 55 }, "api_seconds": 4.204004215076566, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower to find table drawer front level." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.00231, -0.93773, -0.03358, -3.03977, -0.00372, 2.28366, 0.063 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30076, -0.00278, 0.80122 ], "tcp_roll_pitch_yaw": [ 0.00578, -0.00139, 0.00873 ], "tcp_rotation_matrix": [ [ 0.98047, -0.07755, 0.18074 ], [ -0.08262, -0.99637, 0.02064 ], [ 0.17848, -0.03517, -0.98331 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 54 }, "api_seconds": 5.605462363921106, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 0.72, "pitch": -1.5 }, "note": "Orient gripper forward (+x) to face drawer front and see handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ 0.00231, -0.93773, -0.03358, -3.03977, -0.00372, 2.28366, 0.063 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30076, -0.00278, 0.80122 ], "tcp_roll_pitch_yaw": [ 0.00578, -0.00139, 0.00873 ], "tcp_rotation_matrix": [ [ 0.98047, -0.07755, 0.18074 ], [ -0.08262, -0.99637, 0.02064 ], [ 0.17848, -0.03517, -0.98331 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 53 }, "api_seconds": 2.0021307356655598, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.75, "pitch": -1.2 }, "note": "Try forward-tilted orientation at nearer reach." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ 0.00231, -0.93773, -0.03358, -3.03977, -0.00372, 2.28366, 0.063 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30076, -0.00278, 0.80122 ], "tcp_roll_pitch_yaw": [ 0.00578, -0.00139, 0.00873 ], "tcp_rotation_matrix": [ [ 0.98047, -0.07755, 0.18074 ], [ -0.08262, -0.99637, 0.02064 ], [ 0.17848, -0.03517, -0.98331 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 52 }, "api_seconds": 3.2032893346622586, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.85, "pitch": -0.6 }, "note": "Arm folded near limits; extend forward and tilt gradually." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.00231, -0.93773, -0.03358, -3.03977, -0.00372, 2.28366, 0.063 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30076, -0.00278, 0.80122 ], "tcp_roll_pitch_yaw": [ 0.00578, -0.00139, 0.00873 ], "tcp_rotation_matrix": [ [ 0.98047, -0.07755, 0.18074 ], [ -0.08262, -0.99637, 0.02064 ], [ 0.17848, -0.03517, -0.98331 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 51 }, "api_seconds": 2.602685951627791, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.85 }, "note": "Extend arm forward first to unfold elbow." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ 0.01975, -0.523, -0.03607, -2.65415, 0.00625, 2.23949, 0.06249 ], "gripper_open": 0.9698, "tcp_xyz": [ 0.39856, -0.00238, 0.84273 ], "tcp_roll_pitch_yaw": [ 0.00703, 0.07185, 0.01183 ], "tcp_rotation_matrix": [ [ 0.99115, -0.0769, 0.10822 ], [ -0.07967, -0.99659, 0.02157 ], [ 0.10619, -0.03, -0.99389 ] ], "simulated_seconds_remaining": 24.75, "calls_remaining_including_this": 50 }, "api_seconds": 3.6109733134508133, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.8, "pitch": -0.6 }, "note": "Blocked at drawer face; back off slightly and tilt gripper forward to view handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ 0.01975, -0.523, -0.03607, -2.65415, 0.00625, 2.23949, 0.06249 ], "gripper_open": 0.9698, "tcp_xyz": [ 0.39856, -0.00238, 0.84273 ], "tcp_roll_pitch_yaw": [ 0.00703, 0.07185, 0.01183 ], "tcp_rotation_matrix": [ [ 0.99115, -0.0769, 0.10822 ], [ -0.07967, -0.99659, 0.02157 ], [ 0.10619, -0.03, -0.99389 ] ], "simulated_seconds_remaining": 24.75, "calls_remaining_including_this": 49 }, "api_seconds": 4.203875035978854, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.3 }, "note": "Test small forward tilt only." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ 0.01865, -0.75334, -0.04525, -2.97204, 0.00972, 2.68788, 0.04686 ], "gripper_open": 0.9912, "tcp_xyz": [ 0.39689, -0.00309, 0.8399 ], "tcp_roll_pitch_yaw": [ 0.00745, -0.28888, 0.01032 ], "tcp_rotation_matrix": [ [ 0.88984, -0.06198, 0.45205 ], [ -0.08228, -0.99629, 0.02537 ], [ 0.44879, -0.05977, -0.89163 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 48 }, "api_seconds": 13.411554532125592, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.9, "pitch": -0.5 }, "note": "Back off and tilt to try seeing drawer face in wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ 0.01865, -0.75334, -0.04525, -2.97204, 0.00972, 2.68788, 0.04686 ], "gripper_open": 0.9912, "tcp_xyz": [ 0.39689, -0.00309, 0.8399 ], "tcp_roll_pitch_yaw": [ 0.00745, -0.28888, 0.01032 ], "tcp_rotation_matrix": [ [ 0.88984, -0.06198, 0.45205 ], [ -0.08228, -0.99629, 0.02537 ], [ 0.44879, -0.05977, -0.89163 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 47 }, "api_seconds": 6.004890530370176, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "z": 1, "pitch": 0 }, "note": "Go up and look straight down to locate table and drawer relative to gripper." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ 0.01499, -0.71475, -0.02893, -2.41067, 0.00468, 1.87256, 0.06918 ], "gripper_open": 0.9895, "tcp_xyz": [ 0.37916, -0.00315, 0.99711 ], "tcp_roll_pitch_yaw": [ 0.00672, 0.0037, 0.011 ], "tcp_rotation_matrix": [ [ 0.98155, -0.07547, 0.17567 ], [ -0.08054, -0.99651, 0.02192 ], [ 0.1734, -0.03566, -0.9842 ] ], "simulated_seconds_remaining": 22.572, "calls_remaining_including_this": 46 }, "api_seconds": 6.609226988628507, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Calibrate: move +y to see image direction in exterior view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ 0.0751, -0.68809, 0.13102, -2.3825, 0.02612, 1.85222, 0.25762 ], "gripper_open": 1.0, "tcp_xyz": [ 0.37454, 0.07994, 0.99679 ], "tcp_roll_pitch_yaw": [ -0.04403, 0.01922, 0.00478 ], "tcp_rotation_matrix": [ [ 0.98365, -0.08124, 0.16075 ], [ -0.07754, -0.99656, -0.02917 ], [ 0.16257, 0.01623, -0.98656 ] ], "simulated_seconds_remaining": 21.582, "calls_remaining_including_this": 45 }, "api_seconds": 14.814810561016202, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.34, "y": 0.06, "z": 0.88 }, "note": "Table top edge ~x0.42, z~0.97. Descend in front of drawer face to find knob." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ 0.0879, -0.81973, 0.11833, -2.59268, 0.04273, 2.11342, 0.23675 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38105, 0.07802, 0.973 ], "tcp_roll_pitch_yaw": [ -0.00851, -0.15979, 0.01886 ], "tcp_rotation_matrix": [ [ 0.9406, -0.06309, 0.33362 ], [ -0.07091, -0.99742, 0.0113 ], [ 0.33204, -0.03428, -0.94264 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 44 }, "api_seconds": 9.608635934069753, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "y": -0.02, "z": 1.02, "pitch": 0 }, "note": "Gripper landed on table top at y=0.08; lift and move to -y side." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ 0.02448, -0.771, -0.06045, -2.3895, -0.03045, 1.79723, 0.04878 ], "gripper_open": 0.9974, "tcp_xyz": [ 0.35946, -0.01841, 1.01843 ], "tcp_roll_pitch_yaw": [ -0.00882, 0.00232, 0.02102 ], "tcp_rotation_matrix": [ [ 0.98201, -0.06539, 0.17712 ], [ -0.06795, -0.99765, 0.00842 ], [ 0.17616, -0.02031, -0.98415 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 43 }, "api_seconds": 2.80319554079324, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08, "z": 0.9, "roll": 1.2 }, "note": "Hypothesis: drawer face faces -y. Rotate gripper to point toward +y to view/approach it." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ 0.37627, -0.31466, -1.14056, -2.40688, 0.71743, 1.53983, -0.71386 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35941, -0.07972, 0.90023 ], "tcp_roll_pitch_yaw": [ 1.19592, 0.00309, 0.0213 ], "tcp_rotation_matrix": [ [ 0.9839, -0.08199, 0.15882 ], [ -0.17739, -0.3392, 0.92384 ], [ -0.02187, -0.93713, -0.34828 ] ], "simulated_seconds_remaining": 17.49, "calls_remaining_including_this": 42 }, "api_seconds": 5.605005412362516, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.02 }, "note": "Pointing +y; advance toward suspected drawer face and check contact/view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ 0.30703, -0.52426, -0.8735, -2.63783, 0.77897, 1.77947, -0.59442 ], "gripper_open": 1.0, "tcp_xyz": [ 0.35934, 0.01792, 0.90028 ], "tcp_roll_pitch_yaw": [ 1.19603, 0.00265, 0.02005 ], "tcp_rotation_matrix": [ [ 0.98368, -0.082, 0.16013 ], [ -0.17862, -0.33898, 0.92368 ], [ -0.02146, -0.93721, -0.3481 ] ], "simulated_seconds_remaining": 16.5, "calls_remaining_including_this": 41 }, "api_seconds": 9.408963552676141, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.5, "x": 0.36, "z": 0.92 }, "note": "Knob visible at upper right of wrist view on drawer face (x~0.42). Level gripper horizontally pointing +y, raise to knob height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ 0.46374, -0.38243, -1.12569, -2.59724, 0.95449, 1.54244, -0.71334 ], "gripper_open": 0.9894, "tcp_xyz": [ 0.35941, 0.0183, 0.91858 ], "tcp_roll_pitch_yaw": [ 1.49484, 0.00517, 0.02133 ], "tcp_rotation_matrix": [ [ 0.98325, -0.09043, 0.15824 ], [ -0.16303, -0.0483, 0.98544 ], [ -0.08147, -0.99473, -0.06224 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 40 }, "api_seconds": 25.622432530857623, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.8, "x": 0.3, "y": 0, "z": 0.9 }, "note": "Gripper horizontal pointing +y works; yaw toward +x to face drawer front (x~0.42)." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ 0.46374, -0.38243, -1.12569, -2.59724, 0.95449, 1.54244, -0.71334 ], "gripper_open": 0.9894, "tcp_xyz": [ 0.35941, 0.0183, 0.91858 ], "tcp_roll_pitch_yaw": [ 1.49484, 0.00517, 0.02133 ], "tcp_rotation_matrix": [ [ 0.98325, -0.09043, 0.15824 ], [ -0.16303, -0.0483, 0.98544 ], [ -0.08147, -0.99473, -0.06224 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 39 }, "api_seconds": 16.614997346885502, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Calibration: move +x 4cm to see how the knob moves in wrist image." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the table.", "joint_positions": [ 0.61587, -0.21712, -1.2199, -2.48972, 1.0689, 1.44115, -0.75821 ], "gripper_open": 1.0, "tcp_xyz": [ 0.39431, 0.02285, 0.92465 ], "tcp_roll_pitch_yaw": [ 1.51612, -0.00051, 0.0429 ], "tcp_rotation_matrix": [ [ 0.98692, -0.08463, 0.13724 ], [ -0.1401, -0.02883, 0.98972 ], [ -0.0798, -0.996, -0.04031 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 38 }, "api_seconds": 11.414653429761529, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Advance along +y (gripper direction) to find drawer face/knob." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the table.", "joint_positions": [ 0.46403, -0.39218, -0.99487, -2.64244, 1.19479, 1.70217, -0.72881 ], "gripper_open": 1.0, "tcp_xyz": [ 0.41044, 0.0488, 0.93098 ], "tcp_roll_pitch_yaw": [ 1.52875, -0.01547, -0.12495 ], "tcp_rotation_matrix": [ [ 0.95088, -0.07189, 0.3011 ], [ -0.30213, -0.00366, 0.95326 ], [ -0.06743, -0.99741, -0.0252 ] ], "simulated_seconds_remaining": 14.256, "calls_remaining_including_this": 37 }, "api_seconds": 12.610209113918245, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0, "x": 0.385, "z": 0.91, "yaw": 0 }, "note": "Blocked; reset yaw, slightly back from drawer face, lower a bit." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the table.", "joint_positions": [ 0.55702, -0.13273, -1.24021, -2.50059, 1.0824, 1.28757, -0.84489 ], "gripper_open": 0.9978, "tcp_xyz": [ 0.37285, 0.0122, 0.9269 ], "tcp_roll_pitch_yaw": [ 1.59109, -0.02836, 0.05316 ], "tcp_rotation_matrix": [ [ 0.99017, -0.0606, 0.12603 ], [ -0.12333, 0.04634, 0.99128 ], [ -0.06591, -0.99709, 0.03841 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 36 }, "api_seconds": 6.605094668455422, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.89 }, "note": "Calibrate vertical axis of wrist image by moving down 3-4 cm." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the table.", "joint_positions": [ 0.54253, 0.1425, -1.26483, -2.47332, 1.16639, 0.97556, -1.016 ], "gripper_open": 1.0, "tcp_xyz": [ 0.3592, 0.01641, 0.92717 ], "tcp_roll_pitch_yaw": [ 1.70683, -0.06772, 0.09621 ], "tcp_rotation_matrix": [ [ 0.99656, -0.03527, 0.07497 ], [ -0.06836, 0.16143, 0.98451 ], [ -0.04683, -0.98625, 0.15847 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 35 }, "api_seconds": 5.406489257700741, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper is stuck in contact near the knob; try closing to see if it grabs something." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the table.", "joint_positions": [ 0.53766, 0.13779, -1.27163, -2.46828, 1.16902, 0.96832, -1.01697 ], "gripper_open": 0.8612, "tcp_xyz": [ 0.36005, 0.01174, 0.93171 ], "tcp_roll_pitch_yaw": [ 1.71126, -0.07972, 0.0862 ], "tcp_rotation_matrix": [ [ 0.99633, -0.0223, 0.08264 ], [ -0.07778, 0.16712, 0.98286 ], [ -0.03573, -0.98568, 0.16477 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 34 }, "api_seconds": 5.204601830802858, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.26 }, "note": "Fingers stopped at 0.86 on something; try pulling toward robot (-x) to open drawer." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the table.", "joint_positions": [ 0.27629, -0.38271, -1.1912, -2.717, 0.82799, 1.24966, -0.86909 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26128, 0.01167, 0.93176 ], "tcp_roll_pitch_yaw": [ 1.71156, -0.07975, 0.08595 ], "tcp_rotation_matrix": [ [ 0.99631, -0.02226, 0.08286 ], [ -0.078, 0.16743, 0.98279 ], [ -0.03575, -0.98563, 0.16507 ] ], "simulated_seconds_remaining": 11.154, "calls_remaining_including_this": 33 }, "api_seconds": 10.609543049708009, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "gripper": 1 }, "note": "Knob appears between fingers horizontally and above (=+x) in wrist view; align x to knob tip region." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the table.", "joint_positions": [ 0.50887, 0.26194, -1.21809, -2.3938, 1.26303, 0.86912, -1.0171 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38592, 0.01367, 0.93717 ], "tcp_roll_pitch_yaw": [ 1.72858, -0.08674, 0.09712 ], "tcp_rotation_matrix": [ [ 0.99739, -0.01914, 0.06956 ], [ -0.06486, 0.18442, 0.98071 ], [ -0.0316, -0.98266, 0.18269 ] ], "simulated_seconds_remaining": 9.966, "calls_remaining_including_this": 32 }, "api_seconds": 4.404110163450241, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Advance along +y toward knob with fingers open vertically." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the table.", "joint_positions": [ 0.7165, -0.13354, -1.18926, -2.60115, 1.31593, 1.24551, -0.92736 ], "gripper_open": 1.0, "tcp_xyz": [ 0.37901, 0.10413, 0.95414 ], "tcp_roll_pitch_yaw": [ 1.7897, -0.10843, 0.08847 ], "tcp_rotation_matrix": [ [ 0.99763, -0.00299, 0.06878 ], [ -0.06594, 0.24554, 0.96714 ], [ -0.01978, -0.96938, 0.24476 ] ], "simulated_seconds_remaining": 8.976, "calls_remaining_including_this": 31 }, "api_seconds": 3.0032347375527024, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Continue advancing toward knob." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the table.", "joint_positions": [ 0.64105, -0.25513, -1.04927, -2.70345, 1.40426, 1.38266, -0.95088 ], "gripper_open": 1.0, "tcp_xyz": [ 0.37808, 0.13091, 0.96089 ], "tcp_roll_pitch_yaw": [ 1.82436, -0.12841, 0.00791 ], "tcp_rotation_matrix": [ [ 0.98992, 0.03472, 0.1373 ], [ -0.14152, 0.27845, 0.94997 ], [ -0.00525, -0.95982, 0.28056 ] ], "simulated_seconds_remaining": 8.052, "calls_remaining_including_this": 30 }, "api_seconds": 4.804948375560343, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.925, "y": 0.2, "x": 0.37 }, "note": "Blocked at y=0.13, knob appears slightly lower in exterior; lower and retry advance." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the table.", "joint_positions": [ 0.72937, -0.15898, -1.04683, -2.77913, 1.54643, 1.20049, -1.09357 ], "gripper_open": 1.0, "tcp_xyz": [ 0.35383, 0.1705, 0.96921 ], "tcp_roll_pitch_yaw": [ 1.99506, -0.17468, 0.00147 ], "tcp_rotation_matrix": [ [ 0.99221, 0.07001, 0.10301 ], [ -0.12333, 0.43674, 0.8911 ], [ 0.0174, -0.89686, 0.44197 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 29 }, "api_seconds": 3.002858686260879, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Knob close between fingers in wrist view; attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the table.", "joint_positions": [ 0.72011, -0.16089, -1.05868, -2.78322, 1.54161, 1.15784, -1.0952 ], "gripper_open": 0.5864, "tcp_xyz": [ 0.3496, 0.16333, 0.9787 ], "tcp_roll_pitch_yaw": [ 2.03361, -0.18588, -0.00406 ], "tcp_rotation_matrix": [ [ 0.99215, 0.07937, 0.09662 ], [ -0.12273, 0.4705, 0.87382 ], [ 0.02389, -0.87882, 0.47655 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 28 }, "api_seconds": 2.80330163333565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22 }, "note": "Fingers closed on something at drawer; pull toward robot." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 31, "state": { "instruction": "open the table.", "joint_positions": [ 0.72011, -0.16089, -1.05868, -2.78322, 1.54161, 1.15784, -1.0952 ], "gripper_open": 0.5864, "tcp_xyz": [ 0.3496, 0.16333, 0.9787 ], "tcp_roll_pitch_yaw": [ 2.03361, -0.18588, -0.00406 ], "tcp_rotation_matrix": [ [ 0.99215, 0.07937, 0.09662 ], [ -0.12273, 0.4705, 0.87382 ], [ 0.02389, -0.87882, 0.47655 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 27 }, "api_seconds": 2.4026716966181993, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27, "y": 0.1 }, "note": "IK failed further back; pull a smaller distance toward robot." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the table.", "joint_positions": [ 0.40802, -0.4049, -1.11576, -2.92343, 1.17271, 1.22263, -1.02105 ], "gripper_open": 1.0, "tcp_xyz": [ 0.2714, 0.10213, 0.97434 ], "tcp_roll_pitch_yaw": [ 2.02223, -0.17717, -0.00255 ], "tcp_rotation_matrix": [ [ 0.99226, 0.0719, 0.10122 ], [ -0.12304, 0.46061, 0.87903 ], [ 0.01658, -0.88468, 0.46589 ] ], "simulated_seconds_remaining": 5.346, "calls_remaining_including_this": 26 }, "api_seconds": 3.4035431277006865, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the drawer knob reliably: IK rejected forward-facing gripper poses near the table, and the grasp attempts slipped. Only ~5 s of motion remain, and the drawer is not open." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 019 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 19, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 25, "wall_seconds": 170.74, "usage": { "input_tokens": 54, "output_tokens": 10284, "cache_read_input_tokens": 349525, "cache_creation_input_tokens": 23475, "thinking_tokens": 7241, "cost_usd": 0.46360099999999993 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JDWXkuNCMeLU6QkLM1ZAym", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016sZ2o4KEtPAUm3PHeboZAK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.85 }, "note": "Table with drawer ahead; approach to inspect." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 485 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XwUFhwavVmGU6epZxjiUcN", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist camera forward to locate table/drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 747, "cache_read_input_tokens": 2510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 747 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XaTnZemJ4ZnA3WicV9s6tj", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8, "z": 0.7 }, "note": "Tilt forward partially to see table." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 736, "cache_read_input_tokens": 3257, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 736 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015vSDjmx4QCMwBfo1mxsGN7", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Smaller tilt forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 775, "cache_read_input_tokens": 3993, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 775 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still looking for the table's drawer. Next I'll move the camera so it can see the table from above." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 4768, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RvJwgRrRaEfmJno7unUyC4", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "z": 1, "x": 0.4 }, "note": "Rise to view table from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 4768, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013LvSiDpKZ14ePigWkzLiX6", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Probe direction: shift left to see how table moves in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1015, "cache_read_input_tokens": 5408, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1015 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NeqLi45dNsMZb9BXUnrtjx", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0, "x": 0.6 }, "note": "Table appears ahead in +x; move forward to view it from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1034, "cache_read_input_tokens": 6423, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1034 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ty4m2JHcgxJMyBaQmJGfnG", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.35, "x": 0.8, "z": 0.95 }, "note": "Drawer front appears to face +y (toward exterior camera); move to front side of table." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1519, "cache_read_input_tokens": 7457, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1519 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rg6qjCQwH912mQVLDt8HuF", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3, "x": 0.65 }, "note": "Split motion: move toward +y first." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1677, "cache_read_input_tokens": 8976, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1677 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GhqVnHs7uDjJwsS2QyRqMo", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2, "z": 0.85 }, "note": "Lower and shift +y to improve reach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 613, "cache_read_input_tokens": 10653, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 613 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've found the table and its drawer, which faces the robot's +y side. Next I'm lowering the gripper and tilting it to look at the drawer front." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 687, "cache_read_input_tokens": 11266, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 687 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DVaJpswPmSvHfZ6bg5Zz2N", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.8, "z": 0.8 }, "note": "Gripper is in front (+y) of table; tilt camera toward -y to see drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 687, "cache_read_input_tokens": 11266, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 687 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KxGdkdvvBgSrSoD7fpf4NQ", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -1.4, "z": 0.8 }, "note": "Point camera more horizontally toward -y to see table front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1019, "cache_read_input_tokens": 11953, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1019 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F3qGjL22q1hVxYjvwQAF3r", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0, "y": 0.05, "x": 0.45, "z": 0.75 }, "note": "Table seems to face -x toward robot; reset roll and back off in front of it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 894, "cache_read_input_tokens": 12972, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 894 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AAaARUQsavega4HzPGfbG3", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "Point gripper forward (+x) toward table front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1566, "cache_read_input_tokens": 13866, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1566 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A32jfU7gMFso54TtWjaVoD", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Partial forward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 653, "cache_read_input_tokens": 15432, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 653 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AFnAxiGHcMAvQvPrwmX3Se", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "roll": -1.4, "x": 0.65, "y": 0.2, "z": 0.8 }, "note": "Drawer front likely faces +y; point gripper toward -y in front of table." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 16085, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 702 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016GhtncCZ4mo9UJNTh5G76s", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.6, "y": 0.2, "z": 0.8 }, "note": "Reset pitch and move in front of table first." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1727, "cache_read_input_tokens": 16787, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1727 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018Pm1PTnqx7EurSqf7KWm5s", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0 }, "note": "Just reset pitch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 630, "cache_read_input_tokens": 18514, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 630 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012DiZzGVXRauPP3AMz5TRZy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62, "y": 0.2, "z": 0.8 }, "note": "Move in front (+y) of table." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 19144, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 608 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KApVmMHvnVG56Moh3eJMki", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -1.4, "x": 0.55 }, "note": "Point toward -y at table front to find drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 683, "cache_read_input_tokens": 19752, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 683 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019oMSfWAiAPgBQwZp68Fv9P", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12 }, "note": "Dark panel with possible knob seen at left of wrist view; advance toward -y to get closer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 983, "cache_read_input_tokens": 20435, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 983 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FdxFtrt1XCf9VF19Pd4eKX", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.88, "x": 0.53 }, "note": "Image-left appears to be +z; knob on dark panel seems higher; raise gripper to align." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1040, "cache_read_input_tokens": 21418, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1040 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011hkAEZU4SDHMYTimVjwEDv", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.02 }, "note": "Advance toward table front along -y to find drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 958, "cache_read_input_tokens": 22458, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 958 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QhhGQkEMYXJq1pLpLLRYKp", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.1 }, "note": "Continue probing toward -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 748, "cache_read_input_tokens": 23416, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 748 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HqwSWGVkoxfACYFzCWc3dU", "name": "mcp__robot__give_up", "input": { "note": "Could not reliably locate the drawer handle on the table from wrist/exterior views before simulated time ran low; the table was not opened." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 24164, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table. I ended the episode with give_up, with about 5 seconds of motion time left.\n\nI found the table fairly quickly. After that I kept misjudging which way the camera images faced relative to the robot. As a result I never pinned down which side the drawer front was on or where its handle was. I thought I might have seen a small knob on a dark panel, but moving toward it only brought the gripper up to the table's legs and crossbars, not a handle. The gripper never grasped anything and nothing on the table moved. Several tilted poses were rejected as out of reach, which also used up time." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 188, "cache_read_input_tokens": 24840, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 188 }, "output_tokens": 189, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 54, "cache_creation_input_tokens": 23475, "cache_read_input_tokens": 349525, "output_tokens": 10284, "output_tokens_details": { "thinking_tokens": 7241 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 23475, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 189, "cache_read_input_tokens": 24840, "cache_creation_input_tokens": 188, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 188 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 54, "outputTokens": 10284, "cacheReadInputTokens": 349525, "cacheCreationInputTokens": 23475, "webSearchRequests": 0, "costUSD": 0.46360099999999993, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7241, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.46360099999999993, "num_turns": 27, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ -0.01218, -0.75365, -0.03262, -2.44286, 0.08897, 1.60508, -0.05411 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30137, 0.01091, 0.96941 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99678, 0.00767, -0.07978 ], [ 0.01676, -0.99335, 0.11387 ], [ -0.07838, -0.11484, -0.99029 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.005971988663077, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.85 }, "note": "Table with drawer ahead; approach to inspect." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ 0.0041, -0.2274, -0.0329, -2.32401, 0.11546, 2.0104, -0.09361 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44892, 0.01092, 0.85076 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00026, 0.0 ], "tcp_rotation_matrix": [ [ 0.99676, 0.00764, -0.08004 ], [ 0.01676, -0.99335, 0.11388 ], [ -0.07864, -0.11485, -0.99026 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 3.2035878133028746, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist camera forward to locate table/drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ 0.0041, -0.2274, -0.0329, -2.32401, 0.11546, 2.0104, -0.09361 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44892, 0.01092, 0.85076 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00026, 0.0 ], "tcp_rotation_matrix": [ [ 0.99676, 0.00764, -0.08004 ], [ 0.01676, -0.99335, 0.11388 ], [ -0.07864, -0.11485, -0.99026 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 55 }, "api_seconds": 3.6037866566330194, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8, "z": 0.7 }, "note": "Tilt forward partially to see table." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.0041, -0.2274, -0.0329, -2.32401, 0.11546, 2.0104, -0.09361 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44892, 0.01092, 0.85076 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00026, 0.0 ], "tcp_rotation_matrix": [ [ 0.99676, 0.00764, -0.08004 ], [ 0.01676, -0.99335, 0.11388 ], [ -0.07864, -0.11485, -0.99026 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 54 }, "api_seconds": 1.80221055354923, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Smaller tilt forward." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ 0.0234, -0.48553, -0.03783, -2.68271, 0.16953, 2.50417, -0.16877 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, 0.01096, 0.85067 ], "tcp_roll_pitch_yaw": [ 0.00012, -0.39563, 8e-05 ], "tcp_rotation_matrix": [ [ 0.94999, 0.05145, 0.30801 ], [ 0.01684, -0.99334, 0.11401 ], [ 0.31182, -0.10312, -0.94453 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 53 }, "api_seconds": 6.205936788581312, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "z": 1, "x": 0.4 }, "note": "Rise to view table from above." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ -0.00598, -0.43488, -0.03026, -2.13697, 0.09903, 1.621, -0.05441 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40045, 0.01096, 0.99908 ], "tcp_roll_pitch_yaw": [ 0.00014, -0.0031, 5e-05 ], "tcp_rotation_matrix": [ [ 0.99702, 0.00807, -0.07672 ], [ 0.01682, -0.99334, 0.114 ], [ -0.07529, -0.11495, -0.99051 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 52 }, "api_seconds": 6.806702919304371, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Probe direction: shift left to see how table moves in wrist view." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.12201, -0.34688, 0.22027, -2.05894, 0.20862, 1.68084, 0.28842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40043, 0.19875, 0.99906 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00309, 0.0003 ], "tcp_rotation_matrix": [ [ 0.99702, 0.00832, -0.07676 ], [ 0.01706, -0.99334, 0.11394 ], [ -0.0753, -0.11491, -0.99052 ] ], "simulated_seconds_remaining": 24.684, "calls_remaining_including_this": 51 }, "api_seconds": 12.214588759467006, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0, "x": 0.6 }, "note": "Table appears ahead in +x; move forward to view it from above." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ -0.05693, 0.18997, 0.01931, -1.42309, 0.10895, 1.544, -0.05758 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59824, 0.00569, 1.00816 ], "tcp_roll_pitch_yaw": [ 0.00134, -0.01615, 0.00563 ], "tcp_rotation_matrix": [ [ 0.99781, 0.01513, -0.06443 ], [ 0.02248, -0.99313, 0.11484 ], [ -0.06225, -0.11604, -0.99129 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 50 }, "api_seconds": 14.012947294861078, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.35, "x": 0.8, "z": 0.95 }, "note": "Drawer front appears to face +y (toward exterior camera); move to front side of table." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ -0.05693, 0.18997, 0.01931, -1.42309, 0.10895, 1.544, -0.05758 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59824, 0.00569, 1.00816 ], "tcp_roll_pitch_yaw": [ 0.00134, -0.01615, 0.00563 ], "tcp_rotation_matrix": [ [ 0.99781, 0.01513, -0.06443 ], [ 0.02248, -0.99313, 0.11484 ], [ -0.06225, -0.11604, -0.99129 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 49 }, "api_seconds": 2.00223876722157, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3, "x": 0.65 }, "note": "Split motion: move toward +y first." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ -0.05693, 0.18997, 0.01931, -1.42309, 0.10895, 1.544, -0.05758 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59824, 0.00569, 1.00816 ], "tcp_roll_pitch_yaw": [ 0.00134, -0.01615, 0.00563 ], "tcp_rotation_matrix": [ [ 0.99781, 0.01513, -0.06443 ], [ 0.02248, -0.99313, 0.11484 ], [ -0.06225, -0.11604, -0.99129 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 48 }, "api_seconds": 2.6028348598629236, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2, "z": 0.85 }, "note": "Lower and shift +y to improve reach." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ 0.14369, 0.27916, 0.1476, -1.71353, 0.09531, 1.95835, 0.22971 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59816, 0.19907, 0.85074 ], "tcp_roll_pitch_yaw": [ 0.00132, -0.01589, 0.00588 ], "tcp_rotation_matrix": [ [ 0.99779, 0.01536, -0.06471 ], [ 0.02273, -0.99313, 0.1148 ], [ -0.06251, -0.11602, -0.99128 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 47 }, "api_seconds": 6.405785174109042, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.8, "z": 0.8 }, "note": "Gripper is in front (+y) of table; tilt camera toward -y to see drawer front." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ 0.50537, 0.6204, 0.04213, -1.36981, -0.55287, 1.53615, 0.67584 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59805, 0.19924, 0.8 ], "tcp_roll_pitch_yaw": [ -0.79562, -0.01534, 0.0062 ], "tcp_rotation_matrix": [ [ 0.99795, 0.00284, -0.064 ], [ -0.03807, -0.77722, -0.62808 ], [ -0.05153, 0.62923, -0.77551 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 46 }, "api_seconds": 5.205266838893294, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -1.4, "z": 0.8 }, "note": "Point camera more horizontally toward -y to see table front." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ 0.73489, 1.049, -0.11771, -0.92536, -0.85542, 1.09058, 0.64201 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59803, 0.19924, 0.79971 ], "tcp_roll_pitch_yaw": [ -1.39591, -0.01481, 0.00641 ], "tcp_rotation_matrix": [ [ 0.99758, -0.00469, -0.06944 ], [ -0.06788, -0.28597, -0.95583 ], [ -0.01537, 0.95823, -0.28559 ] ], "simulated_seconds_remaining": 18.018, "calls_remaining_including_this": 45 }, "api_seconds": 11.810001042671502, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "y": 0.05, "x": 0.45, "z": 0.75 }, "note": "Table seems to face -x toward robot; reset roll and back off in front of it." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ 0.20747, -0.08814, -0.14188, -2.46084, 0.1368, 2.30966, -0.04768 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45041, 0.05024, 0.75012 ], "tcp_roll_pitch_yaw": [ -0.00458, -0.01428, 0.00587 ], "tcp_rotation_matrix": [ [ 0.99769, 0.01507, -0.06627 ], [ 0.02225, -0.9938, 0.10895 ], [ -0.06422, -0.11017, -0.99184 ] ], "simulated_seconds_remaining": 15.84, "calls_remaining_including_this": 44 }, "api_seconds": 2.602942724712193, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "Point gripper forward (+x) toward table front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ 0.20747, -0.08814, -0.14188, -2.46084, 0.1368, 2.30966, -0.04768 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45041, 0.05024, 0.75012 ], "tcp_roll_pitch_yaw": [ -0.00458, -0.01428, 0.00587 ], "tcp_rotation_matrix": [ [ 0.99769, 0.01507, -0.06627 ], [ 0.02225, -0.9938, 0.10895 ], [ -0.06422, -0.11017, -0.99184 ] ], "simulated_seconds_remaining": 15.84, "calls_remaining_including_this": 43 }, "api_seconds": 3.403637676499784, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Partial forward tilt." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ 0.7098, -0.18494, -0.60643, -3.02626, 0.08998, 3.59527, -0.08684 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45032, 0.05006, 0.74966 ], "tcp_roll_pitch_yaw": [ -0.0052, -0.79427, 0.0059 ], "tcp_rotation_matrix": [ [ 0.75442, 0.08946, 0.65027 ], [ 0.02079, -0.99343, 0.11255 ], [ 0.65606, -0.07139, -0.75132 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 42 }, "api_seconds": 13.812902224250138, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "roll": -1.4, "x": 0.65, "y": 0.2, "z": 0.8 }, "note": "Drawer front likely faces +y; point gripper toward -y in front of table." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ 0.7098, -0.18494, -0.60643, -3.02626, 0.08998, 3.59527, -0.08684 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45032, 0.05006, 0.74966 ], "tcp_roll_pitch_yaw": [ -0.0052, -0.79427, 0.0059 ], "tcp_rotation_matrix": [ [ 0.75442, 0.08946, 0.65027 ], [ 0.02079, -0.99343, 0.11255 ], [ 0.65606, -0.07139, -0.75132 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 41 }, "api_seconds": 2.4031891729682684, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.6, "y": 0.2, "z": 0.8 }, "note": "Reset pitch and move in front of table first." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ 0.7098, -0.18494, -0.60643, -3.02626, 0.08998, 3.59527, -0.08684 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45032, 0.05006, 0.74966 ], "tcp_roll_pitch_yaw": [ -0.0052, -0.79427, 0.0059 ], "tcp_rotation_matrix": [ [ 0.75442, 0.08946, 0.65027 ], [ 0.02079, -0.99343, 0.11255 ], [ 0.65606, -0.07139, -0.75132 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 40 }, "api_seconds": 2.00285442173481, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0 }, "note": "Just reset pitch." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ 0.15886, -0.08059, -0.09402, -2.45188, 0.14167, 2.29755, -0.05088 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45049, 0.05006, 0.74964 ], "tcp_roll_pitch_yaw": [ -0.00517, -0.00466, 0.00583 ], "tcp_rotation_matrix": [ [ 0.99703, 0.01397, -0.0758 ], [ 0.02216, -0.99387, 0.10831 ], [ -0.07382, -0.10967, -0.99122 ] ], "simulated_seconds_remaining": 13.134, "calls_remaining_including_this": 39 }, "api_seconds": 3.003296888433397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": 0.2, "z": 0.8 }, "note": "Move in front (+y) of table." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the table.", "joint_positions": [ 0.27138, 0.39022, -0.0025, -1.67575, 0.13963, 2.01752, 0.18731 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61901, 0.1992, 0.79969 ], "tcp_roll_pitch_yaw": [ -0.00514, -0.00468, 0.00596 ], "tcp_rotation_matrix": [ [ 0.99702, 0.01411, -0.07579 ], [ 0.0223, -0.99386, 0.10833 ], [ -0.0738, -0.1097, -0.99122 ] ], "simulated_seconds_remaining": 11.286, "calls_remaining_including_this": 38 }, "api_seconds": 5.405077340081334, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -1.4, "x": 0.55 }, "note": "Point toward -y at table front to find drawer handle." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the table.", "joint_positions": [ 0.84455, 0.87731, -0.20914, -1.23259, -0.74351, 1.17098, 0.73316 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55014, 0.19925, 0.79944 ], "tcp_roll_pitch_yaw": [ -1.39572, -0.0042, 0.00619 ], "tcp_rotation_matrix": [ [ 0.99734, 0.00542, -0.07268 ], [ -0.06809, -0.28608, -0.95578 ], [ -0.02597, 0.95819, -0.28495 ] ], "simulated_seconds_remaining": 9.108, "calls_remaining_including_this": 37 }, "api_seconds": 6.80546947941184, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Dark panel with possible knob seen at left of wrist view; advance toward -y to get closer." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the table.", "joint_positions": [ 0.78949, 0.70843, -0.23511, -1.52924, -0.79153, 1.32571, 0.77712 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55019, 0.12109, 0.7995 ], "tcp_roll_pitch_yaw": [ -1.39584, -0.00427, 0.0059 ], "tcp_rotation_matrix": [ [ 0.99732, 0.00526, -0.07293 ], [ -0.06838, -0.28597, -0.95579 ], [ -0.02588, 0.95822, -0.28485 ] ], "simulated_seconds_remaining": 8.25, "calls_remaining_including_this": 36 }, "api_seconds": 6.005624866113067, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88, "x": 0.53 }, "note": "Image-left appears to be +z; knob on dark panel seems higher; raise gripper to align." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the table.", "joint_positions": [ 0.82752, 0.54887, -0.2433, -1.58742, -0.82512, 1.23916, 0.71647 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53035, 0.12114, 0.87886 ], "tcp_roll_pitch_yaw": [ -1.39565, -0.00451, 0.00595 ], "tcp_rotation_matrix": [ [ 0.99733, 0.00505, -0.07281 ], [ -0.06833, -0.28616, -0.95574 ], [ -0.02566, 0.95817, -0.28505 ] ], "simulated_seconds_remaining": 7.392, "calls_remaining_including_this": 35 }, "api_seconds": 3.8037613863125443, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.02 }, "note": "Advance toward table front along -y to find drawer." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the table.", "joint_positions": [ 0.75032, 0.39147, -0.30059, -1.83976, -0.91561, 1.39665, 0.72742 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53036, 0.02113, 0.87891 ], "tcp_roll_pitch_yaw": [ -1.39573, -0.00456, 0.00563 ], "tcp_rotation_matrix": [ [ 0.99731, 0.00491, -0.07311 ], [ -0.06865, -0.28608, -0.95574 ], [ -0.0256, 0.95819, -0.28498 ] ], "simulated_seconds_remaining": 6.402, "calls_remaining_including_this": 34 }, "api_seconds": 3.0032172594219446, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.1 }, "note": "Continue probing toward -y." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the table.", "joint_positions": [ 0.64195, 0.26999, -0.39366, -2.0304, -1.05617, 1.57481, 0.71446 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53033, -0.09886, 0.87894 ], "tcp_roll_pitch_yaw": [ -1.39579, -0.00459, 0.00529 ], "tcp_rotation_matrix": [ [ 0.99729, 0.00478, -0.07342 ], [ -0.06899, -0.28602, -0.95574 ], [ -0.02557, 0.95821, -0.28492 ] ], "simulated_seconds_remaining": 5.28, "calls_remaining_including_this": 33 }, "api_seconds": 2.803251337260008, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably locate the drawer handle on the table from wrist/exterior views before simulated time ran low; the table was not opened." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 020 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 20, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 21, "wall_seconds": 157.21, "usage": { "input_tokens": 48, "output_tokens": 8860, "cache_read_input_tokens": 258793, "cache_creation_input_tokens": 20359, "thinking_tokens": 5996, "cost_usd": 0.3920226 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017qWerYrUgyTk9gSPAsQaEw", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SBLXG9y2kKK6pEL2s6M6o3", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Scene unclear; lowering to get a better wrist view of the desk below/front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 485 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011iAveu1qeXvswVV6TdnVbz", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "Tilting gripper to face forward to view the desk front with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 743, "cache_read_input_tokens": 2510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 743 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011e53GNDJCPrDZ4t2XkqRUH", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Smaller tilt toward forward to view the desk." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 863, "cache_read_input_tokens": 3253, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 863 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PDAHzh7g9XJYK7PTrpRJPu", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.5 }, "note": "Trying the opposite pitch sign to see reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 818, "cache_read_input_tokens": 4116, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 818 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still getting my bearings: tilting the gripper helped me find the robot's own base, so the desk should be in front. I'll straighten the gripper and move forward to look for it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 710, "cache_read_input_tokens": 4934, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 710 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CxCGbGYEzQNhKmMkuMfyDy", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.45, "z": 0.85 }, "note": "Pitch back to 0; moving forward to find the desk front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 710, "cache_read_input_tokens": 4934, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 710 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01B2TAaGDixTbQAuA2xS9eeA", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 953, "cache_read_input_tokens": 5644, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 953 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01K5DxqdbTDkxcK91kT1gFG4", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "pitch": 0 }, "note": "Motion seemed blocked; raising up to clear possible contact." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 804, "cache_read_input_tokens": 6597, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 804 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Jr4XWan1gMcM6cMvxLSXFV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Testing forward motion at high z." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 752, "cache_read_input_tokens": 7401, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 752 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014t8xPGiwea3ve8vRx3tVCN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 0.9, "pitch": -0.5 }, "note": "Backing off and tilting forward to view the desk front with the wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 622, "cache_read_input_tokens": 8153, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 622 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018kdcHqEpvxhZmmydfKd9Yn", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.2 }, "note": "Small forward tilt test." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1327, "cache_read_input_tokens": 8775, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1327 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Tilting forward only works in small steps. I'm now testing a sideways move to see which direction the desk lies from the gripper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 833, "cache_read_input_tokens": 10102, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 833 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NdNs1PZUMMJjs4tC3gi142", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Test +y motion to map exterior camera orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 833, "cache_read_input_tokens": 10102, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 833 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LGihhXQDRwKZLdPPfrjXH7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "y": 0.35, "z": 0.85 }, "note": "Desk is at +y and front ~x0.33; moving in front of it lower to inspect drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 925, "cache_read_input_tokens": 10935, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 925 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HYm3M6a2CTsj3fXSriRGQq", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Tilting forward to see desk front with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1035, "cache_read_input_tokens": 11860, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1035 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011B4CQKryfPcHfwzAuBJEbt", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.65, "pitch": -0.2 }, "note": "Lowering to drawer height in front of desk to find the drawer/handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 850, "cache_read_input_tokens": 12895, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 850 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WpiGdzp2PZWix1sghkJPrK", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7 }, "note": "Lowering only, keeping orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1033, "cache_read_input_tokens": 13745, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1033 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01S4er3x4ufnDbPTeAt33ddd", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4 }, "note": "Desk appears further in +x; moving forward toward the drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 14778, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 607 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The desk is farther out than I expected. I'm raising the gripper and reaching farther forward to get closer to its front panel." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 891, "cache_read_input_tokens": 15385, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 891 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HhBZp5rBAQiKnUgLVnxVgV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.85 }, "note": "Hand below desk in exterior; raising and moving further forward toward desk." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 891, "cache_read_input_tokens": 15385, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 891 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GaPoyyh9miNfQpfHUSibQS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62 }, "note": "Probing forward to find desk front plane." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 980, "cache_read_input_tokens": 16276, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 980 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HXjyZs3xbhx6qNjxwjLDYX", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "roll": 0.8, "x": 0.55, "y": 0.3 }, "note": "Desk appears on +y side of wrist view; rotating gripper to face +y to view drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1131, "cache_read_input_tokens": 17256, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1131 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ECtnn7NnNE62WCLwfW5Tm6", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0, "pitch": -0.7, "x": 0.72, "y": 0.35, "z": 0.8 }, "note": "Probing further forward; desk front may be at x>0.65." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1244, "cache_read_input_tokens": 18387, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1244 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011VTqdtjkiKLjoGeK8vHdtF", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.5 }, "note": "Desk dark region on +y side in wrist view; probing toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1286, "cache_read_input_tokens": 19631, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1286 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DbGt6ndN2CgWWM2B8pi3Lr", "name": "mcp__robot__give_up", "input": { "note": "Could not find a drawer handle or door on the desk from the camera views, and never touched the desk. Only about 7 s of motion time left, not enough to search further and open it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 748, "cache_read_input_tokens": 20917, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 748 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I couldn't open the desk and ended the episode with give_up. The desk was never touched.\n\n- **Handles:** Neither camera showed a handle or knob. The desk front looked like three dark drawer fronts with no visible pulls.\n- **Direction:** I had trouble telling which way the drawers faced. By test moves I worked out that the desk sits roughly to the robot's left (+y), but not which side the drawers open from.\n- **Reach:** Near the robot base, the gripper stopped at about 0.3 m forward and wouldn't go further. Most attempts to tilt it forward were rejected as unreachable, so I could only tilt it slightly.\n- **Search:** I then swept the gripper out to about 0.7 m forward and 0.5 m left at drawer height. It never made contact, and it ended up past the desk's end next to the chair.\n\nWhen I stopped, about 7.5 of the 30 seconds of motion time were left, which I judged too little to find a handle and pull a drawer open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 247, "cache_read_input_tokens": 21665, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 247 }, "output_tokens": 324, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 48, "cache_creation_input_tokens": 20359, "cache_read_input_tokens": 258793, "output_tokens": 8860, "output_tokens_details": { "thinking_tokens": 5996 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 20359, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 324, "cache_read_input_tokens": 21665, "cache_creation_input_tokens": 247, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 247 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 48, "outputTokens": 8860, "cacheReadInputTokens": 258793, "cacheCreationInputTokens": 20359, "webSearchRequests": 0, "costUSD": 0.3920226, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5996, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.3920226, "num_turns": 24, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the desk.", "joint_positions": [ 0.0136, -0.79858, 0.02287, -2.3957, 0.08811, 1.52022, -0.15369 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28402, 0.03321, 0.99756 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98061, 0.17938, -0.07894 ], [ 0.18491, -0.98031, 0.0693 ], [ -0.06496, -0.08255, -0.99447 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.605168646201491, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Scene unclear; lowering to get a better wrist view of the desk below/front." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02103, -0.73986, 0.04065, -2.86778, 0.11343, 2.04957, -0.18994 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28395, 0.03321, 0.8013 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00036, 1e-05 ], "tcp_rotation_matrix": [ [ 0.98058, 0.17937, -0.0793 ], [ 0.18492, -0.98031, 0.06929 ], [ -0.06531, -0.08261, -0.99444 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 4.807500208728015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "Tilting gripper to face forward to view the desk front with wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02103, -0.73986, 0.04065, -2.86778, 0.11343, 2.04957, -0.18994 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28395, 0.03321, 0.8013 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00036, 1e-05 ], "tcp_rotation_matrix": [ [ 0.98058, 0.17937, -0.0793 ], [ 0.18492, -0.98031, 0.06929 ], [ -0.06531, -0.08261, -0.99444 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 55 }, "api_seconds": 3.803566351532936, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Smaller tilt toward forward to view the desk." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02103, -0.73986, 0.04065, -2.86778, 0.11343, 2.04957, -0.18994 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28395, 0.03321, 0.8013 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00036, 1e-05 ], "tcp_rotation_matrix": [ [ 0.98058, 0.17937, -0.0793 ], [ 0.18492, -0.98031, 0.06929 ], [ -0.06531, -0.08261, -0.99444 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 54 }, "api_seconds": 2.8026408003643155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.5 }, "note": "Trying the opposite pitch sign to see reachability." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the desk.", "joint_positions": [ 0.01459, -0.57559, 0.0378, -2.65909, 0.09695, 1.65802, -0.16836 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24355, 0.03417, 0.83201 ], "tcp_roll_pitch_yaw": [ -0.00715, 0.34785, 0.0085 ], "tcp_rotation_matrix": [ [ 0.89768, 0.15123, -0.41388 ], [ 0.19208, -0.97962, 0.05867 ], [ -0.39657, -0.13216, -0.90844 ] ], "simulated_seconds_remaining": 27.456, "calls_remaining_including_this": 53 }, "api_seconds": 5.605318581685424, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.45, "z": 0.85 }, "note": "Pitch back to 0; moving forward to find the desk front." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the desk.", "joint_positions": [ 0.00732, -0.54257, 0.04497, -2.68425, 0.08609, 1.84038, -0.18461 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28078, 0.03026, 0.81198 ], "tcp_roll_pitch_yaw": [ -0.018, 0.22286, 0.0142 ], "tcp_rotation_matrix": [ [ 0.93856, 0.17453, -0.29773 ], [ 0.19706, -0.97926, 0.04716 ], [ -0.28332, -0.10293, -0.95348 ] ], "simulated_seconds_remaining": 25.806, "calls_remaining_including_this": 52 }, "api_seconds": 8.207409254275262, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "pitch": 0 }, "note": "Motion seemed blocked; raising up to clear possible contact." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the desk.", "joint_positions": [ 0.00747, -0.80589, 0.03143, -2.3953, 0.07537, 1.50996, -0.16723 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28082, 0.03026, 0.99871 ], "tcp_roll_pitch_yaw": [ -0.01798, 0.00142, 0.01421 ], "tcp_rotation_matrix": [ [ 0.9778, 0.19322, -0.08108 ], [ 0.19763, -0.97899, 0.05025 ], [ -0.06967, -0.06516, -0.99544 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 51 }, "api_seconds": 2.202341018244624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Testing forward motion at high z." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the desk.", "joint_positions": [ -0.00104, -0.39209, 0.03509, -1.98555, 0.06388, 1.17614, -0.17195 ], "gripper_open": 0.9797, "tcp_xyz": [ 0.3148, 0.02914, 1.03538 ], "tcp_roll_pitch_yaw": [ -0.01993, 0.3385, 0.03821 ], "tcp_rotation_matrix": [ [ 0.8945, 0.18568, -0.40668 ], [ 0.2179, -0.97538, 0.03396 ], [ -0.39037, -0.11899, -0.91294 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 50 }, "api_seconds": 9.60848316643387, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 0.9, "pitch": -0.5 }, "note": "Backing off and tilting forward to view the desk front with the wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the desk.", "joint_positions": [ -0.00104, -0.39209, 0.03509, -1.98555, 0.06388, 1.17614, -0.17195 ], "gripper_open": 0.9797, "tcp_xyz": [ 0.3148, 0.02914, 1.03538 ], "tcp_roll_pitch_yaw": [ -0.01993, 0.3385, 0.03821 ], "tcp_rotation_matrix": [ [ 0.8945, 0.18568, -0.40668 ], [ 0.2179, -0.97538, 0.03396 ], [ -0.39037, -0.11899, -0.91294 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 49 }, "api_seconds": 4.20398282725364, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.2 }, "note": "Small forward tilt test." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the desk.", "joint_positions": [ 0.00184, -0.84625, 0.03147, -2.36832, 0.07486, 1.63805, -0.20261 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31473, 0.02915, 1.03542 ], "tcp_roll_pitch_yaw": [ -0.01993, -0.19557, 0.03824 ], "tcp_rotation_matrix": [ [ 0.96752, 0.2256, 0.11406 ], [ 0.22072, -0.97385, 0.05386 ], [ 0.12323, -0.02693, -0.99201 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 48 }, "api_seconds": 6.005195905454457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Test +y motion to map exterior camera orientation." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the desk.", "joint_positions": [ 0.07807, -0.73065, 0.33161, -2.26472, 0.23291, 1.68771, 0.10415 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31472, 0.19871, 1.03541 ], "tcp_roll_pitch_yaw": [ -0.02003, -0.19557, 0.03842 ], "tcp_rotation_matrix": [ [ 0.96748, 0.22576, 0.11406 ], [ 0.2209, -0.97381, 0.05379 ], [ 0.12322, -0.02685, -0.99202 ] ], "simulated_seconds_remaining": 20.394, "calls_remaining_including_this": 47 }, "api_seconds": 6.2054903618991375, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0.35, "z": 0.85 }, "note": "Desk is at +y and front ~x0.33; moving in front of it lower to inspect drawer fronts." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the desk.", "joint_positions": [ 0.23599, -0.72794, 0.79008, -2.59831, 0.51083, 2.10246, 0.43503 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20056, 0.34922, 0.85092 ], "tcp_roll_pitch_yaw": [ -0.02019, -0.1955, 0.0386 ], "tcp_rotation_matrix": [ [ 0.96746, 0.2259, 0.11399 ], [ 0.22106, -0.97378, 0.05364 ], [ 0.12311, -0.0267, -0.99203 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 46 }, "api_seconds": 4.403645723126829, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Tilting forward to see desk front with wrist camera." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the desk.", "joint_positions": [ 0.31602, -1.05197, 1.05321, -2.8043, 0.49213, 2.41285, 0.63571 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20048, 0.34924, 0.85086 ], "tcp_roll_pitch_yaw": [ -0.02057, -0.6959, 0.03896 ], "tcp_rotation_matrix": [ [ 0.78891, 0.21577, 0.57538 ], [ 0.21443, -0.97413, 0.0713 ], [ 0.57588, 0.06713, -0.81477 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 45 }, "api_seconds": 7.006504577584565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.65, "pitch": -0.2 }, "note": "Lowering to drawer height in front of desk to find the drawer/handle." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the desk.", "joint_positions": [ 0.31602, -1.05197, 1.05321, -2.8043, 0.49213, 2.41285, 0.63571 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20048, 0.34924, 0.85086 ], "tcp_roll_pitch_yaw": [ -0.02057, -0.6959, 0.03896 ], "tcp_rotation_matrix": [ [ 0.78891, 0.21577, 0.57538 ], [ 0.21443, -0.97413, 0.0713 ], [ 0.57588, 0.06713, -0.81477 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 44 }, "api_seconds": 2.002108059823513, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7 }, "note": "Lowering only, keeping orientation." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02744, -0.75419, 1.59105, -2.89497, 0.6338, 2.90964, 0.78371 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20053, 0.34916, 0.70127 ], "tcp_roll_pitch_yaw": [ -0.02092, -0.69587, 0.03905 ], "tcp_rotation_matrix": [ [ 0.78895, 0.21563, 0.57537 ], [ 0.21447, -0.97415, 0.071 ], [ 0.57581, 0.06739, -0.8148 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 43 }, "api_seconds": 4.6041183192282915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Desk appears further in +x; moving forward toward the drawer front." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the desk.", "joint_positions": [ -0.94848, -0.5112, 1.91566, -2.64379, 0.37645, 3.2094, 0.48599 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39873, 0.34912, 0.7013 ], "tcp_roll_pitch_yaw": [ -0.02085, -0.69589, 0.03877 ], "tcp_rotation_matrix": [ [ 0.78899, 0.21541, 0.57541 ], [ 0.21426, -0.9742, 0.07091 ], [ 0.57584, 0.06734, -0.81479 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 42 }, "api_seconds": 6.205239039845765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.85 }, "note": "Hand below desk in exterior; raising and moving further forward toward desk." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the desk.", "joint_positions": [ -0.80707, -0.44395, 1.4803, -2.37595, 0.27211, 2.84472, 0.30354 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49933, 0.34912, 0.84897 ], "tcp_roll_pitch_yaw": [ -0.02063, -0.69603, 0.03853 ], "tcp_rotation_matrix": [ [ 0.78894, 0.2153, 0.57552 ], [ 0.21408, -0.97423, 0.07099 ], [ 0.57597, 0.0672, -0.8147 ] ], "simulated_seconds_remaining": 12.87, "calls_remaining_including_this": 41 }, "api_seconds": 7.806828771717846, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Probing forward to find desk front plane." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the desk.", "joint_positions": [ -1.53627, -0.46367, 2.04066, -2.0375, 0.31848, 2.80341, 0.15807 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61875, 0.34904, 0.84903 ], "tcp_roll_pitch_yaw": [ -0.02073, -0.69614, 0.03841 ], "tcp_rotation_matrix": [ [ 0.78891, 0.21512, 0.57563 ], [ 0.21398, -0.97427, 0.07083 ], [ 0.57605, 0.06729, -0.81464 ] ], "simulated_seconds_remaining": 11.748, "calls_remaining_including_this": 40 }, "api_seconds": 8.212733188644052, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "roll": 0.8, "x": 0.55, "y": 0.3 }, "note": "Desk appears on +y side of wrist view; rotating gripper to face +y to view drawer fronts." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the desk.", "joint_positions": [ -2.00408, -0.27768, 2.40417, -1.93998, 1.15483, 2.32288, -0.63483 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58193, 0.38356, 0.86594 ], "tcp_roll_pitch_yaw": [ 0.65736, -0.31586, 0.00211 ], "tcp_rotation_matrix": [ [ 0.91258, 0.37841, 0.15495 ], [ 0.18799, -0.72478, 0.66284 ], [ 0.36313, -0.57576, -0.73256 ] ], "simulated_seconds_remaining": 10.032, "calls_remaining_including_this": 39 }, "api_seconds": 8.807543152943254, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "pitch": -0.7, "x": 0.72, "y": 0.35, "z": 0.8 }, "note": "Probing further forward; desk front may be at x>0.65." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the desk.", "joint_positions": [ -1.82892, -0.81493, 2.18874, -1.65753, 0.79754, 2.65886, -0.09549 ], "gripper_open": 1.0, "tcp_xyz": [ 0.70421, 0.37087, 0.79511 ], "tcp_roll_pitch_yaw": [ 0.05153, -0.65766, -0.04115 ], "tcp_rotation_matrix": [ [ 0.81696, 0.18294, 0.54691 ], [ 0.15453, -0.98311, 0.09801 ], [ 0.55561, 0.00444, -0.83143 ] ], "simulated_seconds_remaining": 8.712, "calls_remaining_including_this": 38 }, "api_seconds": 3.4030956448987126, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.5 }, "note": "Desk dark region on +y side in wrist view; probing toward it." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the desk.", "joint_positions": [ -1.86006, -1.04299, 2.17472, -1.25359, 0.72158, 2.46593, 0.20355 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.70414, 0.49884, 0.79508 ], "tcp_roll_pitch_yaw": [ 0.05149, -0.65765, -0.04087 ], "tcp_rotation_matrix": [ [ 0.81692, 0.18319, 0.54688 ], [ 0.15476, -0.98307, 0.09813 ], [ 0.5556, 0.00447, -0.83144 ] ], "simulated_seconds_remaining": 7.524, "calls_remaining_including_this": 37 }, "api_seconds": 2.802795849740505, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not find a drawer handle or door on the desk from the camera views, and never touched the desk. Only about 7 s of motion time left, not enough to search further and open it." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / 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": 11, "wall_seconds": 98.73, "usage": { "input_tokens": 28, "output_tokens": 5210, "cache_read_input_tokens": 95160, "cache_creation_input_tokens": 11592, "thinking_tokens": 3502, "cost_usd": 0.21608 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PTgHB8xygv9BDK2a42WFME", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JZaRAswbtvkZ1besidRvFG", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lowering to see desk front/drawer handles better." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ba6XuoJsTqWLYmckwK8wrr", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57, "z": 0.85, "x": 0.25 }, "note": "Rotate gripper to point forward (+x) toward the drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 797, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 797 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017G7DDgBmLiKLznJXSfWxev", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Partially tilt gripper forward to see where the desk is." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1229, "cache_read_input_tokens": 3308, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1229 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016e88zmvB7nGQKnka9Cx59n", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8, "z": 0.95 }, "note": "Try tilting forward from a higher position to avoid joint limits." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 4537, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm working out which way the gripper can tilt. Pointing it forward didn't work, so next I'll try tilting it the other way." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 5365, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 757 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01H5Ngijya19yRVmR7M6Ztw2", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.5 }, "note": "Testing opposite pitch direction since negative pitch was unreachable." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 5365, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 757 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01W3W967eaLEH2BNrjsBQ6ih", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 1.2 }, "note": "Wrist view tilting toward -x shows desk-like surfaces; tilt more to look." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 687, "cache_read_input_tokens": 6122, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 687 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A6VjDR9wenCSLs1HLixRav", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.28, "y": 0.12, "z": 0.95 }, "note": "Return to downward orientation and shift +y to learn image direction mapping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 913, "cache_read_input_tokens": 6809, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 913 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NP66xgLG7kaYzA5XNpTwUk", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4, "y": 0.02 }, "note": "Try a small forward tilt to check reachability and view toward +x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1028, "cache_read_input_tokens": 7722, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1028 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016VvkbeCjWRYEMGjRjgvGvi", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36 }, "note": "Wrist shows wooden desk front ahead; move forward in +x to approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1432, "cache_read_input_tokens": 8750, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1432 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013PaCEciqrzcsYyspAnBN2Z", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "yaw": 1.57, "x": 0.42, "z": 0.9 }, "note": "Handle bar seen ahead (along y). Rotate yaw 90° so fingers open along x to straddle the bar from above; move forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 892, "cache_read_input_tokens": 10182, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 892 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I found the drawer handle and turned the gripper to line up with it. Now I'm checking where the gripper stopped." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1221, "cache_read_input_tokens": 11074, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1221 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HPgDR2hnSgYMkwj6fyJoR7", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1221, "cache_read_input_tokens": 11074, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1221 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016h14rWHXMUZpA75CVjobU2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.34, "z": 0.97 }, "note": "Motion stalled near desk; back up and raise to get a clear view of the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 612, "cache_read_input_tokens": 12295, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 612 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The desk was not opened. The episode ended unexpectedly while I was backing the gripper away from the desk, and I didn't get a reason why.\n\n- **What worked:** I found a bar handle on a desk drawer in the wrist camera and turned the gripper 90° so its fingers could close over the bar from above.\n- **Where it went wrong:** Moving toward the handle, the gripper stopped at about x = 0.38 m instead of the 0.42 m I asked for. It was most likely blocked by the desk edge. I never grasped the handle or pulled the drawer.\n- **Time lost earlier:** Early on I wasted several moves because tilting the gripper to point straight at the drawer front was out of the arm's reach. That was 3 moves rejected outright, and more to work out which way each move went in the images." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 238, "cache_read_input_tokens": 12907, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 238 }, "output_tokens": 262, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 28, "cache_creation_input_tokens": 11592, "cache_read_input_tokens": 95160, "output_tokens": 5210, "output_tokens_details": { "thinking_tokens": 3502 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 11592, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 262, "cache_read_input_tokens": 12907, "cache_creation_input_tokens": 238, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 238 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 28, "outputTokens": 5210, "cacheReadInputTokens": 95160, "cacheCreationInputTokens": 11592, "webSearchRequests": 0, "costUSD": 0.21608, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 3502, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.21608, "num_turns": 14, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the desk.", "joint_positions": [ 0.01772, -0.79127, 0.07261, -2.41909, -0.03315, 1.52623, 0.13762 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28208, 0.01432, 0.98485 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9931, -0.06643, -0.09666 ], [ -0.0753, -0.99298, -0.09123 ], [ -0.08992, 0.09788, -0.99113 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.00705495942384, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lowering to see desk front/drawer handles better." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02442, -0.7813, 0.08365, -2.75473, -0.0255, 1.8706, 0.16085 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28202, 0.01431, 0.85127 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00031, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99307, -0.06641, -0.09697 ], [ -0.07532, -0.99297, -0.09126 ], [ -0.09023, 0.09793, -0.99109 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 7.807587418705225, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57, "z": 0.85, "x": 0.25 }, "note": "Rotate gripper to point forward (+x) toward the drawer fronts." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02442, -0.7813, 0.08365, -2.75473, -0.0255, 1.8706, 0.16085 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28202, 0.01431, 0.85127 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00031, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99307, -0.06641, -0.09697 ], [ -0.07532, -0.99297, -0.09126 ], [ -0.09023, 0.09793, -0.99109 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 55 }, "api_seconds": 4.204587318003178, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Partially tilt gripper forward to see where the desk is." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02442, -0.7813, 0.08365, -2.75473, -0.0255, 1.8706, 0.16085 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28202, 0.01431, 0.85127 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00031, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99307, -0.06641, -0.09697 ], [ -0.07532, -0.99297, -0.09126 ], [ -0.09023, 0.09793, -0.99109 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 54 }, "api_seconds": 3.2035085605457425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8, "z": 0.95 }, "note": "Try tilting forward from a higher position to avoid joint limits." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the desk.", "joint_positions": [ 0.02442, -0.7813, 0.08365, -2.75473, -0.0255, 1.8706, 0.16085 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28202, 0.01431, 0.85127 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00031, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99307, -0.06641, -0.09697 ], [ -0.07532, -0.99297, -0.09126 ], [ -0.09023, 0.09793, -0.99109 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 53 }, "api_seconds": 3.0032735308632255, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.5 }, "note": "Testing opposite pitch direction since negative pitch was unreachable." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the desk.", "joint_positions": [ 0.00659, -0.42986, 0.07718, -2.40233, -0.02806, 1.40468, 0.13309 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26218, 0.01182, 0.89227 ], "tcp_roll_pitch_yaw": [ -0.01303, 0.46613, -0.01554 ], "tcp_rotation_matrix": [ [ 0.84589, -0.02495, -0.53277 ], [ -0.08962, -0.99135, -0.09586 ], [ -0.52577, 0.12884, -0.84081 ] ], "simulated_seconds_remaining": 27.852, "calls_remaining_including_this": 52 }, "api_seconds": 5.005422880873084, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 1.2 }, "note": "Wrist view tilting toward -x shows desk-like surfaces; tilt more to look." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the desk.", "joint_positions": [ -0.00121, -0.32322, 0.07309, -2.076, -0.02521, 0.53867, 0.0953 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.15555, 0.00911, 1.07655 ], "tcp_roll_pitch_yaw": [ -0.07755, 1.11194, -0.08937 ], "tcp_rotation_matrix": [ [ 0.35594, 0.03885, -0.9337 ], [ -0.11427, -0.98983, -0.08475 ], [ -0.9275, 0.13686, -0.34788 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 51 }, "api_seconds": 6.806907219812274, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.28, "y": 0.12, "z": 0.95 }, "note": "Return to downward orientation and shift +y to learn image direction mapping." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the desk.", "joint_positions": [ 0.0545, -0.70959, 0.32109, -2.42138, 0.08744, 1.57879, 0.44146 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27939, 0.11959, 0.95043 ], "tcp_roll_pitch_yaw": [ -0.07783, 0.00464, -0.08923 ], "tcp_rotation_matrix": [ [ 0.98144, -0.15291, -0.11578 ], [ -0.17021, -0.97261, -0.15833 ], [ -0.0884, 0.17509, -0.98058 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 50 }, "api_seconds": 11.21173571050167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4, "y": 0.02 }, "note": "Try a small forward tilt to check reachability and view toward +x." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the desk.", "joint_positions": [ 0.0303, -1.17412, 0.18272, -2.77982, -0.06163, 1.8672, 0.33194 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27937, 0.02076, 0.95045 ], "tcp_roll_pitch_yaw": [ -0.07776, -0.39668, -0.0894 ], "tcp_rotation_matrix": [ [ 0.93724, -0.21598, 0.27373 ], [ -0.16641, -0.96695, -0.19315 ], [ 0.3064, 0.13548, -0.94221 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 49 }, "api_seconds": 5.204945716075599, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36 }, "note": "Wrist shows wooden desk front ahead; move forward in +x to approach." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the desk.", "joint_positions": [ -0.03284, -0.8683, 0.18999, -2.64994, -0.08914, 2.04758, 0.33855 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35873, 0.02075, 0.95042 ], "tcp_roll_pitch_yaw": [ -0.07778, -0.39652, -0.08945 ], "tcp_rotation_matrix": [ [ 0.93728, -0.216, 0.27357 ], [ -0.16646, -0.96694, -0.19317 ], [ 0.30625, 0.13552, -0.94226 ] ], "simulated_seconds_remaining": 22.968, "calls_remaining_including_this": 48 }, "api_seconds": 7.807765631005168, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "yaw": 1.57, "x": 0.42, "z": 0.9 }, "note": "Handle bar seen ahead (along y). Rotate yaw 90° so fingers open along x to straddle the bar from above; move forward." } } } ] } } ] }, "execution": { "steps": 39, "motion_seconds": 2.5740000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the desk.", "joint_positions": [ 0.36689, -0.56405, -0.23481, -2.52621, -0.28907, 1.96405, -1.19495 ], "gripper_open": 0.9735, "tcp_xyz": [ 0.38298, 0.00719, 0.88813 ], "tcp_roll_pitch_yaw": [ 0.05977, 0.04134, 1.54251 ], "tcp_rotation_matrix": [ [ 0.09772, 0.99482, 0.02796 ], [ 0.98598, -0.09296, -0.13854 ], [ -0.13522, 0.0411, -0.98996 ] ], "simulated_seconds_remaining": 20.394, "calls_remaining_including_this": 47 }, "api_seconds": 5.8062598230317235, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.34, "z": 0.97 }, "note": "Motion stalled near desk; back up and raise to get a clear view of the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 022 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 22, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 17, "wall_seconds": 133.7, "usage": { "input_tokens": 38, "output_tokens": 7807, "cache_read_input_tokens": 161817, "cache_creation_input_tokens": 16727, "thinking_tokens": 5282, "cost_usd": 0.32247139999999996 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014tpA6pwjcmPQSLhon1qtXn", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018o6nQquQj84ikiMnpuzNpx", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "z": 1.2 }, "note": "Scene unclear; move back and up to get a better view of the dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 485 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ecf6goZzn4WpRRJGyuXCUY", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Tilt wrist camera to look forward at the dresser front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 750, "cache_read_input_tokens": 2510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 750 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PSaFdfRmWcoU9QVYvJR9i3", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5 }, "note": "Point gripper horizontally forward to view dresser face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 814, "cache_read_input_tokens": 3260, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 814 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LLZ9GpT2MrhEc1VVFS99fV", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 1, "x": 0.3 }, "note": "Lower and point more horizontally to view the dresser front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 842, "cache_read_input_tokens": 4074, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 842 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm tilting the wrist camera to get a clearer view of the dresser front. The last two moves were out of reach, so I'm trying a smaller tilt." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 4916, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 694 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DrM8voiMQaAiSApPJcVbaA", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Smaller pitch increment toward horizontal." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 4916, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 694 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y9o1W8Xog1vwstCms34JJh", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "x": 0.3 }, "note": "Lower the arm with the current tilt so a more horizontal pose becomes reachable." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 763, "cache_read_input_tokens": 5610, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 763 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01R3UwcC4UHsNbc7sqyTAVRd", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.12, "x": 0.25 }, "note": "Smaller step down/forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 6373, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018W3o9c2YLg838rtNNgLeBq", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.1, "z": 1 }, "note": "Wrist view appears to show dresser top with a clock. Move back and down to see the dresser front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 659, "cache_read_input_tokens": 7049, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 659 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014uVwVGin3zRKJGixA5a9Kw", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.3, "z": 1.05 }, "note": "Return to the downward-pointing initial pose, which is more flexible." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1202, "cache_read_input_tokens": 7708, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1202 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FVVex1z3YjmrahF4sfbveb", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Probe camera mapping: move left 15cm and observe how the wood edge shifts in the wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 659, "cache_read_input_tokens": 8910, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 659 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm working out where the dresser's drawer front is. The camera view is confusing, so I'm moving the arm to get my bearings." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 893, "cache_read_input_tokens": 9569, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 893 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011a7WSKSpNVvPBdpQXyigp4", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05, "x": 0.45, "z": 1.1 }, "note": "Move forward past the edge to see what lies beyond the wood edge in the wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 893, "cache_read_input_tokens": 9569, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 893 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A3WE96npm622Q59B3UsY3f", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": -0.1, "z": 1.1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Motion seemed blocked going forward. Move right (-y) to test where the wood surface is relative to the gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1383, "cache_read_input_tokens": 10462, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1383 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AKu4wS4HZ4xfRf85Sq1TMA", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95 }, "note": "Descend to gauge the height of the wood surface below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 967, "cache_read_input_tokens": 11845, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 967 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rd7hhqmaCVQzEYJZtuLHx7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.12, "y": 0, "z": 1.12, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Contact at z~1.05 means dresser top is under gripper. Move back toward the robot to find the dresser's near edge/front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 896, "cache_read_input_tokens": 12812, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 896 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm still locating the drawer fronts, so I'm tilting the wrist the other way to look toward the robot's side of the dresser." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1607, "cache_read_input_tokens": 13708, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1607 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y3wRbFLjEEyyYfKsNd8KyK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 1.15, "roll": 0.8 }, "note": "Roll the wrist to look sideways and locate the dresser's vertical front face with drawers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1607, "cache_read_input_tokens": 13708, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1607 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WsmqCvnmYdSHQnuwZUN7rr", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.8 }, "note": "Look toward -y side instead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1392, "cache_read_input_tokens": 15315, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1392 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LU7PJgUEUvDP9ETNF4YTgA", "name": "mcp__robot__give_up", "input": { "note": "Could not work out the dresser's orientation or find a drawer handle from the confusing camera views before simulated time ran low. The gripper hit the dresser top at about z=1.05, but I could not find the front face with the handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 704, "cache_read_input_tokens": 16707, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 704 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser. I ended the episode with give_up after about 17 moves, with roughly 12.7 of the 30 seconds of simulated motion left.\n\n- **What I found:** the gripper hit the dresser top at a height of about 1.05 m, so the dresser was directly under the starting position.\n- **What went wrong:** I couldn't tell which way the dresser faced, so I never found the drawer fronts or a handle. The outside camera was partly blocked by the dresser itself, and I couldn't reliably match directions in either camera view to the robot's own directions.\n- **Wasted moves:** several attempts to tilt the gripper forward for a better view were rejected as out of reach. Two moves forward and down stopped early when the gripper hit the dresser top.\n- **Possible handle:** one forward-tilted wrist view showed a wood surface with a dark horizontal bar that might have been a drawer handle. I couldn't pin down where it was in time to try a grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 869, "cache_read_input_tokens": 17411, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 869 }, "output_tokens": 320, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 38, "cache_creation_input_tokens": 16727, "cache_read_input_tokens": 161817, "output_tokens": 7807, "output_tokens_details": { "thinking_tokens": 5282 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 16727, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 320, "cache_read_input_tokens": 17411, "cache_creation_input_tokens": 869, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 869 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 38, "outputTokens": 7807, "cacheReadInputTokens": 161817, "cacheCreationInputTokens": 16727, "webSearchRequests": 0, "costUSD": 0.32247139999999996, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5282, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.32247139999999996, "num_turns": 19, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.01625, -0.81161, 0.06347, -2.30073, 0.11711, 1.56216, -0.12927 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30765, 0.05554, 1.04895 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97813, 0.19691, 0.06702 ], [ 0.19184, -0.97853, 0.07529 ], [ 0.08041, -0.06079, -0.99491 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.8058896558359265, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "z": 1.2 }, "note": "Scene unclear; move back and up to get a better view of the dresser." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.02754, -0.86211, 0.04828, -1.87926, 0.12152, 1.09288, -0.07586 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2008, 0.05554, 1.19897 ], "tcp_roll_pitch_yaw": [ 4e-05, -0.0003, 1e-05 ], "tcp_rotation_matrix": [ [ 0.9781, 0.19695, 0.06732 ], [ 0.19185, -0.97853, 0.07533 ], [ 0.08071, -0.06077, -0.99488 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 56 }, "api_seconds": 4.00389894656837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Tilt wrist camera to look forward at the dresser front." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03061, -1.61894, 0.09008, -2.54359, 0.11066, 1.89244, -0.13945 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20075, 0.05556, 1.19893 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.89563, 9e-05 ], "tcp_rotation_matrix": [ [ 0.54857, 0.17059, 0.81851 ], [ 0.19189, -0.97852, 0.07533 ], [ 0.81378, 0.11574, -0.56953 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 55 }, "api_seconds": 4.804704498499632, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5 }, "note": "Point gripper horizontally forward to view dresser face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03061, -1.61894, 0.09008, -2.54359, 0.11066, 1.89244, -0.13945 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20075, 0.05556, 1.19893 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.89563, 9e-05 ], "tcp_rotation_matrix": [ [ 0.54857, 0.17059, 0.81851 ], [ 0.19189, -0.97852, 0.07533 ], [ 0.81378, 0.11574, -0.56953 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 54 }, "api_seconds": 2.4027814054861665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 1, "x": 0.3 }, "note": "Lower and point more horizontally to view the dresser front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03061, -1.61894, 0.09008, -2.54359, 0.11066, 1.89244, -0.13945 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20075, 0.05556, 1.19893 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.89563, 9e-05 ], "tcp_rotation_matrix": [ [ 0.54857, 0.17059, 0.81851 ], [ 0.19189, -0.97852, 0.07533 ], [ 0.81378, 0.11574, -0.56953 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 53 }, "api_seconds": 3.403327184729278, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Smaller pitch increment toward horizontal." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03061, -1.61894, 0.09008, -2.54359, 0.11066, 1.89244, -0.13945 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20075, 0.05556, 1.19893 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.89563, 9e-05 ], "tcp_rotation_matrix": [ [ 0.54857, 0.17059, 0.81851 ], [ 0.19189, -0.97852, 0.07533 ], [ 0.81378, 0.11574, -0.56953 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 52 }, "api_seconds": 2.802970476448536, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "x": 0.3 }, "note": "Lower the arm with the current tilt so a more horizontal pose becomes reachable." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03061, -1.61894, 0.09008, -2.54359, 0.11066, 1.89244, -0.13945 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20075, 0.05556, 1.19893 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.89563, 9e-05 ], "tcp_rotation_matrix": [ [ 0.54857, 0.17059, 0.81851 ], [ 0.19189, -0.97852, 0.07533 ], [ 0.81378, 0.11574, -0.56953 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 51 }, "api_seconds": 2.2089950861409307, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.12, "x": 0.25 }, "note": "Smaller step down/forward." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04203, -1.68779, 0.11402, -2.80717, 0.13357, 2.08633, -0.14984 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24934, 0.05556, 1.12102 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.89539, 0.00012 ], "tcp_rotation_matrix": [ [ 0.54877, 0.17061, 0.81838 ], [ 0.19191, -0.97852, 0.0753 ], [ 0.81365, 0.11573, -0.56972 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 50 }, "api_seconds": 8.607984106056392, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.1, "z": 1 }, "note": "Wrist view appears to show dresser top with a clock. Move back and down to see the dresser front face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04203, -1.68779, 0.11402, -2.80717, 0.13357, 2.08633, -0.14984 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24934, 0.05556, 1.12102 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.89539, 0.00012 ], "tcp_rotation_matrix": [ [ 0.54877, 0.17061, 0.81838 ], [ 0.19191, -0.97852, 0.0753 ], [ 0.81365, 0.11573, -0.56972 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 49 }, "api_seconds": 2.6027190228924155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.3, "z": 1.05 }, "note": "Return to the downward-pointing initial pose, which is more flexible." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.01051, -0.83791, 0.0674, -2.31207, 0.12118, 1.55113, -0.13184 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29981, 0.05555, 1.05025 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.00407, 8e-05 ], "tcp_rotation_matrix": [ [ 0.97778, 0.19723, 0.07106 ], [ 0.19192, -0.97852, 0.07523 ], [ 0.08438, -0.05992, -0.99463 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 48 }, "api_seconds": 5.405051914975047, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Probe camera mapping: move left 15cm and observe how the wood edge shifts in the wrist view." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.06765, -0.73682, 0.31994, -2.22133, 0.26224, 1.60306, 0.12519 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2998, 0.19869, 1.05025 ], "tcp_roll_pitch_yaw": [ -0.00016, -0.00408, 0.00025 ], "tcp_rotation_matrix": [ [ 0.97774, 0.1974, 0.07106 ], [ 0.19209, -0.9785, 0.07515 ], [ 0.08437, -0.05983, -0.99464 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 47 }, "api_seconds": 10.209285960532725, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "x": 0.45, "z": 1.1 }, "note": "Move forward past the edge to see what lies beyond the wood edge in the wrist view." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.0563, -0.36385, 0.10762, -1.82844, 0.27789, 1.36706, -0.15278 ], "gripper_open": 0.984, "tcp_xyz": [ 0.395, 0.1, 1.09777 ], "tcp_roll_pitch_yaw": [ 0.16136, 0.16972, 0.06752 ], "tcp_rotation_matrix": [ [ 0.96854, 0.22154, -0.11334 ], [ 0.24233, -0.94326, 0.22702 ], [ -0.05661, -0.24735, -0.96727 ] ], "simulated_seconds_remaining": 21.582, "calls_remaining_including_this": 46 }, "api_seconds": 5.805530682206154, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.1, "z": 1.1, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Motion seemed blocked going forward. Move right (-y) to test where the wood surface is relative to the gripper." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.18207, -0.71875, -0.12555, -2.09788, 0.00921, 1.42578, -0.47322 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30057, -0.09884, 1.10002 ], "tcp_roll_pitch_yaw": [ 0.00101, 0.00094, 0.00014 ], "tcp_rotation_matrix": [ [ 0.97818, 0.197, 0.06607 ], [ 0.1919, -0.97844, 0.07631 ], [ 0.07968, -0.06196, -0.99489 ] ], "simulated_seconds_remaining": 19.8, "calls_remaining_including_this": 45 }, "api_seconds": 5.604402147233486, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Descend to gauge the height of the wood surface below." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.19483, -0.9488, -0.12768, -2.42763, -0.00019, 1.7762, -0.49333 ], "gripper_open": 1.0, "tcp_xyz": [ 0.31175, -0.10147, 1.05483 ], "tcp_roll_pitch_yaw": [ -0.05982, -0.24324, 0.00846 ], "tcp_rotation_matrix": [ [ 0.93107, 0.19993, 0.30518 ], [ 0.20419, -0.97876, 0.01826 ], [ 0.30235, 0.04531, -0.95212 ] ], "simulated_seconds_remaining": 18.48, "calls_remaining_including_this": 44 }, "api_seconds": 13.210705246776342, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.12, "y": 0, "z": 1.12, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Contact at z~1.05 means dresser top is under gripper. Move back toward the robot to find the dresser's near edge/front face." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.20098, -1.2053, -0.0066, -2.22143, 0.09257, 1.07038, -0.35308 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.12119, -0.00061, 1.11965 ], "tcp_roll_pitch_yaw": [ -0.00041, -0.00178, 2e-05 ], "tcp_rotation_matrix": [ [ 0.97798, 0.19704, 0.06879 ], [ 0.19189, -0.97856, 0.07488 ], [ 0.08207, -0.06003, -0.99482 ] ], "simulated_seconds_remaining": 16.698, "calls_remaining_including_this": 43 }, "api_seconds": 10.80989296734333, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.15, "roll": 0.8 }, "note": "Roll the wrist to look sideways and locate the dresser's vertical front face with drawers." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09491, -0.67267, -0.37367, -2.10429, 0.63855, 1.25471, -0.39145 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29917, -0.00061, 1.14974 ], "tcp_roll_pitch_yaw": [ 0.79624, -0.00144, 0.00013 ], "tcp_rotation_matrix": [ [ 0.97784, 0.19807, 0.06785 ], [ 0.07682, -0.64092, 0.76376 ], [ 0.19476, -0.74162, -0.64193 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 42 }, "api_seconds": 3.203641922213137, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.8 }, "note": "Look toward -y side instead." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.18748, -0.76306, 0.44994, -2.07977, -0.4272, 1.3566, -0.16984 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29917, -0.00054, 1.14965 ], "tcp_roll_pitch_yaw": [ -0.7956, -0.00128, 0.00024 ], "tcp_rotation_matrix": [ [ 0.97818, 0.19625, 0.06814 ], [ 0.19193, -0.72821, -0.65793 ], [ -0.0795, 0.65666, -0.74999 ] ], "simulated_seconds_remaining": 12.738, "calls_remaining_including_this": 41 }, "api_seconds": 10.60946818254888, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not work out the dresser's orientation or find a drawer handle from the confusing camera views before simulated time ran low. The gripper hit the dresser top at about z=1.05, but I could not find the front face with the handles." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 023 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 23, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 25, "wall_seconds": 246.29, "usage": { "input_tokens": 56, "output_tokens": 14288, "cache_read_input_tokens": 429730, "cache_creation_input_tokens": 27822, "thinking_tokens": 10706, "cost_usd": 0.594506 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UPspxvDoDCFqZpStyCbyeD", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018x2xuMv9WAtiPbk18MzkkR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.8 }, "note": "Nightstand with two drawers ahead; move forward and down to locate handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 485 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Mz4BCbUnbEVn1rEPqD3cjT", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1035, "cache_read_input_tokens": 2510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1035 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01H6UyyEKQfAk3fSJYFncQ2z", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Seems stopped possibly by contact; lift up to get clear view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 580, "cache_read_input_tokens": 3545, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 580 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017pXkVCdiiJ8wawgnX6MVNb", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.22, "y": 0.18, "z": 0.8 }, "note": "Drawers appear to face robot; move in front of drawer faces, near center, to locate top handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1106, "cache_read_input_tokens": 4125, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1106 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The robot's gripper is near the nightstand, but I can't yet tell which way the drawers face. I'll move along one axis and watch where it goes." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1326, "cache_read_input_tokens": 5231, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1326 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RNPGSAzSFyMXPWckXH13cH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4 }, "note": "Probe axis mapping: move +x only and watch exterior image." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1326, "cache_read_input_tokens": 5231, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1326 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The drawers seem to face +y (toward the camera side). I'll position the gripper above the top drawer's front to find the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 927, "cache_read_input_tokens": 6557, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 927 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ExjHpVKNa7qVebRgSPZTuT", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12, "z": 0.9 }, "note": "Drawers appear to face +y; move above front edge to view handle in wrist cam." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 927, "cache_read_input_tokens": 6557, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 927 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QQ7uExbCHeqicXnypSvDsq", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.17, "z": 0.74 }, "note": "Top drawer handle appears below gripper in exterior view; descend in front of drawer face to handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1497, "cache_read_input_tokens": 7484, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1497 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019Hv74QZZe7ZaoS312aNc2R", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.13, "z": 0.8 }, "note": "Position above estimated handle line (face ~y0.10) before descending." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 970, "cache_read_input_tokens": 8981, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 970 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RjMTLa2yszqvMjXhcQf3HP", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75 }, "note": "Handle seen near lower-left of wrist view close to fingers; descend to see if fingers straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 874, "cache_read_input_tokens": 9951, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 874 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RyQkFe434iebe8wwbxn6yR", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.28, "z": 0.76, "roll": -1.57 }, "note": "Reorient gripper to point horizontally toward -y at the drawer face, fingers vertical, to grasp horizontal handle and see face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 857, "cache_read_input_tokens": 10825, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 857 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T72N51HtVv5pVYWWQ9QDQc", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Wrist view (rotated) shows drawer faces with handles ahead; approach face along -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1879, "cache_read_input_tokens": 11682, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1879 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm pointing the gripper sideways toward the drawer front and moving in slowly to line up with a handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1521, "cache_read_input_tokens": 13561, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1521 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014P17JwFTp8fksMePnQxvtK", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.14 }, "note": "Continue approaching face; handles near finger region in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1521, "cache_read_input_tokens": 13561, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1521 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L16GBZw2SLi1yQNTRyFhMv", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.68 }, "note": "Wrist view barely changes with y; try lowering to understand where handles are relative to fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1017, "cache_read_input_tokens": 15082, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1017 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ENPZiVan2MNWEojsUmwgxN", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.07 }, "note": "Handle appears just beyond fingertips; push forward along -y to reach it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1218, "cache_read_input_tokens": 16099, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1218 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The handle looks like it's between the fingers now. Closing the gripper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1009, "cache_read_input_tokens": 17317, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1009 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01B4gZQkdDv6WgmjhLvoyLWD", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle bar appears between fingers in wrist view; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1009, "cache_read_input_tokens": 17317, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1009 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The grasp missed: the gripper closed all the way on nothing. I'll open it and adjust sideways to line up with the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 18326, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 702 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YK3J5ovLC9bBRvtiHBtHpo", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "y": 0.12 }, "note": "Grasp missed (fully closed). Open and back off to re-see handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 18326, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 702 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013SaUGZeomQ5xLzLLTpxsAP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47, "z": 0.75, "y": 0.2 }, "note": "Re-estimate: nightstand center slightly +x, top handle ~z0.75; reposition in front before approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1754, "cache_read_input_tokens": 19028, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1754 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The drawer handle is now lined up between the fingers in the wrist view. Moving straight in toward it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1815, "cache_read_input_tokens": 20782, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1815 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L65AmqHyxtpDd3GavJvPEQ", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0 }, "note": "Handle bar aligned between fingers in rotated wrist view; approach straight along -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1815, "cache_read_input_tokens": 20782, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1815 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GvTnWQ1xB4vdSvdJaAnavj", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.04, "z": 0.738 }, "note": "Handle slightly toward one finger; adjust z slightly and advance to engulf handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1203, "cache_read_input_tokens": 22597, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1203 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CdyRRuDtVL5X9YLZWoxJSU", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.065 }, "note": "Handle just at fingertips; advance a bit more to seat it between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 932, "cache_read_input_tokens": 23800, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 932 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Handle is between the fingers. Closing." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 693, "cache_read_input_tokens": 24732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 693 }, "output_tokens": 43, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FYkxiRe8gLGhXycSrXyppA", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle between fingers; grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 693, "cache_read_input_tokens": 24732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 693 }, "output_tokens": 43, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper reads fully closed, so it may have missed, but the handle could be thin. I'll pull back to test whether the drawer comes with it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 622, "cache_read_input_tokens": 25425, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 622 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BAQMmL6ktArN6efa9pUafu", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Closed on handle (thin bar may read 0); pull along +y to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 622, "cache_read_input_tokens": 25425, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 622 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Pulling back didn't move the drawer, so the grasp missed. The handle is probably farther away than I estimated. I'll open the gripper and reach deeper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 26047, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ERP1jr7CiGHRnSdTnsH1eA", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "y": -0.13 }, "note": "Drawer didn't move: handle further than fingertips. Open and advance deeper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 26047, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EUe5bBcGYFk42Czqo68oEa", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Contact at face; handle between fingers; grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1064, "cache_read_input_tokens": 26823, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1064 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grasped (gripper at 0.084). Pulling now." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 27887, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 674 }, "output_tokens": 43, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BFY3tHZtm6vEoUEEdk9ggL", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15 }, "note": "Holding handle; pull along +y to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 27887, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 674 }, "output_tokens": 43, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SQk1CgJrpXqwPksYJV9pv2", "name": "mcp__robot__give_up", "input": { "note": "Grasped the handle briefly but it slipped during the pull; the drawer did not open, and the simulated time budget is used up." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 28561, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't get the table's drawer open, and I ended the episode with give_up because the 30-second motion budget was used up.\n\n- **Slow start:** it took most of the time to work out where the drawers faced. They face the robot's +y side, and the nightstand is farther away along −y than I first thought.\n- **Missed grasps:** I turned the gripper sideways to point at the drawer front, with the fingers opening up and down. The gripper closed on nothing twice because the handle was still beyond the fingertips.\n- **Slipped pull:** on the third try the gripper touched the drawer front and closed on the handle, reading 0.084 open, which suggests it was holding something. When I pulled back about 25 cm, the gripper closed fully and the wrist camera showed the drawer hadn't moved, so the handle slipped out.\n\nOnly about 0.6 seconds of motion were left after that, not enough to grasp again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 181, "cache_read_input_tokens": 29194, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 181 }, "output_tokens": 295, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 56, "cache_creation_input_tokens": 27822, "cache_read_input_tokens": 429730, "output_tokens": 14288, "output_tokens_details": { "thinking_tokens": 10706 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 27822, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 295, "cache_read_input_tokens": 29194, "cache_creation_input_tokens": 181, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 181 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 56, "outputTokens": 14288, "cacheReadInputTokens": 429730, "cacheCreationInputTokens": 27822, "webSearchRequests": 0, "costUSD": 0.594506, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 10706, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.594506, "num_turns": 28, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ -0.00313, -0.78279, 0.01956, -2.45079, -0.05671, 1.46372, -0.14563 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.25903, -0.01178, 0.96627 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.96653, 0.15815, -0.20203 ], [ 0.14639, -0.9866, -0.07201 ], [ -0.21071, 0.04003, -0.97673 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.008673285134137, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.8 }, "note": "Nightstand with two drawers ahead; move forward and down to locate handles." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ -0.00971, -0.24305, 0.02566, -2.27522, -0.0746, 1.6824, -0.10445 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37805, -0.01321, 0.86691 ], "tcp_roll_pitch_yaw": [ -0.02005, 0.14256, -0.01932 ], "tcp_rotation_matrix": [ [ 0.92895, 0.14598, -0.34022 ], [ 0.12421, -0.98861, -0.08503 ], [ -0.34876, 0.03673, -0.93649 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 56 }, "api_seconds": 10.010392157360911, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Seems stopped possibly by contact; lift up to get clear view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ -0.00778, -0.39639, 0.01799, -2.08642, -0.06386, 1.48466, -0.14535 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37811, -0.01321, 0.99877 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00112, -0.00018 ], "tcp_rotation_matrix": [ [ 0.96632, 0.15802, -0.20314 ], [ 0.14617, -0.98662, -0.07215 ], [ -0.21182, 0.04003, -0.97649 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 55 }, "api_seconds": 9.009557709097862, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.18, "z": 0.8 }, "note": "Drawers appear to face robot; move in front of drawer faces, near center, to locate top handle." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.25531, -0.64933, 0.3705, -2.75996, 0.27772, 1.91165, 0.25294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22063, 0.17919, 0.80081 ], "tcp_roll_pitch_yaw": [ -0.00029, 0.00123, -1e-05 ], "tcp_rotation_matrix": [ [ 0.96627, 0.15819, -0.20323 ], [ 0.14631, -0.98659, -0.0723 ], [ -0.21194, 0.04012, -0.97646 ] ], "simulated_seconds_remaining": 24.42, "calls_remaining_including_this": 54 }, "api_seconds": 5.606131772510707, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Probe axis mapping: move +x only and watch exterior image." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ 0.07631, -0.1109, 0.332, -2.30741, 0.0538, 1.98473, 0.2209 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3987, 0.17916, 0.8008 ], "tcp_roll_pitch_yaw": [ -0.00025, 0.00128, -0.00014 ], "tcp_rotation_matrix": [ [ 0.96628, 0.15807, -0.20329 ], [ 0.1462, -0.98662, -0.07223 ], [ -0.21199, 0.04007, -0.97645 ] ], "simulated_seconds_remaining": 22.902, "calls_remaining_including_this": 53 }, "api_seconds": 11.612142058089375, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12, "z": 0.9 }, "note": "Drawers appear to face +y; move above front edge to view handle in wrist cam." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ 0.02715, -0.26446, 0.2491, -2.20633, 0.04777, 1.73269, 0.09364 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39878, 0.12067, 0.89893 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00099, -0.00026 ], "tcp_rotation_matrix": [ [ 0.96635, 0.15794, -0.20302 ], [ 0.14609, -0.98664, -0.07215 ], [ -0.2117, 0.04006, -0.97651 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 52 }, "api_seconds": 5.804886008612812, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.17, "z": 0.74 }, "note": "Top drawer handle appears below gripper in exterior view; descend in front of drawer face to handle height." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.06908, -0.02498, 0.32706, -2.3849, 0.02334, 2.1439, 0.22589 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3987, 0.16958, 0.74121 ], "tcp_roll_pitch_yaw": [ -0.0003, 0.00132, -0.0002 ], "tcp_rotation_matrix": [ [ 0.96627, 0.15801, -0.20334 ], [ 0.14613, -0.98662, -0.07227 ], [ -0.21204, 0.04012, -0.97644 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 51 }, "api_seconds": 4.605117942206562, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.13, "z": 0.8 }, "note": "Position above estimated handle line (face ~y0.10) before descending." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ 0.03429, -0.15945, 0.27862, -2.36631, 0.03923, 1.99534, 0.13035 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39879, 0.13067, 0.79905 ], "tcp_roll_pitch_yaw": [ -0.00026, 0.00107, -0.00032 ], "tcp_rotation_matrix": [ [ 0.96635, 0.15788, -0.2031 ], [ 0.14602, -0.98664, -0.07221 ], [ -0.21178, 0.04012, -0.97649 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 50 }, "api_seconds": 5.208791649900377, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Handle seen near lower-left of wrist view close to fingers; descend to see if fingers straddle it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ 0.0329, -0.0823, 0.28499, -2.42087, 0.02033, 2.12422, 0.14752 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39871, 0.13064, 0.75125 ], "tcp_roll_pitch_yaw": [ -0.00034, 0.00141, -0.00033 ], "tcp_rotation_matrix": [ [ 0.96628, 0.15788, -0.20343 ], [ 0.14599, -0.98664, -0.07228 ], [ -0.21212, 0.04015, -0.97642 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 49 }, "api_seconds": 15.414004823192954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.28, "z": 0.76, "roll": -1.57 }, "note": "Reorient gripper to point horizontally toward -y at the drawer face, fingers vertical, to grasp horizontal handle and see face." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ 0.81866, 1.15169, 0.20792, -1.019, -0.84365, 0.57918, 0.91738 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39514, 0.27957, 0.77023 ], "tcp_roll_pitch_yaw": [ -1.58323, 0.00199, -0.0132 ], "tcp_rotation_matrix": [ [ 0.96335, 0.16079, -0.21472 ], [ -0.22525, 0.05018, -0.97301 ], [ -0.14568, 0.98571, 0.08456 ] ], "simulated_seconds_remaining": 16.698, "calls_remaining_including_this": 48 }, "api_seconds": 11.213561316020787, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Wrist view (rotated) shows drawer faces with handles ahead; approach face along -y." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ 0.67577, 0.92648, 0.22985, -1.44069, -0.79321, 0.75168, 1.04525 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39523, 0.20117, 0.77027 ], "tcp_roll_pitch_yaw": [ -1.58333, 0.00191, -0.0134 ], "tcp_rotation_matrix": [ [ 0.96331, 0.16073, -0.21492 ], [ -0.22546, 0.05024, -0.97296 ], [ -0.14558, 0.98572, 0.08463 ] ], "simulated_seconds_remaining": 15.84, "calls_remaining_including_this": 47 }, "api_seconds": 6.4060448026284575, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.14 }, "note": "Continue approaching face; handles near finger region in wrist view." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ 0.58828, 0.80661, 0.22454, -1.66606, -0.80741, 0.86158, 1.07799 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39528, 0.14114, 0.7703 ], "tcp_roll_pitch_yaw": [ -1.58345, 0.00185, -0.0136 ], "tcp_rotation_matrix": [ [ 0.96328, 0.16068, -0.21513 ], [ -0.22567, 0.05033, -0.9729 ], [ -0.1455, 0.98572, 0.08474 ] ], "simulated_seconds_remaining": 15.114, "calls_remaining_including_this": 46 }, "api_seconds": 8.808685233816504, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.68 }, "note": "Wrist view barely changes with y; try lowering to understand where handles are relative to fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ 0.60244, 1.00821, 0.20104, -1.55495, -0.79642, 0.93245, 1.14704 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39523, 0.1411, 0.68119 ], "tcp_roll_pitch_yaw": [ -1.58361, 0.00208, -0.0136 ], "tcp_rotation_matrix": [ [ 0.96324, 0.1609, -0.21511 ], [ -0.22569, 0.05048, -0.97289 ], [ -0.14568, 0.98568, 0.08494 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 45 }, "api_seconds": 6.206299424171448, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.07 }, "note": "Handle appears just beyond fingertips; push forward along -y to reach it." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ 0.50956, 0.90504, 0.17805, -1.76792, -0.84341, 1.05063, 1.17407 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39527, 0.07114, 0.68121 ], "tcp_roll_pitch_yaw": [ -1.58377, 0.00204, -0.01381 ], "tcp_rotation_matrix": [ [ 0.9632, 0.16087, -0.21531 ], [ -0.22592, 0.05061, -0.97283 ], [ -0.14561, 0.98568, 0.08509 ] ], "simulated_seconds_remaining": 13.398, "calls_remaining_including_this": 44 }, "api_seconds": 3.2037710519507527, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle bar appears between fingers in wrist view; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ 0.50956, 0.90504, 0.17805, -1.76792, -0.84341, 1.05063, 1.17407 ], "gripper_open": 0.0, "tcp_xyz": [ 0.39527, 0.07113, 0.68121 ], "tcp_roll_pitch_yaw": [ -1.58377, 0.00204, -0.01381 ], "tcp_rotation_matrix": [ [ 0.9632, 0.16087, -0.21531 ], [ -0.22591, 0.05061, -0.97283 ], [ -0.14561, 0.98568, 0.08509 ] ], "simulated_seconds_remaining": 12.474, "calls_remaining_including_this": 43 }, "api_seconds": 15.815016553737223, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.12 }, "note": "Grasp missed (fully closed). Open and back off to re-see handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ 0.57201, 0.97248, 0.19551, -1.62824, -0.80849, 0.97117, 1.15783 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.39525, 0.119, 0.6812 ], "tcp_roll_pitch_yaw": [ -1.58369, 0.00205, -0.01369 ], "tcp_rotation_matrix": [ [ 0.96323, 0.16089, -0.2152 ], [ -0.22579, 0.05055, -0.97286 ], [ -0.14564, 0.98568, 0.08502 ] ], "simulated_seconds_remaining": 11.55, "calls_remaining_including_this": 42 }, "api_seconds": 14.813320895656943, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "z": 0.75, "y": 0.2 }, "note": "Re-estimate: nightstand center slightly +x, top handle ~z0.75; reposition in front before approach." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ 0.68754, 1.12872, 0.15187, -1.12269, -0.95189, 0.73459, 0.83944 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46928, 0.19924, 0.74931 ], "tcp_roll_pitch_yaw": [ -1.5836, 0.00191, -0.01356 ], "tcp_rotation_matrix": [ [ 0.96328, 0.16073, -0.21508 ], [ -0.22566, 0.05048, -0.9729 ], [ -0.14552, 0.98571, 0.0849 ] ], "simulated_seconds_remaining": 10.362, "calls_remaining_including_this": 41 }, "api_seconds": 9.00849395710975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0 }, "note": "Handle bar aligned between fingers in rotated wrist view; approach straight along -y." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ 0.41075, 0.77744, 0.1106, -1.78443, -1.01788, 1.0745, 0.98221 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4693, 0.00119, 0.74935 ], "tcp_roll_pitch_yaw": [ -1.58377, 0.00186, -0.01384 ], "tcp_rotation_matrix": [ [ 0.96322, 0.1607, -0.21535 ], [ -0.22594, 0.0506, -0.97283 ], [ -0.14544, 0.9857, 0.08505 ] ], "simulated_seconds_remaining": 8.712, "calls_remaining_including_this": 40 }, "api_seconds": 5.805529011413455, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.04, "z": 0.738 }, "note": "Handle slightly toward one finger; adjust z slightly and advance to engulf handle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ 0.36322, 0.76225, 0.08569, -1.85042, -1.05479, 1.14116, 0.99982 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46929, -0.03899, 0.73832 ], "tcp_roll_pitch_yaw": [ -1.58392, 0.00189, -0.01407 ], "tcp_rotation_matrix": [ [ 0.96316, 0.16075, -0.21558 ], [ -0.22619, 0.05072, -0.97276 ], [ -0.14544, 0.98569, 0.08521 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 39 }, "api_seconds": 3.0030665304511786, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.065 }, "note": "Handle just at fingertips; advance a bit more to seat it between fingers." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the table.", "joint_positions": [ 0.3342, 0.74069, 0.06896, -1.89271, -1.08227, 1.1773, 1.00211 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46927, -0.06398, 0.73834 ], "tcp_roll_pitch_yaw": [ -1.58404, 0.00188, -0.01428 ], "tcp_rotation_matrix": [ [ 0.96312, 0.16075, -0.21578 ], [ -0.22641, 0.0508, -0.97271 ], [ -0.1454, 0.98569, 0.08532 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 38 }, "api_seconds": 2.2025678185746074, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle between fingers; grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the table.", "joint_positions": [ 0.3342, 0.74069, 0.06896, -1.89271, -1.08227, 1.1773, 1.00211 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46927, -0.06399, 0.73834 ], "tcp_roll_pitch_yaw": [ -1.58403, 0.00188, -0.01428 ], "tcp_rotation_matrix": [ [ 0.96312, 0.16075, -0.21578 ], [ -0.2264, 0.0508, -0.97271 ], [ -0.1454, 0.98569, 0.08532 ] ], "simulated_seconds_remaining": 6.732, "calls_remaining_including_this": 37 }, "api_seconds": 3.8037008196115494, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Closed on handle (thin bar may read 0); pull along +y to open drawer." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the table.", "joint_positions": [ 0.5347, 0.93591, 0.14855, -1.516, -0.94861, 0.92556, 0.95881 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46927, 0.09878, 0.73831 ], "tcp_roll_pitch_yaw": [ -1.5839, 0.00192, -0.014 ], "tcp_rotation_matrix": [ [ 0.96318, 0.16077, -0.2155 ], [ -0.22611, 0.05071, -0.97278 ], [ -0.14547, 0.98569, 0.08519 ] ], "simulated_seconds_remaining": 5.346, "calls_remaining_including_this": 36 }, "api_seconds": 7.206777456216514, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": -0.13 }, "note": "Drawer didn't move: handle further than fingertips. Open and advance deeper." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the table.", "joint_positions": [ 0.27922, 0.69594, 0.04268, -1.97799, -1.15499, 1.26784, 1.00694 ], "gripper_open": 1.0, "tcp_xyz": [ 0.47178, -0.10842, 0.73487 ], "tcp_roll_pitch_yaw": [ -1.56676, 0.00152, 0.01535 ], "tcp_rotation_matrix": [ [ 0.96941, 0.15908, -0.1869 ], [ -0.19526, 0.03849, -0.98 ], [ -0.14871, 0.98651, 0.06838 ] ], "simulated_seconds_remaining": 3.498, "calls_remaining_including_this": 35 }, "api_seconds": 3.0031975228339434, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Contact at face; handle between fingers; grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the table.", "joint_positions": [ 0.27889, 0.70461, 0.04524, -1.9846, -1.12507, 1.32659, 1.00613 ], "gripper_open": 0.0841, "tcp_xyz": [ 0.46726, -0.10383, 0.71227 ], "tcp_roll_pitch_yaw": [ -1.50361, 0.01203, 0.01381 ], "tcp_rotation_matrix": [ [ 0.9672, 0.17036, -0.1884 ], [ -0.18707, -0.02395, -0.98205 ], [ -0.17181, 0.98509, 0.00871 ] ], "simulated_seconds_remaining": 2.574, "calls_remaining_including_this": 34 }, "api_seconds": 2.6028901506215334, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Holding handle; pull along +y to open drawer." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the table.", "joint_positions": [ 0.59251, 1.01079, 0.17216, -1.3898, -0.9096, 0.93236, 0.94035 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46723, 0.14876, 0.71223 ], "tcp_roll_pitch_yaw": [ -1.50348, 0.01209, 0.01409 ], "tcp_rotation_matrix": [ [ 0.96725, 0.17043, -0.18812 ], [ -0.18678, -0.02403, -0.98211 ], [ -0.1719, 0.98508, 0.00859 ] ], "simulated_seconds_remaining": 0.594, "calls_remaining_including_this": 33 }, "api_seconds": 2.603036342188716, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Grasped the handle briefly but it slipped during the pull; the drawer did not open, and the simulated time budget is used up." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 024 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 24, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 20, "wall_seconds": 148.3, "usage": { "input_tokens": 44, "output_tokens": 8899, "cache_read_input_tokens": 232075, "cache_creation_input_tokens": 19424, "thinking_tokens": 6189, "cost_usd": 0.37996300000000005 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V33gL9pUyswbzbrSnhvcXx", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JkQtvtdpm8vV4kE8jKdie5", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower to get better view of nightstand below/ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DzVHn28ZdEru2PtRqNogPR", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15 }, "note": "Test motion direction in +y to map exterior view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 784, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 784 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Vh3dCAqZJtnS7v1eHKk5C6", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3, "z": 0.8 }, "note": "Continue toward the nightstand in +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 860, "cache_read_input_tokens": 3293, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 860 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019tPtPjEs3ki3jMsXKpxS1d", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.55 }, "note": "Lower to see nightstand front and handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 864, "cache_read_input_tokens": 4153, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 864 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm tilting the gripper to face forward so the wrist camera can find the nightstand's drawer handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 883, "cache_read_input_tokens": 5017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 883 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LhL2oRmy17gwYhikPQGJLm", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 0.6, "x": 0.25 }, "note": "Tilt gripper to face forward (+x) to view nightstand front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 883, "cache_read_input_tokens": 5017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 883 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LA4vhbyCGwu5qdB3fNvh1N", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6, "z": 0.62 }, "note": "Partial pitch toward forward view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 931, "cache_read_input_tokens": 5900, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 931 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C2f5gg4bXLQ6SBcfCcqp4v", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Test +x direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 616, "cache_read_input_tokens": 6831, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 616 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013jXcJi3gjDAXxr7qUqASSE", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "z": 0.95, "x": 0.35, "y": 0.4 }, "note": "Go up and look down to localize nightstand top." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 805, "cache_read_input_tokens": 7447, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 805 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Vgjp5XqEpFUAXCzUanZH9a", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.55, "x": 0.4 }, "note": "Move over nightstand to see its top and edges in wrist cam." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1567, "cache_read_input_tokens": 8252, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1567 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JuUUsnEDq3pFxeaCmLQj12", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": 0.35, "z": 0.95, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Collision detected; retreat to safe pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1060, "cache_read_input_tokens": 9819, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1060 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm moving in front of the nightstand and turning the gripper back toward it to look for the drawer handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 10879, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 790 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011Q3mbjuzkXKNxEaweERNxv", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "y": 0.45, "z": 0.8, "pitch": 0.8 }, "note": "Hypothesis: nightstand front faces +x. Move in front and tilt to look back (-x) at front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 10879, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 790 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E8iRvD3XkYiwetPtxnbFWR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "y": 0.4, "z": 0.85 }, "note": "Translate forward first." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1722, "cache_read_input_tokens": 11669, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1722 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RW3o9AFuVxYuZrMndvUFaM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": 0.5, "z": 0.75, "roll": 0, "pitch": -0.8, "yaw": 0 }, "note": "Revised: nightstand front faces -x toward robot. Back off and tilt to face +x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 617, "cache_read_input_tokens": 13391, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 617 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SPDSYJ74sLsHZukanifAMs", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 0.68 }, "note": "Face more forward to view front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1155, "cache_read_input_tokens": 14008, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1155 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TR6TLcYb9BdGco4sQ9J3M3", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.65, "x": 0.4 }, "note": "Shift left to center nightstand front in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 742, "cache_read_input_tokens": 15163, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 742 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013nMv1FPFdnoK6PkNC1j8YM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": 0.5, "z": 0.62, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Reset orientation and advance toward nightstand front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 839, "cache_read_input_tokens": 15905, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 839 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017PRGQA2RXs7JegaQAHzdM3", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36, "y": 0.28, "z": 0.62, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Wrist image appears inverted; nightstand likely at lower y. Position in front of its center facing +x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1144, "cache_read_input_tokens": 16744, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1144 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QPu6VpKRxnZdBsfAAPpryi", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.66 }, "note": "Front face visible ahead; approach to find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1182, "cache_read_input_tokens": 17888, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1182 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016CH71yynk4XR81KwgLncnw", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.76, "x": 0.5 }, "note": "Exterior suggests drawer knob higher; raise and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 786, "cache_read_input_tokens": 19070, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 786 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LquvfG21hcHMuHDnaE2dpu", "name": "mcp__robot__give_up", "input": { "note": "Spent too much time working out the camera and frame orientation. The nightstand front face is now in view, but with about 5 s of motion left I have not found a handle, so I can't finish grasping and opening it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 19856, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 847 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table (a nightstand next to the bed), and I ended the episode with give_up.\n\nMost of the 30-second motion budget went into working out where the nightstand was relative to the robot. The camera views were hard to read, and the wrist camera image seems to be upside down. Along the way the arm bumped into things twice, and some of my moves were rejected by the controller.\n\nBy the end, the wrist camera was looking straight at the nightstand's front, with the gripper roughly in front of its centre at about x=0.50, y=0.28, z=0.76. I could see a horizontal gap on the front, probably where the drawer meets the door. I never found a handle or knob I could grip. With about 5 seconds of motion left, there wasn't time to search further, grasp and pull." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 274, "cache_read_input_tokens": 20703, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 274 }, "output_tokens": 249, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 44, "cache_creation_input_tokens": 19424, "cache_read_input_tokens": 232075, "output_tokens": 8899, "output_tokens_details": { "thinking_tokens": 6189 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 19424, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 249, "cache_read_input_tokens": 20703, "cache_creation_input_tokens": 274, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 274 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 44, "outputTokens": 8899, "cacheReadInputTokens": 232075, "cacheCreationInputTokens": 19424, "webSearchRequests": 0, "costUSD": 0.37996300000000005, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6189, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.37996300000000005, "num_turns": 22, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ -0.01381, -0.78272, 0.0471, -2.3155, -0.08521, 1.55536, -0.0336 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31046, -0.01233, 1.03377 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99846, 0.04984, 0.0242 ], [ 0.05235, -0.99167, -0.11767 ], [ 0.01814, 0.11876, -0.99276 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.606500944122672, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower to get better view of nightstand below/ahead." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ -0.00939, -0.7934, 0.0504, -2.78942, -0.09159, 2.01591, 0.0137 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3104, -0.01234, 0.85127 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00032, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99847, 0.04986, 0.02388 ], [ 0.05234, -0.99167, -0.11769 ], [ 0.01781, 0.11876, -0.99276 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 56 }, "api_seconds": 4.404394667595625, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Test motion direction in +y to map exterior view." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ 0.16027, -0.64603, 0.33331, -2.66124, 0.08956, 2.01321, 0.33627 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31042, 0.14869, 0.85127 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.0003, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99846, 0.05003, 0.02393 ], [ 0.05251, -0.99165, -0.11775 ], [ 0.01784, 0.11883, -0.99275 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 55 }, "api_seconds": 4.805176985450089, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3, "z": 0.8 }, "note": "Continue toward the nightstand in +y." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.18329, -0.28384, 0.61582, -2.46843, 0.07421, 2.16731, 0.67921 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3104, 0.29876, 0.8004 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00035, 0.00032 ], "tcp_rotation_matrix": [ [ 0.99845, 0.0502, 0.02389 ], [ 0.05268, -0.99163, -0.11784 ], [ 0.01778, 0.11891, -0.99275 ] ], "simulated_seconds_remaining": 25.74, "calls_remaining_including_this": 54 }, "api_seconds": 4.607231275178492, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.55 }, "note": "Lower to see nightstand front and handles." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ 0.29288, 0.43623, 0.40426, -2.48334, -0.74628, 2.73097, 1.32675 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31035, 0.29872, 0.5513 ], "tcp_roll_pitch_yaw": [ -0.00027, 0.0006, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99846, 0.05011, 0.02363 ], [ 0.05256, -0.99163, -0.11794 ], [ 0.01753, 0.119, -0.99274 ] ], "simulated_seconds_remaining": 23.76, "calls_remaining_including_this": 53 }, "api_seconds": 5.4057143200188875, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 0.6, "x": 0.25 }, "note": "Tilt gripper to face forward (+x) to view nightstand front." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ 0.29288, 0.43623, 0.40426, -2.48334, -0.74628, 2.73097, 1.32675 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31035, 0.29872, 0.5513 ], "tcp_roll_pitch_yaw": [ -0.00027, 0.0006, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99846, 0.05011, 0.02363 ], [ 0.05256, -0.99163, -0.11794 ], [ 0.01753, 0.119, -0.99274 ] ], "simulated_seconds_remaining": 23.76, "calls_remaining_including_this": 52 }, "api_seconds": 2.2026901273056865, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6, "z": 0.62 }, "note": "Partial pitch toward forward view." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.67989, 0.17952, 0.23517, -2.63218, -1.54875, 2.54523, 2.33503 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31019, 0.29872, 0.61946 ], "tcp_roll_pitch_yaw": [ -0.00091, -0.59542, 0.00084 ], "tcp_rotation_matrix": [ [ 0.81645, -0.02502, 0.57687 ], [ 0.05305, -0.99158, -0.11809 ], [ 0.57497, 0.12702, -0.80825 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 51 }, "api_seconds": 4.004401771351695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Test +x direction." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ 0.54807, 0.35257, 0.11279, -2.35821, -1.61035, 2.64525, 2.12925 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44877, 0.29867, 0.61947 ], "tcp_roll_pitch_yaw": [ -0.00089, -0.59548, 0.00059 ], "tcp_rotation_matrix": [ [ 0.81643, -0.02526, 0.57689 ], [ 0.05285, -0.99158, -0.11821 ], [ 0.57502, 0.127, -0.80822 ] ], "simulated_seconds_remaining": 21.384, "calls_remaining_including_this": 50 }, "api_seconds": 12.410555996000767, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "z": 0.95, "x": 0.35, "y": 0.4 }, "note": "Go up and look down to localize nightstand top." } } } ] } } ] }, "execution": { "steps": 41, "motion_seconds": 2.706, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ 0.57069, -0.03897, 0.31834, -1.8597, -0.08421, 1.74646, 0.85447 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35034, 0.39979, 0.94915 ], "tcp_roll_pitch_yaw": [ -0.00063, -0.00201, 0.00056 ], "tcp_rotation_matrix": [ [ 0.9984, 0.05016, 0.02627 ], [ 0.05293, -0.99157, -0.11828 ], [ 0.02011, 0.11948, -0.99263 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 49 }, "api_seconds": 6.406177928671241, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.55, "x": 0.4 }, "note": "Move over nightstand to see its top and edges in wrist cam." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ 0.73174, 0.38272, 0.34126, -1.09844, -0.25684, 0.77971, 1.00377 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.30015, 0.36322, 1.04338 ], "tcp_roll_pitch_yaw": [ -0.55216, 0.21616, -0.16165 ], "tcp_rotation_matrix": [ [ 0.96867, 0.0537, -0.24246 ], [ -0.10316, -0.8011, -0.58957 ], [ -0.22589, 0.59612, -0.77047 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 48 }, "api_seconds": 3.403731059283018, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.35, "z": 0.95, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Collision detected; retreat to safe pose." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ 0.5611, -0.1569, 0.25478, -1.98651, -0.06156, 1.76072, 0.77458 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3496, 0.34997, 0.95059 ], "tcp_roll_pitch_yaw": [ -0.00411, 0.00225, -0.00079 ], "tcp_rotation_matrix": [ [ 0.99854, 0.04934, 0.02187 ], [ 0.05164, -0.99121, -0.12176 ], [ 0.01568, 0.12271, -0.99232 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 47 }, "api_seconds": 14.213104496710002, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.45, "z": 0.8, "pitch": 0.8 }, "note": "Hypothesis: nightstand front faces +x. Move in front and tilt to look back (-x) at front face." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ 0.5611, -0.1569, 0.25478, -1.98651, -0.06156, 1.76072, 0.77458 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3496, 0.34997, 0.95059 ], "tcp_roll_pitch_yaw": [ -0.00411, 0.00225, -0.00079 ], "tcp_rotation_matrix": [ [ 0.99854, 0.04934, 0.02187 ], [ 0.05164, -0.99121, -0.12176 ], [ 0.01568, 0.12271, -0.99232 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 46 }, "api_seconds": 2.202638929709792, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.4, "z": 0.85 }, "note": "Translate forward first." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ 0.5795, 0.43165, 0.2079, -1.41681, -0.19708, 1.81336, 1.01035 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51812, 0.44133, 0.88074 ], "tcp_roll_pitch_yaw": [ 0.04343, -0.05273, -0.23891 ], "tcp_rotation_matrix": [ [ 0.9799, -0.19119, 0.05691 ], [ -0.18565, -0.97844, -0.0905 ], [ 0.07299, 0.07811, -0.99427 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 45 }, "api_seconds": 7.608167890459299, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.5, "z": 0.75, "roll": 0, "pitch": -0.8, "yaw": 0 }, "note": "Revised: nightstand front faces -x toward robot. Back off and tilt to face +x." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ 0.99969, 0.29504, 0.20422, -2.11024, -1.17984, 2.18029, 2.02396 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35039, 0.4998, 0.7503 ], "tcp_roll_pitch_yaw": [ -0.00015, -0.79663, -0.00046 ], "tcp_rotation_matrix": [ [ 0.68511, -0.05063, 0.72668 ], [ 0.05204, -0.99163, -0.11815 ], [ 0.72658, 0.11877, -0.67674 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 44 }, "api_seconds": 3.603828369639814, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 0.68 }, "note": "Face more forward to view front face." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ 1.231, 0.62068, 0.12294, -2.04751, -1.59035, 1.78182, 2.56423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35027, 0.4997, 0.68025 ], "tcp_roll_pitch_yaw": [ -0.0028, -1.29531, 0.002 ], "tcp_rotation_matrix": [ [ 0.25417, -0.10141, 0.96183 ], [ 0.05291, -0.99154, -0.11852 ], [ 0.96571, 0.08102, -0.24666 ] ], "simulated_seconds_remaining": 11.616, "calls_remaining_including_this": 43 }, "api_seconds": 4.604454059153795, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.65, "x": 0.4 }, "note": "Shift left to center nightstand front in wrist view." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ 1.24848, 0.77527, 0.12805, -1.75177, -1.29627, 1.62842, 2.26409 ], "gripper_open": 0.9921, "tcp_xyz": [ 0.35107, 0.5055, 0.67174 ], "tcp_roll_pitch_yaw": [ -0.51055, -1.17563, 0.2338 ], "tcp_rotation_matrix": [ [ 0.37003, -0.32243, 0.87127 ], [ 0.14419, -0.90654, -0.39672 ], [ 0.91776, 0.27243, -0.28896 ] ], "simulated_seconds_remaining": 10.296, "calls_remaining_including_this": 42 }, "api_seconds": 7.807795425876975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.5, "z": 0.62, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Reset orientation and advance toward nightstand front." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ 1.12752, 0.86323, -0.02529, -1.78669, -1.58145, 1.98036, 2.55582 ], "gripper_open": 1.0, "tcp_xyz": [ 0.4721, 0.47727, 0.59819 ], "tcp_roll_pitch_yaw": [ 0.08374, -1.21163, -0.21337 ], "tcp_rotation_matrix": [ [ 0.33318, -0.22662, 0.91523 ], [ -0.02036, -0.97219, -0.23331 ], [ 0.94264, 0.0591, -0.32853 ] ], "simulated_seconds_remaining": 8.976, "calls_remaining_including_this": 41 }, "api_seconds": 9.008639743551612, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "y": 0.28, "z": 0.62, "roll": 0, "pitch": -1.3, "yaw": 0 }, "note": "Wrist image appears inverted; nightstand likely at lower y. Position in front of its center facing +x." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ 1.23854, 0.51577, -0.06228, -2.57036, -1.82124, 1.86005, 3.01088 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36061, 0.2811, 0.61983 ], "tcp_roll_pitch_yaw": [ 0.0001, -1.29942, -0.00089 ], "tcp_rotation_matrix": [ [ 0.25021, -0.10183, 0.96282 ], [ 0.05213, -0.99159, -0.11842 ], [ 0.96679, 0.07982, -0.2428 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 40 }, "api_seconds": 4.00423539057374, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.66 }, "note": "Front face visible ahead; approach to find handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ 1.12866, 0.43563, -0.18289, -2.50597, -1.99726, 1.97586, 2.89967 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44884, 0.28107, 0.6595 ], "tcp_roll_pitch_yaw": [ 0.00064, -1.29957, -0.00165 ], "tcp_rotation_matrix": [ [ 0.25008, -0.10209, 0.96283 ], [ 0.05193, -0.99158, -0.11862 ], [ 0.96683, 0.07966, -0.24267 ] ], "simulated_seconds_remaining": 6.204, "calls_remaining_including_this": 39 }, "api_seconds": 4.4044073121622205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76, "x": 0.5 }, "note": "Exterior suggests drawer knob higher; raise and approach." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the table.", "joint_positions": [ 1.06987, 0.18515, -0.26196, -2.50456, -2.04398, 2.10071, 2.66672 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49948, 0.28107, 0.75893 ], "tcp_roll_pitch_yaw": [ 0.00148, -1.29975, -0.00261 ], "tcp_rotation_matrix": [ [ 0.24992, -0.10224, 0.96285 ], [ 0.05168, -0.99158, -0.11871 ], [ 0.96689, 0.07942, -0.24253 ] ], "simulated_seconds_remaining": 5.148, "calls_remaining_including_this": 38 }, "api_seconds": 3.8037089612334967, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Spent too much time working out the camera and frame orientation. The nightstand front face is now in view, but with about 5 s of motion left I have not found a handle, so I can't finish grasping and opening it." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 025 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 25, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "wall_seconds": 241.33, "usage": { "input_tokens": 68, "output_tokens": 13982, "cache_read_input_tokens": 552627, "cache_creation_input_tokens": 30548, "thinking_tokens": 9789, "cost_usd": 0.6348214 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ber393nXtxrupdxzop47EE", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KhKiPZYYD4irUegbx8Zq5z", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.5708, "yaw": -1.5708, "z": 0.8 }, "note": "Reorient gripper to point forward with fingers opening vertically for horizontal handle; lower to look at dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GYb9DR9js36485HpvZpvGt", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5708, "z": 0.8 }, "note": "Try pitching gripper to point forward first." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1732, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1732 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014zTqhrTfQXLPH1GeFmvdrK", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Smaller pitch step to test direction and reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 850, "cache_read_input_tokens": 4243, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 850 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CCzjd6TrQvmtJzULi4D3n7", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Test simple downward translation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 710, "cache_read_input_tokens": 5093, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 710 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Plain moves work, but rotations fail this close to the base. I'll reach forward first, then try rotating again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 5803, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 686 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TAtmwPurX5yVC593zMqNG4", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.7 }, "note": "Move forward and down away from base to get more IK freedom before rotating." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 5803, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 686 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UW78aXVqun9yfKGomZ1F8p", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 6489, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017jU7gSJEVJwq13kDwGpZSq", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 0.8, "pitch": -1.2, "roll": 0, "yaw": 0 }, "note": "Back off from contact and pitch gripper toward forward-facing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 604, "cache_read_input_tokens": 7266, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 604 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GWX1wcujnCsjDcdDt6G5KY", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5 }, "note": "Incremental pitch toward forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 917, "cache_read_input_tokens": 7870, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 917 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Mnfg8QwhE8nueCFQ3qrZTC", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9, "x": 0.45 }, "note": "Continue pitching forward while backing slightly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 794, "cache_read_input_tokens": 8787, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 794 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019hhNBXMa6Q2Zh2nMmdB8CM", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.6, "x": 0.5 }, "note": "Lower to change arm configuration before more pitch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 997, "cache_read_input_tokens": 9581, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 997 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Rotating to face forward is hitting a wrist joint limit, so I'm trying smaller downward steps." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 829, "cache_read_input_tokens": 10578, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 829 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014sXeHEhkSNCMSLipL7Ed1q", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75 }, "note": "Small downward step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 829, "cache_read_input_tokens": 10578, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 829 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NP46KxZypZs6RSbMicq8f8", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "pitch": 0, "x": 0.45 }, "note": "Gripper appears blocked by dresser top; rise and point down to survey layout." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 749, "cache_read_input_tokens": 11407, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 749 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EXX5sK4viWQdZ1uKyo78hg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Move forward to learn how wrist image maps to world axes." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1097, "cache_read_input_tokens": 12156, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1097 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PCkHbzXWsQZw7SbikE76dT", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.75, "pitch": 0, "yaw": 0, "roll": 0 }, "note": "Dresser top seems around z 0.78, front near x~0.5. Back off in front of dresser and lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 901, "cache_read_input_tokens": 13253, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 901 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PFuk93go2iJp69BuC5jQqu", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Pitch forward stepwise from lower configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1262, "cache_read_input_tokens": 14154, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1262 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0154NtABS89aqUBYq66Dcu1w", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 1.5708, "y": 0.08, "x": 0.42 }, "note": "Forward-facing unreachable; plan top-down grasp with fingers opening along x. Rotate yaw and shift toward handle center." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 794, "cache_read_input_tokens": 15416, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 794 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Pointing forward isn't reachable, so I'm switching to grabbing the handle from above. Next I'll move closer and look for the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 977, "cache_read_input_tokens": 16210, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 977 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PYuG3PFQ3TS2jcFPNDzDbg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.46, "z": 0.7 }, "note": "Approach drawer front from above handle level to locate handle in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 977, "cache_read_input_tokens": 16210, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 977 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NC3bzfArayVocDyHCyZPkn", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.66 }, "note": "Blocked at 0.72; test whether handle is directly below by descending." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1043, "cache_read_input_tokens": 17187, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1043 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01M5AMd3Qv6cBtvcjmFKHxsf", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper appears to be resting on the handle; try closing to grasp it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 18230, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QtCHfpygeTWgWXUQUT9sUY", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 952, "cache_read_input_tokens": 19018, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 952 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FLqWGr7N27bVdziSVdzA2h", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36 }, "note": "Fingers stopped nearly open, maybe gripping something; test pull toward robot." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 522, "cache_read_input_tokens": 19970, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 522 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VD86UedoeDhNz65xbGCXAR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36, "z": 0.6, "gripper": 1 }, "note": "Gripper close didn't take; I think I was hitting the dresser top. Drop below top level in front of dresser to find handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 738, "cache_read_input_tokens": 20492, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 738 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I can't get below z ≈ 0.72, so I'm tilting the gripper forward to spot the handle with the wrist camera." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2221, "cache_read_input_tokens": 21230, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 2221 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LiddsASj4AR7AvkvuxLf9r", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "y": 0.08, "z": 0.85, "yaw": 1.5708, "pitch": -0.5, "roll": 0, "gripper": 1 }, "note": "Tilt gripper forward (fingers opening in x-z plane) to view drawer face and handle with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2221, "cache_read_input_tokens": 21230, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 2221 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HLg2YYjbevrCXx5yWa6my5", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 1.5708, "pitch": 0, "roll": -0.5, "gripper": 1 }, "note": "Pitch-then-yaw tilted toward +y; use roll instead so approach tilts toward +x (dresser)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1593, "cache_read_input_tokens": 23451, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1593 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017DenTzCjBp6tzWRY2VkpB5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.78, "gripper": 1 }, "note": "Advance toward dresser with forward-tilted gripper to find handle/face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 931, "cache_read_input_tokens": 25044, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 931 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TudoXKdHzFm19fC9jrefvy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62, "gripper": 1 }, "note": "Keep advancing toward the dresser face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1292, "cache_read_input_tokens": 25975, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1292 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Aq4HV87bs7uoZSW4AJfCpm", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.7, "y": 0.12, "gripper": 1 }, "note": "Gripper near handle's right end in exterior view; advance and shift toward handle center." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 742, "cache_read_input_tokens": 27267, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 742 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01M8KmT9brXxapD3u3Ze54wR", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper overlaps handle in exterior view; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 980, "cache_read_input_tokens": 28009, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 980 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper closed on something, maybe the handle. Now I'll pull back to open the drawer." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 725, "cache_read_input_tokens": 28989, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 725 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VBj9YkZwHtBKpn5SWMkj9Z", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "gripper": 0 }, "note": "Gripper closed to ~0.05, likely on handle; pull toward robot to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 725, "cache_read_input_tokens": 28989, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 725 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014es4fHKbvAdqikCz6Uhmib", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.69, "z": 0.76, "gripper": 1 }, "note": "Missed grasp; retry slightly lower at handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 733, "cache_read_input_tokens": 29714, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 733 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014gEGtqCwA4M1DKMHWkT9gA", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle again." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 855, "cache_read_input_tokens": 30447, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 855 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XNQXNKqE1ugreCpDFDehog", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the dresser handle: IK limits blocked a forward-facing grasp, and both tilted grasp attempts closed on nothing. Almost no motion time left." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 605, "cache_read_input_tokens": 31302, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 605 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser. I never got hold of the drawer handle, so I gave up with about 2 seconds of motion time left.\n\n- **Couldn't point the gripper straight at the handle:** every attempt to rotate the gripper to face forward was rejected as unreachable, even in small steps. The wrist joints were at or near their limits.\n- **Couldn't go low enough:** the gripper wouldn't go below a height of about 0.72 m. That seemed to be about where the handle was, so I couldn't come at it from beneath.\n- **Tilted grasps missed:** I tilted the gripper about 30° forward and moved it to where the handle appeared in the outside camera, near x ≈ 0.69–0.71, y ≈ 0.13. I tried to grasp twice, at about 0.78 m and 0.76 m high. The first close stopped at 0.05, which looked like a grip, but it held nothing when I pulled back. The second closed fully on nothing.\n\nAbout 10 seconds of motion went on early moves toward rotations the arm couldn't reach and on figuring out how the rotations combine." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 194, "cache_read_input_tokens": 31907, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 194 }, "output_tokens": 361, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 68, "cache_creation_input_tokens": 30548, "cache_read_input_tokens": 552627, "output_tokens": 13982, "output_tokens_details": { "thinking_tokens": 9789 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 30548, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 361, "cache_read_input_tokens": 31907, "cache_creation_input_tokens": 194, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 194 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 68, "outputTokens": 13982, "cacheReadInputTokens": 552627, "cacheCreationInputTokens": 30548, "webSearchRequests": 0, "costUSD": 0.6348214, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 9789, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.6348214, "num_turns": 34, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00214, -0.80217, -0.0173, -2.43586, -0.04942, 1.66344, -0.15031 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31417, -0.01791, 0.99103 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9899, 0.13874, 0.02922 ], [ 0.13978, -0.98948, -0.03718 ], [ 0.02375, 0.04089, -0.99888 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 18.817893562838435, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.5708, "yaw": -1.5708, "z": 0.8 }, "note": "Reorient gripper to point forward with fingers opening vertically for horizontal handle; lower to look at dresser." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00214, -0.80217, -0.0173, -2.43586, -0.04942, 1.66344, -0.15031 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31417, -0.01791, 0.99103 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9899, 0.13874, 0.02922 ], [ 0.13978, -0.98948, -0.03718 ], [ 0.02375, 0.04089, -0.99888 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 5.214250389486551, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5708, "z": 0.8 }, "note": "Try pitching gripper to point forward first." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00214, -0.80217, -0.0173, -2.43586, -0.04942, 1.66344, -0.15031 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31417, -0.01791, 0.99103 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9899, 0.13874, 0.02922 ], [ 0.13978, -0.98948, -0.03718 ], [ 0.02375, 0.04089, -0.99888 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 4.004297284409404, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Smaller pitch step to test direction and reachability." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00214, -0.80217, -0.0173, -2.43586, -0.04942, 1.66344, -0.15031 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31417, -0.01791, 0.99103 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9899, 0.13874, 0.02922 ], [ 0.13978, -0.98948, -0.03718 ], [ 0.02375, 0.04089, -0.99888 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 54 }, "api_seconds": 3.2034121435135603, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Test simple downward translation." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00375, -0.81357, -0.02174, -2.67149, -0.05519, 1.88728, -0.14231 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31413, -0.01791, 0.90119 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00028, -0.0 ], "tcp_rotation_matrix": [ [ 0.9899, 0.13875, 0.02894 ], [ 0.13978, -0.98948, -0.03719 ], [ 0.02348, 0.04086, -0.99889 ] ], "simulated_seconds_remaining": 29.106, "calls_remaining_including_this": 53 }, "api_seconds": 4.804623487405479, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.7 }, "note": "Move forward and down away from base to get more IK freedom before rotating." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ -4e-05, -0.12061, -0.02549, -2.42523, -0.05601, 2.51969, -0.063 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52594, -0.01752, 0.80361 ], "tcp_roll_pitch_yaw": [ 0.01462, -0.18725, -0.05811 ], "tcp_rotation_matrix": [ [ 0.97426, 0.07368, 0.21307 ], [ 0.08298, -0.99594, -0.03501 ], [ 0.20962, 0.05179, -0.97641 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 52 }, "api_seconds": 9.809338637627661, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.8, "pitch": -1.2, "roll": 0, "yaw": 0 }, "note": "Back off from contact and pitch gripper toward forward-facing." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ -4e-05, -0.12061, -0.02549, -2.42523, -0.05601, 2.51969, -0.063 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52594, -0.01752, 0.80361 ], "tcp_roll_pitch_yaw": [ 0.01462, -0.18725, -0.05811 ], "tcp_rotation_matrix": [ [ 0.97426, 0.07368, 0.21307 ], [ 0.08298, -0.99594, -0.03501 ], [ 0.20962, 0.05179, -0.97641 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 51 }, "api_seconds": 4.804944418370724, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5 }, "note": "Incremental pitch toward forward." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.05932, -0.19901, 0.01174, -2.67752, -0.18063, 3.00137, 0.04639 ], "gripper_open": 0.9928, "tcp_xyz": [ 0.52603, -0.01634, 0.80364 ], "tcp_roll_pitch_yaw": [ 0.01371, -0.49597, -0.05505 ], "tcp_rotation_matrix": [ [ 0.86478, 0.05438, 0.4992 ], [ 0.092, -0.99445, -0.05104 ], [ 0.49366, 0.09006, -0.86498 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 50 }, "api_seconds": 7.006273476406932, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9, "x": 0.45 }, "note": "Continue pitching forward while backing slightly." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.05932, -0.19901, 0.01174, -2.67752, -0.18063, 3.00137, 0.04639 ], "gripper_open": 0.9928, "tcp_xyz": [ 0.52603, -0.01634, 0.80364 ], "tcp_roll_pitch_yaw": [ 0.01371, -0.49597, -0.05505 ], "tcp_rotation_matrix": [ [ 0.86478, 0.05438, 0.4992 ], [ 0.092, -0.99445, -0.05104 ], [ 0.49366, 0.09006, -0.86498 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 49 }, "api_seconds": 5.2048483192920685, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.6, "x": 0.5 }, "note": "Lower to change arm configuration before more pitch." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.05932, -0.19901, 0.01174, -2.67752, -0.18063, 3.00137, 0.04639 ], "gripper_open": 0.9928, "tcp_xyz": [ 0.52603, -0.01634, 0.80364 ], "tcp_roll_pitch_yaw": [ 0.01371, -0.49597, -0.05505 ], "tcp_rotation_matrix": [ [ 0.86478, 0.05438, 0.4992 ], [ 0.092, -0.99445, -0.05104 ], [ 0.49366, 0.09006, -0.86498 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 48 }, "api_seconds": 4.410147126764059, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Small downward step." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.23582, -0.14701, 0.13923, -2.69825, -0.44638, 3.15497, 0.27072 ], "gripper_open": 1.0, "tcp_xyz": [ 0.53226, -0.01514, 0.79236 ], "tcp_roll_pitch_yaw": [ -0.00571, -0.57051, -0.04162 ], "tcp_rotation_matrix": [ [ 0.82584, 0.05039, 0.56165 ], [ 0.10565, -0.99219, -0.06631 ], [ 0.55392, 0.1141, -0.82471 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 47 }, "api_seconds": 8.608097850345075, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "pitch": 0, "x": 0.45 }, "note": "Gripper appears blocked by dresser top; rise and point down to survey layout." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.07022, -0.3718, -0.06645, -2.10034, -0.0698, 1.75908, -0.0782 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45052, -0.01515, 0.99914 ], "tcp_roll_pitch_yaw": [ -0.0057, -0.00317, -0.04163 ], "tcp_rotation_matrix": [ [ 0.99479, 0.0973, 0.03057 ], [ 0.0986, -0.99415, -0.04418 ], [ 0.0261, 0.04697, -0.99856 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 46 }, "api_seconds": 6.405745784752071, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Move forward to learn how wrist image maps to world axes." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.06552, -0.02419, -0.0829, -1.58463, -0.03728, 1.38748, -0.09895 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49931, -0.01913, 1.04427 ], "tcp_roll_pitch_yaw": [ -0.00585, 0.2005, -0.06607 ], "tcp_rotation_matrix": [ [ 0.98175, 0.07963, -0.17273 ], [ 0.07527, -0.99666, -0.03169 ], [ -0.17467, 0.01812, -0.98446 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 45 }, "api_seconds": 10.410187925212085, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.75, "pitch": 0, "yaw": 0, "roll": 0 }, "note": "Dresser top seems around z 0.78, front near x~0.5. Back off in front of dresser and lower." } } } ] } } ] }, "execution": { "steps": 38, "motion_seconds": 2.508, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04514, -0.46863, -0.09243, -2.84916, -0.11643, 2.40837, -0.09199 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35052, -0.01914, 0.75112 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00119, -0.00028 ], "tcp_rotation_matrix": [ [ 0.98996, 0.13852, 0.02802 ], [ 0.13951, -0.98952, -0.03721 ], [ 0.02257, 0.04075, -0.99891 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 44 }, "api_seconds": 4.809162586927414, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Pitch forward stepwise from lower configuration." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04514, -0.46863, -0.09243, -2.84916, -0.11643, 2.40837, -0.09199 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35052, -0.01914, 0.75112 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00119, -0.00028 ], "tcp_rotation_matrix": [ [ 0.98996, 0.13852, 0.02802 ], [ 0.13951, -0.98952, -0.03721 ], [ 0.02257, 0.04075, -0.99891 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 43 }, "api_seconds": 6.806609647348523, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.5708, "y": 0.08, "x": 0.42 }, "note": "Forward-facing unreachable; plan top-down grasp with fingers opening along x. Rotate yaw and shift toward handle center." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.459, -0.23302, -0.28716, -2.6323, -0.06993, 2.44904, -1.47528 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41981, 0.07974, 0.75112 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00119, 1.56614 ], "tcp_rotation_matrix": [ [ -0.13517, 0.99012, 0.03732 ], [ 0.99057, 0.13418, 0.02786 ], [ 0.02257, 0.04073, -0.99892 ] ], "simulated_seconds_remaining": 17.622, "calls_remaining_including_this": 42 }, "api_seconds": 8.007758049294353, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "z": 0.7 }, "note": "Approach drawer front from above handle level to locate handle in wrist view." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.47634, -0.06361, -0.31414, -2.53357, 0.03852, 2.46873, -1.57169 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44572, 0.08072, 0.72098 ], "tcp_roll_pitch_yaw": [ 0.04844, -0.01312, 1.56519 ], "tcp_rotation_matrix": [ [ -0.13292, 0.99107, -0.01099 ], [ 0.99017, 0.13327, 0.04239 ], [ 0.04348, -0.00525, -0.99904 ] ], "simulated_seconds_remaining": 16.896, "calls_remaining_including_this": 41 }, "api_seconds": 5.005111217498779, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.66 }, "note": "Blocked at 0.72; test whether handle is directly below by descending." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.47209, -0.06714, -0.31406, -2.53939, 0.08344, 2.4798, -1.65496 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44614, 0.08315, 0.72145 ], "tcp_roll_pitch_yaw": [ 0.03998, -0.04295, 1.60855 ], "tcp_rotation_matrix": [ [ -0.1759, 0.98439, -0.00549 ], [ 0.98179, 0.17583, 0.07195 ], [ 0.07179, 0.00727, -0.99739 ] ], "simulated_seconds_remaining": 16.17, "calls_remaining_including_this": 40 }, "api_seconds": 6.80684329662472, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper appears to be resting on the handle; try closing to grasp it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.47164, -0.07199, -0.31447, -2.53869, 0.08321, 2.47505, -1.65466 ], "gripper_open": 0.9486, "tcp_xyz": [ 0.44615, 0.08314, 0.72341 ], "tcp_roll_pitch_yaw": [ 0.03961, -0.04468, 1.60797 ], "tcp_rotation_matrix": [ [ -0.17533, 0.9845, -0.00515 ], [ 0.98176, 0.17523, 0.0737 ], [ 0.07346, 0.00787, -0.99727 ] ], "simulated_seconds_remaining": 15.246, "calls_remaining_including_this": 39 }, "api_seconds": 5.605829392559826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36 }, "note": "Fingers stopped nearly open, maybe gripping something; test pull toward robot." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.44343, -0.3231, -0.26957, -2.80106, -0.01862, 2.4974, -1.54561 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36131, 0.08315, 0.72342 ], "tcp_roll_pitch_yaw": [ 0.03967, -0.04472, 1.608 ], "tcp_rotation_matrix": [ [ -0.17537, 0.98449, -0.0052 ], [ 0.98176, 0.17527, 0.07373 ], [ 0.0735, 0.00782, -0.99726 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 38 }, "api_seconds": 18.61786509398371, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "z": 0.6, "gripper": 1 }, "note": "Gripper close didn't take; I think I was hitting the dresser top. Drop below top level in front of dresser to find handle height." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.51908, -0.30365, -0.2671, -2.78327, -0.06179, 2.47337, -1.89086 ], "gripper_open": 1.0, "tcp_xyz": [ 0.35468, 0.1055, 0.72098 ], "tcp_roll_pitch_yaw": [ 0.04296, -0.01397, 2.06462 ], "tcp_rotation_matrix": [ [ -0.59103, 0.80624, -0.02553 ], [ 0.80547, 0.59158, 0.0353 ], [ 0.04356, 0.0003, -0.99905 ] ], "simulated_seconds_remaining": 13.266, "calls_remaining_including_this": 37 }, "api_seconds": 11.811234784312546, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": 0.08, "z": 0.85, "yaw": 1.5708, "pitch": -0.5, "roll": 0, "gripper": 1 }, "note": "Tilt gripper forward (fingers opening in x-z plane) to view drawer face and handle with wrist camera." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.46411, -0.57372, -0.50929, -2.66888, 0.31603, 2.18207, -1.86419 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37993, 0.08009, 0.84928 ], "tcp_roll_pitch_yaw": [ -0.00078, -0.49704, 1.57389 ], "tcp_rotation_matrix": [ [ -0.14245, 0.98913, 0.03641 ], [ 0.85841, 0.10514, 0.50208 ], [ 0.49279, 0.10278, -0.86406 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 36 }, "api_seconds": 5.005179109983146, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.5708, "pitch": 0, "roll": -0.5, "gripper": 1 }, "note": "Pitch-then-yaw tilted toward +y; use roll instead so approach tilts toward +x (dresser)." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.16208, -0.84539, 0.09189, -3.02756, -0.05325, 2.71132, -1.43398 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37989, 0.0801, 0.84925 ], "tcp_roll_pitch_yaw": [ -0.4969, -0.00274, 1.5716 ], "tcp_rotation_matrix": [ [ -0.135, 0.85021, 0.50883 ], [ 0.98991, 0.13803, 0.03199 ], [ -0.04303, 0.50802, -0.86027 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 35 }, "api_seconds": 9.408083960413933, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.78, "gripper": 1 }, "note": "Advance toward dresser with forward-tilted gripper to find handle/face." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04421, -0.20303, 0.19124, -2.76226, -0.17408, 3.09507, -1.39266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49886, 0.08006, 0.78062 ], "tcp_roll_pitch_yaw": [ -0.49676, -0.00265, 1.5715 ], "tcp_rotation_matrix": [ [ -0.1349, 0.8503, 0.50871 ], [ 0.98992, 0.13799, 0.03186 ], [ -0.0431, 0.50788, -0.86035 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 34 }, "api_seconds": 3.6033651158213615, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "gripper": 1 }, "note": "Keep advancing toward the dresser face." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.11332, 0.11648, 0.2117, -2.37191, -0.30973, 3.01477, -1.33082 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61871, 0.08004, 0.78062 ], "tcp_roll_pitch_yaw": [ -0.49675, -0.00269, 1.57144 ], "tcp_rotation_matrix": [ [ -0.13485, 0.85031, 0.50871 ], [ 0.98993, 0.13792, 0.03187 ], [ -0.04307, 0.50788, -0.86035 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 33 }, "api_seconds": 6.205755683593452, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "y": 0.12, "gripper": 1 }, "note": "Gripper near handle's right end in exterior view; advance and shift toward handle center." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01592, 0.32489, 0.17741, -2.06531, -0.38762, 2.88917, -1.23426 ], "gripper_open": 0.9941, "tcp_xyz": [ 0.69324, 0.12181, 0.77688 ], "tcp_roll_pitch_yaw": [ -0.48373, 0.00151, 1.57544 ], "tcp_rotation_matrix": [ [ -0.13938, 0.85628, 0.49735 ], [ 0.98919, 0.14347, 0.03022 ], [ -0.04548, 0.49619, -0.86702 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 32 }, "api_seconds": 3.2029764587059617, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper overlaps handle in exterior view; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01733, 0.31692, 0.17622, -2.05616, -0.38725, 2.98808, -1.23435 ], "gripper_open": 0.0478, "tcp_xyz": [ 0.71245, 0.13166, 0.80763 ], "tcp_roll_pitch_yaw": [ -0.58902, -0.03875, 1.59493 ], "tcp_rotation_matrix": [ [ -0.15331, 0.79699, 0.58421 ], [ 0.98799, 0.1353, 0.0747 ], [ -0.01951, 0.58864, -0.80816 ] ], "simulated_seconds_remaining": 6.534, "calls_remaining_including_this": 31 }, "api_seconds": 4.804739888757467, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "gripper": 0 }, "note": "Gripper closed to ~0.05, likely on handle; pull toward robot to open drawer." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.0399, -0.22676, 0.13255, -2.73634, -0.58676, 3.14046, -0.96588 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50133, 0.13169, 0.80765 ], "tcp_roll_pitch_yaw": [ -0.58902, -0.03873, 1.59503 ], "tcp_rotation_matrix": [ [ -0.1534, 0.79697, 0.58421 ], [ 0.98797, 0.13539, 0.07473 ], [ -0.01954, 0.58864, -0.80816 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 30 }, "api_seconds": 5.605212364345789, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.69, "z": 0.76, "gripper": 1 }, "note": "Missed grasp; retry slightly lower at handle." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.11572, 0.36381, 0.23193, -2.10888, -0.79971, 3.07234, -0.87642 ], "gripper_open": 0.9991, "tcp_xyz": [ 0.68782, 0.13307, 0.76 ], "tcp_roll_pitch_yaw": [ -0.58817, -0.03864, 1.59744 ], "tcp_rotation_matrix": [ [ -0.15584, 0.79714, 0.58334 ], [ 0.98759, 0.1374, 0.07607 ], [ -0.01951, 0.58795, -0.80866 ] ], "simulated_seconds_remaining": 3.234, "calls_remaining_including_this": 29 }, "api_seconds": 3.0033601857721806, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle again." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.11572, 0.36381, 0.23193, -2.10888, -0.79971, 3.07234, -0.87642 ], "gripper_open": 0.0, "tcp_xyz": [ 0.68783, 0.13307, 0.75999 ], "tcp_roll_pitch_yaw": [ -0.58817, -0.03864, 1.59745 ], "tcp_rotation_matrix": [ [ -0.15584, 0.79714, 0.58333 ], [ 0.98759, 0.13741, 0.07608 ], [ -0.01951, 0.58795, -0.80866 ] ], "simulated_seconds_remaining": 2.31, "calls_remaining_including_this": 28 }, "api_seconds": 3.6037236377596855, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the dresser handle: IK limits blocked a forward-facing grasp, and both tilted grasp attempts closed on nothing. Almost no motion time left." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 026 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 26, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 9, "wall_seconds": 76.6, "usage": { "input_tokens": 24, "output_tokens": 3657, "cache_read_input_tokens": 66481, "cache_creation_input_tokens": 9045, "thinking_tokens": 2274, "cost_usd": 0.1588922 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BP9nrqmvC6eZASdUc2vtK4", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PXKNYWR2aHbBQ15GVnJyVS", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower to get a better wrist view of the table ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 483 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JtgBSkL2vfJVEXS9BGQkbb", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42 }, "note": "Move forward toward the dark table to locate its drawer/door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 791, "cache_read_input_tokens": 2508, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 791 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MescyNmCcPM7LfyWm5LAVo", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 928, "cache_read_input_tokens": 3299, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 928 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SJ7ZK7R6QZJMQyTx7KGWip", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.27, "y": 0, "z": 0.85, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Motion was disturbed (likely collision); return to neutral pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 586, "cache_read_input_tokens": 4227, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 586 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Knocked the TV while reaching; I've backed off and am relocating the table's drawer." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 752, "cache_read_input_tokens": 4813, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 752 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016L1CTQBrD8qccwdi4T31pT", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2, "z": 0.8 }, "note": "Probe to the left to understand table geometry relative to robot frame." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 752, "cache_read_input_tokens": 4813, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 752 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014Q44RxM5uCw8kX1bLMhJaH", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0, "z": 0.72, "x": 0.25, "pitch": -1.3 }, "note": "Tilt gripper to face forward (+x) and look at the table front for the drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1034, "cache_read_input_tokens": 5565, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1034 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UBgS6XnsuqZ5coXcPENs3y", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0, "z": 0.75, "x": 0.35, "pitch": -1 }, "note": "Retry with milder tilt and a bit more forward to look at table front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1369, "cache_read_input_tokens": 6599, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1369 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0147r1boBz1RLfbXXHnRNdtV", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05, "pitch": -0.5 }, "note": "Try smaller tilt step toward forward-facing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 7968, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01381skbzrvhP5441QFqEZeV", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05, "pitch": 0.4 }, "note": "Test positive pitch direction since negative was unreachable." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 8608, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 721 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017oCjV49a7n8EyN8WTmWQw7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 1.05, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Collisions near table height; go up high to survey table from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 658, "cache_read_input_tokens": 9329, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 658 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The episode ended before I could open the table, so the task was not completed.\n\nI found the table in front of the robot but never worked out where its drawer or door faced, so I never grasped a handle. The first reach forward bumped something, most likely the table itself, and knocked the TV over onto it. Three tries to tilt the gripper forward to look at the table's front were rejected because the arm couldn't reach those poses. One tilt the other way did run, but the gripper seemed to hit the table edge. It looked like I was working at about the height of the tabletop. The episode ended while I was moving the gripper up high to look down at the table." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 611, "cache_read_input_tokens": 9987, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 611 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 24, "cache_creation_input_tokens": 9045, "cache_read_input_tokens": 66481, "output_tokens": 3657, "output_tokens_details": { "thinking_tokens": 2274 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 9045, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 203, "cache_read_input_tokens": 9987, "cache_creation_input_tokens": 611, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 611 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 24, "outputTokens": 3657, "cacheReadInputTokens": 66481, "cacheCreationInputTokens": 9045, "webSearchRequests": 0, "costUSD": 0.1588922, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 2274, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.1588922, "num_turns": 12, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ 0.01873, -0.77983, -0.05784, -2.39418, 0.04383, 1.45091, 0.00953 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26809, 0.00277, 0.98903 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98628, -0.03368, -0.16158 ], [ -0.01973, -0.996, 0.08717 ], [ -0.16387, -0.08279, -0.983 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.206149747595191, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower to get a better wrist view of the table ahead." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ 0.01347, -0.71942, -0.06961, -2.84248, 0.03853, 1.95795, -0.0257 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26802, 0.00277, 0.80125 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00034, 2e-05 ], "tcp_rotation_matrix": [ [ 0.98623, -0.03369, -0.16192 ], [ -0.01971, -0.996, 0.08718 ], [ -0.16421, -0.08278, -0.98295 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 5.805500812828541, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Move forward toward the dark table to locate its drawer/door." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ 0.03582, -0.43384, -0.09044, -2.41322, 0.07344, 1.14761, -0.04402 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.19386, 0.01108, 0.91714 ], "tcp_roll_pitch_yaw": [ 0.11781, 0.65551, 0.10426 ], "tcp_rotation_matrix": [ [ 0.67759, -0.04545, -0.73404 ], [ 0.07057, -0.98947, 0.1264 ], [ -0.73205, -0.13745, -0.66724 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 55 }, "api_seconds": 5.205224979668856, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27, "y": 0, "z": 0.85, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Motion was disturbed (likely collision); return to neutral pose." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.00374, -0.7632, -0.06443, -2.7384, 0.03766, 1.8055, -0.02426 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2694, 8e-05, 0.85037 ], "tcp_roll_pitch_yaw": [ 0.00052, 0.00457, 0.00043 ], "tcp_rotation_matrix": [ [ 0.98553, -0.03363, -0.16612 ], [ -0.01922, -0.99597, 0.08761 ], [ -0.16839, -0.08315, -0.98221 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 54 }, "api_seconds": 6.8061706786975265, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2, "z": 0.8 }, "note": "Probe to the left to understand table geometry relative to robot frame." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ 0.25072, -0.54913, 0.26712, -2.71677, 0.31698, 2.04732, 0.32967 ], "gripper_open": 0.9935, "tcp_xyz": [ 0.27104, 0.1921, 0.80274 ], "tcp_roll_pitch_yaw": [ -0.01085, 0.00191, 0.00491 ], "tcp_rotation_matrix": [ [ 0.98606, -0.02892, -0.16384 ], [ -0.01666, -0.99699, 0.0757 ], [ -0.16553, -0.07191, -0.98358 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 53 }, "api_seconds": 10.211639101617038, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0, "z": 0.72, "x": 0.25, "pitch": -1.3 }, "note": "Tilt gripper to face forward (+x) and look at the table front for the drawer." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ 0.25072, -0.54913, 0.26712, -2.71677, 0.31698, 2.04732, 0.32967 ], "gripper_open": 0.9935, "tcp_xyz": [ 0.27104, 0.1921, 0.80274 ], "tcp_roll_pitch_yaw": [ -0.01085, 0.00191, 0.00491 ], "tcp_rotation_matrix": [ [ 0.98606, -0.02892, -0.16384 ], [ -0.01666, -0.99699, 0.0757 ], [ -0.16553, -0.07191, -0.98358 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 52 }, "api_seconds": 2.2024169266223907, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0, "z": 0.75, "x": 0.35, "pitch": -1 }, "note": "Retry with milder tilt and a bit more forward to look at table front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.25072, -0.54913, 0.26712, -2.71677, 0.31698, 2.04732, 0.32967 ], "gripper_open": 0.9935, "tcp_xyz": [ 0.27104, 0.1921, 0.80274 ], "tcp_roll_pitch_yaw": [ -0.01085, 0.00191, 0.00491 ], "tcp_rotation_matrix": [ [ 0.98606, -0.02892, -0.16384 ], [ -0.01666, -0.99699, 0.0757 ], [ -0.16553, -0.07191, -0.98358 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 51 }, "api_seconds": 3.2032506745308638, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "pitch": -0.5 }, "note": "Try smaller tilt step toward forward-facing." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ 0.25072, -0.54913, 0.26712, -2.71677, 0.31698, 2.04732, 0.32967 ], "gripper_open": 0.9935, "tcp_xyz": [ 0.27104, 0.1921, 0.80274 ], "tcp_roll_pitch_yaw": [ -0.01085, 0.00191, 0.00491 ], "tcp_rotation_matrix": [ [ 0.98606, -0.02892, -0.16384 ], [ -0.01666, -0.99699, 0.0757 ], [ -0.16553, -0.07191, -0.98358 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 50 }, "api_seconds": 2.6029446478933096, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "pitch": 0.4 }, "note": "Test positive pitch direction since negative was unreachable." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ 0.19343, -0.46158, 0.06893, -2.54508, 0.11927, 1.64269, 0.06899 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26077, 0.09719, 0.84212 ], "tcp_roll_pitch_yaw": [ -0.02759, 0.28225, 0.18198 ], "tcp_rotation_matrix": [ [ 0.89128, 0.13365, -0.43331 ], [ 0.13936, -0.99006, -0.01872 ], [ -0.43151, -0.04371, -0.90105 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 49 }, "api_seconds": 7.206263370811939, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 1.05, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Collisions near table height; go up high to survey table from above." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 027 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 27, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 37, "wall_seconds": 184.43, "usage": { "input_tokens": 80, "output_tokens": 10086, "cache_read_input_tokens": 643485, "cache_creation_input_tokens": 29772, "thinking_tokens": 5425, "cost_usd": 0.568913 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UzsUMr3RZPWWmKy92qgNKa", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017adG19YRAEmXAGmQ2R5QCy", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57, "z": 0.8 }, "note": "Rotate gripper to point forward to view dresser with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 488, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 488 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FAzDEKBjdos3e7Vdc8q1fk", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "x": 0.4, "z": 0.9 }, "note": "Partially tilt gripper forward to look ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1097, "cache_read_input_tokens": 2513, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1097 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SKy9LYSE78gGaXiMzHTYTW", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Test small pitch to learn direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 689, "cache_read_input_tokens": 3610, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 689 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TszmWTtFLkpTQuhxPukW3e", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9, "z": 0.8 }, "note": "Continue tilting forward and lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 4299, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 695 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Tilting the gripper forward a little at a time, since the bigger moves were rejected." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 722, "cache_read_input_tokens": 4994, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 722 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015hDwkMqCyEx36xGu5hfXvi", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Incremental pitch only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 722, "cache_read_input_tokens": 4994, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 722 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01APXrKetfRevahZUVtKFShT", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Extend forward and down to unfold arm." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 666, "cache_read_input_tokens": 5716, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 666 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01J1KdCJT9kpP3C9KhRNmB1s", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4 }, "note": "Small forward step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 6382, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BhMPdbDTCdHRCKfwhRSUKL", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "pitch": -1.2 }, "note": "Keep extending forward and tilting toward horizontal." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 655, "cache_read_input_tokens": 7080, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 655 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015cK1DZJzJzK5zpR3drFfEj", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5, "z": 0.95 }, "note": "Handles visible ahead; level gripper toward horizontal." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 7735, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 695 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KVjM8sDbEop2Pqqsub3aY2", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.4 }, "note": "Smaller pitch step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 8430, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 740 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Two door handles are in view. I'm moving closer to line up with one of them." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 643, "cache_read_input_tokens": 9170, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 643 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019bcgow4e75bVWMkD6DWKyM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56, "z": 0.98 }, "note": "Approach handles slightly; they appear a bit below center." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 643, "cache_read_input_tokens": 9170, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 643 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V6Bq67qJkRvUmko2C7nMVH", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.93, "y": -0.07 }, "note": "Lower toward handle height and shift y to test image direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 873, "cache_read_input_tokens": 9813, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 873 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PqQmoLeeWv5MqBMm3GF8ie", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.035, "z": 0.95, "x": 0.6 }, "note": "Right handle aligned with finger center at y≈-0.04; approach forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 767, "cache_read_input_tokens": 10686, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 767 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MGvzjMZCbVrL3YSCpCCx2P", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper seems in contact near handle; try closing to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1197, "cache_read_input_tokens": 11453, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1197 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018XJ8RZpL6YRWCX2QAUxAjZ", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 715, "cache_read_input_tokens": 12650, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 715 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N6hWQeqMNy4qwDqcvQK7w8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "gripper": 0 }, "note": "Pull back to test whether handle is grasped." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 517, "cache_read_input_tokens": 13365, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 517 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UmdHrKrqKriAiEZfkutPCL", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "roll": 0, "yaw": 0, "y": -0.03, "z": 0.93 }, "note": "Missed grasp; reopen, fix orientation, align y with right handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 727, "cache_read_input_tokens": 13882, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 727 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TLHbnKH3SiacmXkKgD8isR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56 }, "note": "Right handle centered between fingers; advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1254, "cache_read_input_tokens": 14609, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1254 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011BSHJnPhW5hXf7ter6HKY7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.59 }, "note": "Advance so handle enters between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 742, "cache_read_input_tokens": 15863, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 742 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YVgYwsHGkgcsc741tzFEBi", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62 }, "note": "Continue advancing toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 643, "cache_read_input_tokens": 16605, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 643 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KHmoicGS45icUxetJi8Qnp", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Contact at door; close gripper on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 687, "cache_read_input_tokens": 17248, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 687 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Closed the gripper at the handle; now pulling back to check whether it's holding on." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 710, "cache_read_input_tokens": 17935, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 710 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JWMFPVAHKGqqXVsXic489d", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.54 }, "note": "Pull back to test grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 710, "cache_read_input_tokens": 17935, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 710 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KNzfT3pW6oBoBBg4phsjDo", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.585, "roll": 0, "yaw": 0 }, "note": "Re-advance to handle with open gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 658, "cache_read_input_tokens": 18645, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 658 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01J84fcEXA5pkwBhaqVhbeDs", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0, "x": 0.586 }, "note": "Close gripper on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1195, "cache_read_input_tokens": 19303, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1195 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Something is in the gripper (it reads about half closed), so it's probably on the handle. Pulling back gently." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 615, "cache_read_input_tokens": 20498, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 615 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EkduD2MkWj1zNLXjktmVzw", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52 }, "note": "Grasped handle (gripper 0.52); pull back." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 615, "cache_read_input_tokens": 20498, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 615 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017i9ZD9e1uDmCpTVvYmLR3E", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.586, "y": -0.025, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Gripper reopened due to retained measured value; re-approach handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 895, "cache_read_input_tokens": 21113, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 895 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013y7ZGMUMsCBwmd19JosUVS", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 22008, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 871 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01McstuFukSuXhKF2SgE6Upf", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.53, "gripper": 0 }, "note": "Handle grasped; pull back keeping gripper closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 604, "cache_read_input_tokens": 22879, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 604 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The handle slipped out of the gripper during the pull. Going back in for a firmer grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 683, "cache_read_input_tokens": 23483, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 683 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012FGuZVvG3tZs3i9YBinbgp", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.59, "y": -0.02, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Slipped; re-approach deeper for a firmer grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 683, "cache_read_input_tokens": 23483, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 683 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01W37WrF7UBQmcnPmvvabyJo", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1078, "cache_read_input_tokens": 24166, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1078 }, "output_tokens": 22, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01G29QkZVot1iDDJHTegVv27", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56, "y": -0.008, "gripper": 0 }, "note": "Pull gently in small step, gripper closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 603, "cache_read_input_tokens": 25244, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 603 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011aq9nTi3NKcKHQQ7Yz8VF6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.595, "y": 0, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Closing pulled grasp toward +y; re-approach centered at y=0." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 745, "cache_read_input_tokens": 25847, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 745 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GBZ6AZz26paM7xHKNenYrt", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 937, "cache_read_input_tokens": 26592, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 937 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014JBybYBemgGmpobUxYRKUW", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "gripper": 0 }, "note": "Pull back with gripper closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 27529, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 649 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Three grasps have slipped off the curved handle. I have about 7 s of motion left, so I'll try once more, a bit lower on the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 712, "cache_read_input_tokens": 28178, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 712 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UPQmpeyuEHEMddNNtEjbta", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.595, "y": -0.005, "z": 0.89, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Retry lower on the handle bar for better grip." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 712, "cache_read_input_tokens": 28178, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 712 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019bKkzHPTSqCHUhcDVzHyKE", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 980, "cache_read_input_tokens": 28890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 980 }, "output_tokens": 22, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FWHMHVLRvRUc29Xbb6otS5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56, "y": 0.001, "gripper": 0 }, "note": "Pull gently keeping y at grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 603, "cache_read_input_tokens": 29870, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 603 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017qLkthUyfvXy4NodJTCFaY", "name": "mcp__robot__give_up", "input": { "note": "Repeated grasps on the curved dresser door handle slipped during pulling; insufficient simulated time remains to open the door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 678, "cache_read_input_tokens": 30473, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 678 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser. I ended the episode with give_up when about 4.5 s of the 30 s motion budget was left, and the door never moved.\n\n- **Getting in position:** The gripper started out pointing down. I tilted it forward in small steps because larger turns were rejected, and moved it toward the dresser until it faced the two curved door handles.\n- **Grasping:** I closed the gripper on the right-hand handle five times. Two attempts caught nothing. Three did hold the handle (the gripper stopped partly open), but each time it slipped off within the first 3–4 cm of pulling back.\n- **Likely causes of the slipping:** I think the fingers were only catching the front of the curved handle. Each time the gripper closed, the handle pushed it sideways, and a straight backward pull doesn't follow the arc a hinged door swings through.\n- **A mistake of mine:** A move that leaves out the gripper setting keeps whatever opening it measured. On my first good grasp the reading was about 0.52, which counts as \"open\", so my next pull let go of the handle. I fixed this by sending \"closed\" with every later pull, but the attempt and time were already spent.\n\nA better approach would push the fingers further behind the handle bar and pull along the door's swing arc rather than straight back." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 174, "cache_read_input_tokens": 31151, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 174 }, "output_tokens": 417, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 80, "cache_creation_input_tokens": 29772, "cache_read_input_tokens": 643485, "output_tokens": 10086, "output_tokens_details": { "thinking_tokens": 5425 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 29772, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 417, "cache_read_input_tokens": 31151, "cache_creation_input_tokens": 174, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 174 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 80, "outputTokens": 10086, "cacheReadInputTokens": 643485, "cacheCreationInputTokens": 29772, "webSearchRequests": 0, "costUSD": 0.568913, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5425, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.568913, "num_turns": 40, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01812, -0.7669, -0.03851, -2.33247, -0.08804, 1.52527, 0.06972 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29959, -0.03993, 1.01722 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99235, -0.11559, -0.04344 ], [ -0.11806, -0.99124, -0.05928 ], [ -0.03621, 0.06396, -0.9973 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.207986808381975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57, "z": 0.8 }, "note": "Rotate gripper to point forward to view dresser with wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01812, -0.7669, -0.03851, -2.33247, -0.08804, 1.52527, 0.06972 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29959, -0.03993, 1.01722 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99235, -0.11559, -0.04344 ], [ -0.11806, -0.99124, -0.05928 ], [ -0.03621, 0.06396, -0.9973 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.6025672433897853, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "x": 0.4, "z": 0.9 }, "note": "Partially tilt gripper forward to look ahead." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01812, -0.7669, -0.03851, -2.33247, -0.08804, 1.52527, 0.06972 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29959, -0.03993, 1.01722 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99235, -0.11559, -0.04344 ], [ -0.11806, -0.99124, -0.05928 ], [ -0.03621, 0.06396, -0.9973 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.802866674028337, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Test small pitch to learn direction." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.0238, -1.12632, -0.05342, -2.62692, -0.09206, 1.85585, 0.08376 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29953, -0.03994, 1.01722 ], "tcp_roll_pitch_yaw": [ 0.0, -0.39595, -2e-05 ], "tcp_rotation_matrix": [ [ 0.92953, -0.13134, 0.34456 ], [ -0.11808, -0.99123, -0.05929 ], [ 0.34932, 0.01443, -0.93689 ] ], "simulated_seconds_remaining": 29.172, "calls_remaining_including_this": 54 }, "api_seconds": 2.8048933055251837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9, "z": 0.8 }, "note": "Continue tilting forward and lower." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.0238, -1.12632, -0.05342, -2.62692, -0.09206, 1.85585, 0.08376 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29953, -0.03994, 1.01722 ], "tcp_roll_pitch_yaw": [ 0.0, -0.39595, -2e-05 ], "tcp_rotation_matrix": [ [ 0.92953, -0.13134, 0.34456 ], [ -0.11808, -0.99123, -0.05929 ], [ 0.34932, 0.01443, -0.93689 ] ], "simulated_seconds_remaining": 29.172, "calls_remaining_including_this": 53 }, "api_seconds": 2.2022410416975617, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Incremental pitch only." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04279, -1.51545, -0.08137, -2.94475, -0.10539, 2.18387, 0.08906 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29949, -0.03996, 1.01717 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.79583, -7e-05 ], "tcp_rotation_matrix": [ [ 0.7202, -0.12662, 0.68211 ], [ -0.11811, -0.99123, -0.0593 ], [ 0.68364, -0.03785, -0.72884 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 52 }, "api_seconds": 2.6026381086558104, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Extend forward and down to unfold arm." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04279, -1.51545, -0.08137, -2.94475, -0.10539, 2.18387, 0.08906 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29949, -0.03996, 1.01717 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.79583, -7e-05 ], "tcp_rotation_matrix": [ [ 0.7202, -0.12662, 0.68211 ], [ -0.11811, -0.99123, -0.0593 ], [ 0.68364, -0.03785, -0.72884 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 51 }, "api_seconds": 2.4026106325909495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Small forward step." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02327, -1.06276, -0.07457, -2.81999, -0.11216, 2.51107, 0.12115 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3987, -0.03996, 1.01712 ], "tcp_roll_pitch_yaw": [ 4e-05, -0.79561, -8e-05 ], "tcp_rotation_matrix": [ [ 0.72035, -0.12663, 0.68195 ], [ -0.11811, -0.99123, -0.0593 ], [ 0.68348, -0.03783, -0.72899 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 50 }, "api_seconds": 2.802915028296411, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "pitch": -1.2 }, "note": "Keep extending forward and tilting toward horizontal." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07286, -0.65745, -0.04742, -2.88874, -0.12325, 3.38532, 0.16691 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49923, -0.03998, 1.01684 ], "tcp_roll_pitch_yaw": [ -4e-05, -1.19571, -0.0001 ], "tcp_rotation_matrix": [ [ 0.39722, -0.102, 0.91204 ], [ -0.1181, -0.99122, -0.05942 ], [ 0.91009, -0.08411, -0.40578 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 49 }, "api_seconds": 3.403324848972261, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5, "z": 0.95 }, "note": "Handles visible ahead; level gripper toward horizontal." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07286, -0.65745, -0.04742, -2.88874, -0.12325, 3.38532, 0.16691 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49923, -0.03998, 1.01684 ], "tcp_roll_pitch_yaw": [ -4e-05, -1.19571, -0.0001 ], "tcp_rotation_matrix": [ [ 0.39722, -0.102, 0.91204 ], [ -0.1181, -0.99122, -0.05942 ], [ 0.91009, -0.08411, -0.40578 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 48 }, "api_seconds": 1.8024451304227114, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.4 }, "note": "Smaller pitch step." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.10678, -0.51391, -0.01634, -2.95765, -0.09349, 3.79746, 0.1587 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49933, -0.03998, 1.01651 ], "tcp_roll_pitch_yaw": [ 0.00034, -1.39545, -0.00046 ], "tcp_rotation_matrix": [ [ 0.20876, -0.08327, 0.97442 ], [ -0.11814, -0.99122, -0.05939 ], [ 0.97081, -0.10272, -0.21676 ] ], "simulated_seconds_remaining": 25.74, "calls_remaining_including_this": 47 }, "api_seconds": 5.604882770217955, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "z": 0.98 }, "note": "Approach handles slightly; they appear a bit below center." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.11218, -0.20002, 0.02252, -2.80381, -0.04056, 3.95641, 0.13128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55895, -0.03998, 0.98059 ], "tcp_roll_pitch_yaw": [ 0.00038, -1.39527, -0.0005 ], "tcp_rotation_matrix": [ [ 0.20893, -0.08327, 0.97438 ], [ -0.11815, -0.99122, -0.05938 ], [ 0.97077, -0.10271, -0.21693 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 46 }, "api_seconds": 3.6034140698611736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93, "y": -0.07 }, "note": "Lower toward handle height and shift y to test image direction." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.15491, -0.02362, -0.04508, -2.79706, -0.1638, 4.12974, 0.16416 ], "gripper_open": 0.9969, "tcp_xyz": [ 0.55904, -0.06885, 0.93125 ], "tcp_roll_pitch_yaw": [ -0.00153, -1.39543, 0.00255 ], "tcp_rotation_matrix": [ [ 0.20891, -0.08211, 0.97448 ], [ -0.11758, -0.99135, -0.05832 ], [ 0.97084, -0.1024, -0.21676 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 45 }, "api_seconds": 8.206837086938322, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.035, "z": 0.95, "x": 0.6 }, "note": "Right handle aligned with finger center at y≈-0.04; approach forward." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09335, -0.00238, 0.01766, -2.75534, 0.08107, 4.09724, 0.10406 ], "gripper_open": 1.0, "tcp_xyz": [ 0.57459, -0.06508, 0.93168 ], "tcp_roll_pitch_yaw": [ 0.16297, -1.38568, -0.24985 ], "tcp_rotation_matrix": [ [ 0.2019, -0.17196, 0.96419 ], [ -0.16569, -0.97627, -0.13942 ], [ 0.96529, -0.1316, -0.2256 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 44 }, "api_seconds": 3.206373463384807, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper seems in contact near handle; try closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09362, -0.00537, 0.0173, -2.76984, 0.08037, 4.11676, 0.10353 ], "gripper_open": 1.0, "tcp_xyz": [ 0.56966, -0.065, 0.9316 ], "tcp_roll_pitch_yaw": [ 0.15805, -1.39387, -0.24551 ], "tcp_rotation_matrix": [ [ 0.19436, -0.17143, 0.96583 ], [ -0.16302, -0.97656, -0.14053 ], [ 0.96729, -0.13013, -0.21775 ] ], "simulated_seconds_remaining": 22.704, "calls_remaining_including_this": 43 }, "api_seconds": 4.6043571485206485, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "gripper": 0 }, "note": "Pull back to test whether handle is grasped." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.10556, -0.17249, 0.00104, -2.97989, 0.04581, 4.15899, 0.11852 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50149, -0.065, 0.9316 ], "tcp_roll_pitch_yaw": [ 0.15804, -1.39387, -0.2455 ], "tcp_rotation_matrix": [ [ 0.19436, -0.17144, 0.96583 ], [ -0.16301, -0.97656, -0.14054 ], [ 0.96729, -0.13013, -0.21775 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 42 }, "api_seconds": 9.40743981860578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "roll": 0, "yaw": 0, "y": -0.03, "z": 0.93 }, "note": "Missed grasp; reopen, fix orientation, align y with right handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.08211, -0.17524, 0.02202, -2.99008, 0.00071, 4.16562, 0.10935 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.5015, -0.03048, 0.93002 ], "tcp_roll_pitch_yaw": [ 0.00218, -1.39391, -0.00338 ], "tcp_rotation_matrix": [ [ 0.21012, -0.08452, 0.97402 ], [ -0.11869, -0.99109, -0.0604 ], [ 0.97044, -0.10292, -0.21828 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 41 }, "api_seconds": 3.603345920331776, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56 }, "note": "Right handle centered between fingers; advance." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07648, -0.03314, 0.03099, -2.81421, 0.01891, 4.13188, 0.09987 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55866, -0.03048, 0.93003 ], "tcp_roll_pitch_yaw": [ 0.00217, -1.39391, -0.00337 ], "tcp_rotation_matrix": [ [ 0.21012, -0.08452, 0.97402 ], [ -0.11869, -0.99109, -0.0604 ], [ 0.97044, -0.10291, -0.21828 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 40 }, "api_seconds": 2.2023922046646476, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.59 }, "note": "Advance so handle enters between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.0736, 0.03213, 0.03388, -2.72708, 0.02717, 4.11239, 0.09404 ], "gripper_open": 1.0, "tcp_xyz": [ 0.58641, -0.03056, 0.93003 ], "tcp_roll_pitch_yaw": [ 0.00075, -1.3962, -0.00247 ], "tcp_rotation_matrix": [ [ 0.20784, -0.08478, 0.97448 ], [ -0.11855, -0.99108, -0.06094 ], [ 0.97095, -0.10285, -0.21604 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 39 }, "api_seconds": 2.8024659464135766, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Continue advancing toward handle." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07064, 0.10328, 0.03562, -2.70182, 0.03625, 4.21953, 0.08768 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59092, -0.03075, 0.92966 ], "tcp_roll_pitch_yaw": [ -0.04908, -1.45694, 0.04275 ], "tcp_rotation_matrix": [ [ 0.1479, -0.08262, 0.98555 ], [ -0.11348, -0.99134, -0.06608 ], [ 0.98247, -0.10206, -0.15599 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 38 }, "api_seconds": 3.0032766927033663, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Contact at door; close gripper on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07056, 0.1006, 0.03573, -2.71126, 0.03656, 4.23017, 0.08775 ], "gripper_open": 0.9976, "tcp_xyz": [ 0.58765, -0.03062, 0.92964 ], "tcp_roll_pitch_yaw": [ -0.05439, -1.46081, 0.04777 ], "tcp_rotation_matrix": [ [ 0.14405, -0.08247, 0.98613 ], [ -0.1131, -0.99136, -0.06639 ], [ 0.98309, -0.10197, -0.15213 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 37 }, "api_seconds": 2.402283623814583, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54 }, "note": "Pull back to test grasp." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07531, 0.00502, 0.03203, -2.85552, 0.02611, 4.27868, 0.09586 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5413, -0.03062, 0.92965 ], "tcp_roll_pitch_yaw": [ -0.05445, -1.4608, 0.04784 ], "tcp_rotation_matrix": [ [ 0.14406, -0.08247, 0.98613 ], [ -0.11309, -0.99136, -0.06639 ], [ 0.98308, -0.10196, -0.15214 ] ], "simulated_seconds_remaining": 17.622, "calls_remaining_including_this": 36 }, "api_seconds": 8.80704165622592, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.585, "roll": 0, "yaw": 0 }, "note": "Re-advance to handle with open gripper." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07531, 0.09204, 0.03226, -2.72399, 0.01942, 4.23372, 0.09993 ], "gripper_open": 0.999, "tcp_xyz": [ 0.5837, -0.03059, 0.92965 ], "tcp_roll_pitch_yaw": [ -0.00149, -1.46088, 0.00134 ], "tcp_rotation_matrix": [ [ 0.14483, -0.07639, 0.9865 ], [ -0.11792, -0.99124, -0.05944 ], [ 0.9824, -0.10772, -0.15257 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 35 }, "api_seconds": 2.0020816503092647, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "x": 0.586 }, "note": "Close gripper on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07032, 0.09315, 0.03853, -2.72943, -0.00298, 4.25532, 0.09927 ], "gripper_open": 0.5197, "tcp_xyz": [ 0.58165, -0.01785, 0.93235 ], "tcp_roll_pitch_yaw": [ -0.08671, -1.47525, 0.11859 ], "tcp_rotation_matrix": [ [ 0.13385, -0.0426, 0.99009 ], [ -0.10566, -0.99399, -0.02848 ], [ 0.98535, -0.1008, -0.13754 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 34 }, "api_seconds": 5.2045750031247735, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "Grasped handle (gripper 0.52); pull back." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.07558, -0.0324, 0.0339, -2.91616, -0.01405, 4.31662, 0.10666 ], "gripper_open": 0.9963, "tcp_xyz": [ 0.52122, -0.01784, 0.93235 ], "tcp_roll_pitch_yaw": [ -0.08676, -1.47523, 0.11865 ], "tcp_rotation_matrix": [ [ 0.13386, -0.04259, 0.99008 ], [ -0.10565, -0.994, -0.02848 ], [ 0.98535, -0.10079, -0.13756 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 33 }, "api_seconds": 5.40449059009552, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.586, "y": -0.025, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Gripper reopened due to retained measured value; re-approach handle." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.06568, 0.09922, 0.04232, -2.71873, 0.04017, 4.25022, 0.09294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58473, -0.02486, 0.93236 ], "tcp_roll_pitch_yaw": [ -0.00184, -1.47526, 0.00248 ], "tcp_rotation_matrix": [ [ 0.13078, -0.07405, 0.98864 ], [ -0.1178, -0.9913, -0.05867 ], [ 0.98439, -0.10879, -0.13837 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 32 }, "api_seconds": 2.0020680855959654, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.0606, 0.0961, 0.04881, -2.72497, 0.02162, 4.26288, 0.09275 ], "gripper_open": 0.6378, "tcp_xyz": [ 0.58269, -0.01303, 0.93476 ], "tcp_roll_pitch_yaw": [ -0.07469, -1.48444, 0.10402 ], "tcp_rotation_matrix": [ [ 0.12468, -0.04426, 0.99121 ], [ -0.10807, -0.99367, -0.03078 ], [ 0.98629, -0.10328, -0.12867 ] ], "simulated_seconds_remaining": 13.728, "calls_remaining_including_this": 31 }, "api_seconds": 2.6026257118210196, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "gripper": 0 }, "note": "Handle grasped; pull back keeping gripper closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.06488, -0.00921, 0.04487, -2.88572, 0.01762, 4.31499, 0.10049 ], "gripper_open": 0.1808, "tcp_xyz": [ 0.53089, -0.01548, 0.93342 ], "tcp_roll_pitch_yaw": [ -0.06538, -1.48119, 0.08927 ], "tcp_rotation_matrix": [ [ 0.12735, -0.05004, 0.99059 ], [ -0.10925, -0.99336, -0.03614 ], [ 0.98582, -0.10362, -0.13197 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 30 }, "api_seconds": 7.006385055370629, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.59, "y": -0.02, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Slipped; re-approach deeper for a firmer grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.05675, 0.10852, 0.05084, -2.70825, 0.06024, 4.25579, 0.08535 ], "gripper_open": 1.0, "tcp_xyz": [ 0.58768, -0.02025, 0.93326 ], "tcp_roll_pitch_yaw": [ -0.00381, -1.48162, 0.00367 ], "tcp_rotation_matrix": [ [ 0.12443, -0.07411, 0.98946 ], [ -0.11774, -0.99126, -0.05944 ], [ 0.98522, -0.1091, -0.13207 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 29 }, "api_seconds": 2.2023618686944246, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.05182, 0.10612, 0.05714, -2.71738, 0.04148, 4.27511, 0.08501 ], "gripper_open": 0.68, "tcp_xyz": [ 0.58439, -0.0086, 0.93573 ], "tcp_roll_pitch_yaw": [ -0.09357, -1.49387, 0.12179 ], "tcp_rotation_matrix": [ [ 0.11515, -0.04432, 0.99236 ], [ -0.10773, -0.99367, -0.03188 ], [ 0.98749, -0.10324, -0.1192 ] ], "simulated_seconds_remaining": 10.956, "calls_remaining_including_this": 28 }, "api_seconds": 3.603702018968761, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "y": -0.008, "gripper": 0 }, "note": "Pull gently in small step, gripper closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.05654, 0.06035, 0.05146, -2.79196, 0.06183, 4.29988, 0.08832 ], "gripper_open": 0.1696, "tcp_xyz": [ 0.56025, -0.01997, 0.93391 ], "tcp_roll_pitch_yaw": [ -0.02392, -1.49014, 0.022 ], "tcp_rotation_matrix": [ [ 0.11581, -0.07488, 0.99044 ], [ -0.11637, -0.99131, -0.06134 ], [ 0.98643, -0.10816, -0.12352 ] ], "simulated_seconds_remaining": 10.032, "calls_remaining_including_this": 27 }, "api_seconds": 5.6048614187166095, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.595, "y": 0, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Closing pulled grasp toward +y; re-approach centered at y=0." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02177, 0.1275, 0.07828, -2.69209, 0.1389, 4.27395, 0.05642 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59094, -0.00523, 0.93377 ], "tcp_roll_pitch_yaw": [ -0.01065, -1.49398, 0.00094 ], "tcp_rotation_matrix": [ [ 0.11112, -0.08223, 0.9904 ], [ -0.11833, -0.99058, -0.06897 ], [ 0.98674, -0.10953, -0.1198 ] ], "simulated_seconds_remaining": 9.108, "calls_remaining_including_this": 26 }, "api_seconds": 2.8026084760203958, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01789, 0.12539, 0.08322, -2.70193, 0.13464, 4.29079, 0.05616 ], "gripper_open": 0.8269, "tcp_xyz": [ 0.58725, 0.00081, 0.93504 ], "tcp_roll_pitch_yaw": [ -0.05258, -1.50308, 0.05483 ], "tcp_rotation_matrix": [ [ 0.10345, -0.06927, 0.99222 ], [ -0.1143, -0.99179, -0.05732 ], [ 0.98805, -0.10748, -0.11052 ] ], "simulated_seconds_remaining": 8.184, "calls_remaining_including_this": 25 }, "api_seconds": 3.00292856246233, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "gripper": 0 }, "note": "Pull back with gripper closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02108, 0.05373, 0.08007, -2.8166, 0.18176, 4.33152, 0.06641 ], "gripper_open": 0.1656, "tcp_xyz": [ 0.54939, -0.01767, 0.93373 ], "tcp_roll_pitch_yaw": [ 0.10855, -1.49988, -0.15981 ], "tcp_rotation_matrix": [ [ 0.09941, -0.12285, 0.98743 ], [ -0.13093, -0.98534, -0.10941 ], [ 0.98639, -0.11841, -0.11404 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 24 }, "api_seconds": 6.008237791247666, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.595, "y": -0.005, "z": 0.89, "roll": 0, "yaw": 0, "gripper": 1 }, "note": "Retry lower on the handle bar for better grip." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02908, 0.28392, 0.06971, -2.66318, 0.10884, 4.43616, 0.07052 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59029, -0.00738, 0.89823 ], "tcp_roll_pitch_yaw": [ -0.05811, -1.52972, 0.0522 ], "tcp_rotation_matrix": [ [ 0.07618, -0.07445, 0.99431 ], [ -0.11615, -0.99108, -0.06531 ], [ 0.99031, -0.11051, -0.08415 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 23 }, "api_seconds": 2.0049737440422177, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02393, 0.28314, 0.0761, -2.67288, 0.10298, 4.45454, 0.07026 ], "gripper_open": 0.774, "tcp_xyz": [ 0.58635, 0.00074, 0.89962 ], "tcp_roll_pitch_yaw": [ -0.11242, -1.53924, 0.12299 ], "tcp_rotation_matrix": [ [ 0.06852, -0.05701, 0.99602 ], [ -0.11383, -0.99229, -0.04896 ], [ 0.99113, -0.11002, -0.07448 ] ], "simulated_seconds_remaining": 5.412, "calls_remaining_including_this": 22 }, "api_seconds": 3.0052960077300668, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "y": 0.001, "gripper": 0 }, "note": "Pull gently keeping y at grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02323, 0.24663, 0.07868, -2.7503, 0.10581, 4.4952, 0.07607 ], "gripper_open": 0.0, "tcp_xyz": [ 0.56106, 0.001, 0.89962 ], "tcp_roll_pitch_yaw": [ -0.11246, -1.53923, 0.12305 ], "tcp_rotation_matrix": [ [ 0.06853, -0.05699, 0.99602 ], [ -0.11383, -0.99229, -0.04894 ], [ 0.99113, -0.11002, -0.07449 ] ], "simulated_seconds_remaining": 4.488, "calls_remaining_including_this": 21 }, "api_seconds": 2.4025443140417337, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasps on the curved dresser door handle slipped during pulling; insufficient simulated time remains to open the door." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 028 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 28, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 19, "wall_seconds": 154.36, "usage": { "input_tokens": 42, "output_tokens": 9529, "cache_read_input_tokens": 239462, "cache_creation_input_tokens": 19514, "thinking_tokens": 6843, "cost_usd": 0.39475240000000006 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NkyCN8enmRLkmLEjuwKT9n", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0171LHFsPM5ebrmHRXzpPKdx", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lowering to get a closer look at the table/drawers below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 483 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JEf1XJQEndZWTxjVSMiC4L", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.15, "x": 0.2 }, "note": "Backing up and up to get wider wrist view of the table to understand orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 850, "cache_read_input_tokens": 2508, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 850 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016JBiankYCHiZpb3aeW5AEK", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Testing image direction mapping by moving +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1169, "cache_read_input_tokens": 3358, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1169 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VCiRKngJfawPKZA4mbXLmm", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": 0.1 }, "note": "Testing x mapping; handles seen at bottom-left of wrist image." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1212, "cache_read_input_tokens": 4527, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1212 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working out which way the table's drawers face from the camera views. Next I'll lower the gripper for a closer look." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1409, "cache_read_input_tokens": 5739, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1409 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014oetx6bqr4hqb7LxFCpXm8", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75 }, "note": "Lowering to see drawer handles closer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1409, "cache_read_input_tokens": 5739, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1409 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014mwn9tCFmQKhBFzg8fgSFt", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.6 }, "note": "Lowering further to find table top height / handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1195, "cache_read_input_tokens": 7148, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1195 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011AuWciXaENmWeq4uPqBcqM", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75, "x": 0.5 }, "note": "Wood below is the floor. Moving +x to see where cabinet is relative to gripper in exterior view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1123, "cache_read_input_tokens": 8343, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1123 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0123baDsy8g6WkbXpk8XLtMd", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "y": 0 }, "note": "Handle appears at bottom-left (+x,-y) in wrist view; approaching it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1351, "cache_read_input_tokens": 9466, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1351 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018S4gcTgaM9ZwMfMEwQX5Ft", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": -0.03, "z": 0.8, "yaw": 1.57 }, "note": "Drawer front appears to face -x just beyond gripper; rotating yaw 90 deg so fingers straddle a horizontal handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1117, "cache_read_input_tokens": 10817, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1117 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EeBNdqe8Cj2UaQaCrEzaAe", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57, "z": 0.7 }, "note": "Handle visible left of center (toward +x) in wrist view; descending to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1477, "cache_read_input_tokens": 11934, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1477 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm lining up with the drawer handle. The gripper got blocked on the way down, so I'm shifting back slightly and lowering again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 900, "cache_read_input_tokens": 13411, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 900 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017Nse7qZyEXDcawqsZEEEvu", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.535, "z": 0.72 }, "note": "Descent blocked at z 0.785 (likely finger on handle/top). Shifting slightly -x and descending to straddle handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 900, "cache_read_input_tokens": 13411, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 900 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016h4TBc7EN5XbBMU3fGv1Qh", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at handle height; attempting to close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 855, "cache_read_input_tokens": 14311, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 855 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013QeDNjrAuXcsdRLDhb8Lko", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.51, "z": 0.68 }, "note": "Missed; the gripper was likely on the cabinet top. Moving in front of drawer face and lower to reach handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 15166, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 694 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ds9JFe17KaSz4RUp2BHg59", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.545, "z": 0.65 }, "note": "Handle visible protruding from drawer face at left of wrist view; moving forward/down to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 979, "cache_read_input_tokens": 15860, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 979 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NYxadgWWXM7kCUT6zrVtPh", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle is right at the finger; closing to try to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 891, "cache_read_input_tokens": 16839, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 891 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0131xr6kZKc6JF6aCvY5w3GU", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.62 }, "note": "Missed; handle appears below finger level. Opening and descending." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 17730, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 695 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Two grasp attempts on the handle have missed and about 7.8 s of motion time is left. Opening the gripper and shifting slightly to get around the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 824, "cache_read_input_tokens": 18425, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 824 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NTZ5upjWTt3n3kDH6yzVM8", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.55, "z": 0.64 }, "note": "Still blocked at z~0.68, likely finger resting on handle; opening and shifting x to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 824, "cache_read_input_tokens": 18425, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 824 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NJkeLzsbzjoVPbH5eWrxxA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "gripper": 0 }, "note": "Arm seems stuck, possibly caught on handle; trying to pull toward -x to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 917, "cache_read_input_tokens": 19249, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 917 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MFcWo2VN2e6gYncfXF8k5g", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the drawer handle; drawer still closed with little simulated time remaining." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 20166, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 721 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table: the drawer is still closed, and I ended the episode as a give-up with about 5.5 seconds of motion time left.\n\n- **Slow start:** For the first several moves I misread the wrist camera and took the wooden floor for the tabletop. Working out where the table was and which way its drawers faced used about half of the 30 seconds of motion time.\n- **Missed grasps:** The table sits at about x 0.55–0.6 m, with its drawers facing the robot. I turned the gripper 90° so the fingers would close across the handle and lowered it onto the top drawer. Its descent kept stopping at about z 0.68–0.78 m, probably because a finger landed on the handle or the tabletop. Both times I closed the gripper it shut all the way, so I had caught nothing.\n- **Last attempt:** The gripper then stopped responding to my commands to open. I tried pulling back toward the robot anyway, but the drawer didn't move." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 180, "cache_read_input_tokens": 20887, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 180 }, "output_tokens": 313, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 42, "cache_creation_input_tokens": 19514, "cache_read_input_tokens": 239462, "output_tokens": 9529, "output_tokens_details": { "thinking_tokens": 6843 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 19514, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 313, "cache_read_input_tokens": 20887, "cache_creation_input_tokens": 180, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 180 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 42, "outputTokens": 9529, "cacheReadInputTokens": 239462, "cacheCreationInputTokens": 19514, "webSearchRequests": 0, "costUSD": 0.39475240000000006, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6843, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.39475240000000006, "num_turns": 21, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ 0.02363, -0.79756, 0.05212, -2.36527, 0.12321, 1.58753, -0.08738 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30575, 0.05435, 1.01673 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98904, 0.14696, 0.01394 ], [ 0.14522, -0.98558, 0.0868 ], [ 0.02649, -0.08382, -0.99613 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.0088674100115895, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lowering to get a closer look at the table/drawers below." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ 0.03399, -0.79798, 0.07635, -2.78862, 0.15469, 2.00881, -0.12352 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30569, 0.05435, 0.85128 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00033, 2e-05 ], "tcp_rotation_matrix": [ [ 0.98905, 0.14695, 0.01361 ], [ 0.14524, -0.98558, 0.08678 ], [ 0.02616, -0.08385, -0.99613 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 8.00745658390224, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15, "x": 0.2 }, "note": "Backing up and up to get wider wrist view of the table to understand orientation." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ 0.04092, -0.92166, 0.03693, -2.05244, 0.12616, 1.15351, -0.03091 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20047, 0.05436, 1.1488 ], "tcp_roll_pitch_yaw": [ 2e-05, 9e-05, 2e-05 ], "tcp_rotation_matrix": [ [ 0.98904, 0.14697, 0.01385 ], [ 0.14524, -0.98558, 0.08681 ], [ 0.02641, -0.08385, -0.99613 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 55 }, "api_seconds": 9.009228040464222, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Testing image direction mapping by moving +y." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.03676, -0.8375, 0.30379, -1.97535, 0.32596, 1.21524, 0.22308 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20047, 0.19868, 1.14878 ], "tcp_roll_pitch_yaw": [ -9e-05, 8e-05, 0.00017 ], "tcp_rotation_matrix": [ [ 0.98902, 0.14712, 0.01384 ], [ 0.14539, -0.98557, 0.08671 ], [ 0.0264, -0.08374, -0.99614 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 54 }, "api_seconds": 10.609924716874957, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.1 }, "note": "Testing x mapping; handles seen at bottom-left of wrist image." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ -0.03861, -0.5248, 0.15943, -1.82358, 0.16961, 1.3302, -0.0037 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34894, 0.10067, 1.14872 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00028, 0.0 ], "tcp_rotation_matrix": [ [ 0.98905, 0.14694, 0.01366 ], [ 0.14522, -0.98559, 0.08676 ], [ 0.02621, -0.08383, -0.99614 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 53 }, "api_seconds": 8.212627549655735, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Lowering to see drawer handles closer." } } } ] } } ] }, "execution": { "steps": 45, "motion_seconds": 2.97, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ 0.00214, -0.43819, 0.26482, -2.81247, 0.28731, 2.40135, -0.11353 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34885, 0.10066, 0.75126 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00067, 0.0 ], "tcp_rotation_matrix": [ [ 0.98906, 0.14691, 0.01327 ], [ 0.14523, -0.98559, 0.08674 ], [ 0.02582, -0.08386, -0.99614 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 52 }, "api_seconds": 7.2072724243626, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.6 }, "note": "Lowering further to find table top height / handles." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.00405, 0.09322, 0.28942, -2.84754, 0.30767, 2.96623, -0.15731 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34876, 0.10064, 0.60126 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00104, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98907, 0.14686, 0.0129 ], [ 0.14521, -0.98559, 0.08672 ], [ 0.02545, -0.0839, -0.99615 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 51 }, "api_seconds": 10.009669784456491, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75, "x": 0.5 }, "note": "Wood below is the floor. Moving +x to see where cabinet is relative to gripper in exterior view." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ -0.04368, 0.0183, 0.21552, -2.35652, 0.11759, 2.39884, -0.06075 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49914, 0.10064, 0.74913 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00077, -6e-05 ], "tcp_rotation_matrix": [ [ 0.98907, 0.14683, 0.01318 ], [ 0.14516, -0.9856, 0.08677 ], [ 0.02573, -0.08391, -0.99614 ] ], "simulated_seconds_remaining": 17.424, "calls_remaining_including_this": 50 }, "api_seconds": 7.606806005351245, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0 }, "note": "Handle appears at bottom-left (+x,-y) in wrist view; approaching it." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ -0.13567, 0.12343, 0.13774, -2.21027, 0.09755, 2.33636, -0.24192 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54464, 0.01578, 0.75025 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00538, 0.02873 ], "tcp_rotation_matrix": [ [ 0.98459, 0.17475, 0.00608 ], [ 0.17357, -0.98096, 0.08708 ], [ 0.02118, -0.08468, -0.99618 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 49 }, "api_seconds": 11.010509949177504, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.03, "z": 0.8, "yaw": 1.57 }, "note": "Drawer front appears to face -x just beyond gripper; rotating yaw 90 deg so fingers straddle a horizontal handle." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ -0.21025, -0.01378, 0.14869, -2.21991, 0.00667, 2.11902, -1.77749 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50014, -0.02988, 0.79988 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00541, 1.56535 ], "tcp_rotation_matrix": [ [ -0.13984, 0.98637, -0.08675 ], [ 0.98995, 0.14114, 0.00902 ], [ 0.02114, -0.08462, -0.99619 ] ], "simulated_seconds_remaining": 13.992, "calls_remaining_including_this": 48 }, "api_seconds": 5.005274724215269, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "z": 0.7 }, "note": "Handle visible left of center (toward +x) in wrist view; descending to straddle it." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ -0.19811, 0.15682, 0.13489, -2.05132, -0.02054, 2.1604, -1.73146 ], "gripper_open": 0.9902, "tcp_xyz": [ 0.56291, -0.03734, 0.78491 ], "tcp_roll_pitch_yaw": [ -0.0408, 0.00884, 1.53193 ], "tcp_rotation_matrix": [ [ -0.10763, 0.99313, -0.04586 ], [ 0.99412, 0.10806, 0.0069 ], [ 0.01181, -0.04484, -0.99892 ] ], "simulated_seconds_remaining": 12.87, "calls_remaining_including_this": 47 }, "api_seconds": 4.604764044284821, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.535, "z": 0.72 }, "note": "Descent blocked at z 0.785 (likely finger on handle/top). Shifting slightly -x and descending to straddle handle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ -0.1961, 0.10576, 0.13716, -2.20385, -0.0269, 2.33209, -1.73154 ], "gripper_open": 1.0, "tcp_xyz": [ 0.54782, -0.03402, 0.76151 ], "tcp_roll_pitch_yaw": [ -0.11037, 0.01971, 1.5421 ], "tcp_rotation_matrix": [ [ -0.11882, 0.99264, 0.02327 ], [ 0.99287, 0.119, -0.00644 ], [ -0.00916, 0.02234, -0.99971 ] ], "simulated_seconds_remaining": 12.078, "calls_remaining_including_this": 46 }, "api_seconds": 3.0033695232123137, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at handle height; attempting to close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ -0.19591, 0.10537, 0.13741, -2.20368, -0.02695, 2.33223, -1.73154 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54801, -0.03381, 0.76181 ], "tcp_roll_pitch_yaw": [ -0.11109, 0.0198, 1.54256 ], "tcp_rotation_matrix": [ [ -0.11928, 0.99257, 0.02399 ], [ 0.99282, 0.11947, -0.00654 ], [ -0.00936, 0.02304, -0.99969 ] ], "simulated_seconds_remaining": 11.154, "calls_remaining_including_this": 45 }, "api_seconds": 6.406747018918395, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.51, "z": 0.68 }, "note": "Missed; the gripper was likely on the cabinet top. Moving in front of drawer face and lower to reach handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ -0.19735, 0.16425, 0.12977, -2.37956, -0.04781, 2.56599, -1.72023 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.51043, -0.03381, 0.68103 ], "tcp_roll_pitch_yaw": [ -0.11074, 0.01979, 1.54256 ], "tcp_rotation_matrix": [ [ -0.11927, 0.99258, 0.02365 ], [ 0.99282, 0.11946, -0.00651 ], [ -0.00929, 0.0227, -0.9997 ] ], "simulated_seconds_remaining": 10.23, "calls_remaining_including_this": 44 }, "api_seconds": 4.805142844095826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.545, "z": 0.65 }, "note": "Handle visible protruding from drawer face at left of wrist view; moving forward/down to straddle it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ -0.18302, 0.24098, 0.12015, -2.26307, -0.07831, 2.45595, -1.6956 ], "gripper_open": 0.9935, "tcp_xyz": [ 0.52511, -0.03573, 0.67573 ], "tcp_roll_pitch_yaw": [ -0.04123, 0.0331, 1.54528 ], "tcp_rotation_matrix": [ [ -0.1209, 0.99159, -0.04614 ], [ 0.99259, 0.12019, -0.01795 ], [ -0.01225, -0.04797, -0.99877 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 43 }, "api_seconds": 3.0028205178678036, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle is right at the finger; closing to try to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ -0.17767, 0.23114, 0.12774, -2.2528, -0.0775, 2.46598, -1.69629 ], "gripper_open": 0.0101, "tcp_xyz": [ 0.53586, -0.0293, 0.68572 ], "tcp_roll_pitch_yaw": [ -0.0716, 0.03259, 1.55697 ], "tcp_rotation_matrix": [ [ -0.13306, 0.99099, -0.01557 ], [ 0.99098, 0.13277, -0.01844 ], [ -0.0162, -0.01788, -0.99971 ] ], "simulated_seconds_remaining": 8.712, "calls_remaining_including_this": 42 }, "api_seconds": 4.204363288357854, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.62 }, "note": "Missed; handle appears below finger level. Opening and descending." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ -0.16026, 0.26288, 0.11557, -2.24943, -0.11527, 2.60533, -1.6675 ], "gripper_open": 0.0, "tcp_xyz": [ 0.56648, -0.02738, 0.6832 ], "tcp_roll_pitch_yaw": [ -0.18308, 0.0471, 1.5633 ], "tcp_rotation_matrix": [ [ -0.14021, 0.98548, 0.09576 ], [ 0.98901, 0.14399, -0.03366 ], [ -0.04696, 0.08999, -0.99484 ] ], "simulated_seconds_remaining": 7.788, "calls_remaining_including_this": 41 }, "api_seconds": 5.205080298706889, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.55, "z": 0.64 }, "note": "Still blocked at z~0.68, likely finger resting on handle; opening and shifting x to straddle it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ -0.15047, 0.25031, 0.1015, -2.3046, -0.1451, 2.71891, -1.64336 ], "gripper_open": 0.0, "tcp_xyz": [ 0.56893, -0.02779, 0.68132 ], "tcp_roll_pitch_yaw": [ -0.25406, 0.05677, 1.56314 ], "tcp_rotation_matrix": [ [ -0.13966, 0.97618, 0.16603 ], [ 0.98793, 0.1487, -0.0433 ], [ -0.06696, 0.15798, -0.98517 ] ], "simulated_seconds_remaining": 6.864, "calls_remaining_including_this": 40 }, "api_seconds": 3.202996477484703, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "gripper": 0 }, "note": "Arm seems stuck, possibly caught on handle; trying to pull toward -x to open drawer." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ -0.16524, -0.09833, 0.10293, -2.79259, -0.08325, 2.86307, -1.70042 ], "gripper_open": 0.0, "tcp_xyz": [ 0.42127, -0.02779, 0.68132 ], "tcp_roll_pitch_yaw": [ -0.254, 0.05678, 1.56316 ], "tcp_rotation_matrix": [ [ -0.13968, 0.97619, 0.16597 ], [ 0.98793, 0.14872, -0.0433 ], [ -0.06696, 0.15791, -0.98518 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 39 }, "api_seconds": 2.4029171047732234, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the drawer handle; drawer still closed with little simulated time remaining." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 029 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 29, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 25, "wall_seconds": 173.61, "usage": { "input_tokens": 54, "output_tokens": 10506, "cache_read_input_tokens": 341386, "cache_creation_input_tokens": 23574, "thinking_tokens": 7205, "cost_usd": 0.46720520000000004 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L77fNG4dVf5KqQiGgvQ8qx", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Jb9QtdU5wzDSfRzENBEbEh", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Exploring forward toward the glass shower door to locate handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 485 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ToxVrPBjSsKQqY5oVh8Jcf", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.9, "pitch": -1.57 }, "note": "Rotating gripper to point forward to view and grasp vertical door handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 2510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 844 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01H3QzRki7c2aw7YeXB1ZWgo", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.95, "pitch": -1.2 }, "note": "Partial pitch toward forward orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1079, "cache_read_input_tokens": 3354, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1079 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MReDd5SczvED3y9UNkVjTr", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Small pitch test to see reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 627, "cache_read_input_tokens": 4433, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 627 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Pitching the gripper forward to see the handle better." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 796, "cache_read_input_tokens": 5060, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 796 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WS734bocZpSQFjatVCvBVn", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.1, "x": 0.4, "z": 0.9 }, "note": "Handle visible at right in wrist view; continue rotating to face forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 796, "cache_read_input_tokens": 5060, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 796 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WzUfyyuE7i1UmjUweBoUxo", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Incremental pitch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 5856, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01R21LWC15rohXSpzodXi48z", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 1 }, "note": "Handle appears ahead and slightly higher; move forward/up to approach and relieve elbow joint." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 733, "cache_read_input_tokens": 6684, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 733 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LYZ1oUQyGqRymfWp8rg6rp", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "More forward-facing orientation now arm extended." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 7417, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QUvZeWVFk8PmA6f3RWr6CM", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.1, "x": 0.5 }, "note": "Handle left view; raise and back off slightly to find it in wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 771, "cache_read_input_tokens": 8245, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 771 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DC92ER5Z9z3nw2tDogxZji", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.12, "z": 1 }, "note": "Scanning sideways to find handle in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1084, "cache_read_input_tokens": 9016, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1084 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Handle spotted in the wrist view; moving sideways to line up with it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 794, "cache_read_input_tokens": 10100, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 794 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T2g4mFqLsLXTzGQsnHfxsv", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.22 }, "note": "Handle seen at left of wrist image; shift -y to center it between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 794, "cache_read_input_tokens": 10100, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 794 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TDbJMfgF9mq9FhoeQ34vpi", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.36 }, "note": "Handle moving toward center; continue shifting -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1186, "cache_read_input_tokens": 10894, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1186 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LmxSGU5n4ywuicYofHBbpd", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.41 }, "note": "Handle near center-left; small further -y shift to center." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 766, "cache_read_input_tokens": 12080, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 766 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SmwDeLZVLiVk4Xh8YWwVVW", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "y": -0.3 }, "note": "Backing off to get a wider wrist view of door and handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 861, "cache_read_input_tokens": 12846, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 861 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MJ6FiSWh6wch1Wr617V7k2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": 0.12, "z": 1.05 }, "note": "Shower door handle appears to be at +y relative to gripper in exterior view; moving there to find it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1025, "cache_read_input_tokens": 13707, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1025 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QP4aeuR9GVhDWgF62f4q8j", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": -0.55, "z": 1 }, "note": "Gray door with lever handle seen to the -y side; moving toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1268, "cache_read_input_tokens": 14732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1268 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Moving further toward the lever handle on the gray door." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1747, "cache_read_input_tokens": 16000, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1747 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SoemsnXUh76bQdMDGk81Hz", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.72, "x": 0.4, "yaw": -0.3 }, "note": "Lever handle still left of finger center; shift -y and yaw toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1747, "cache_read_input_tokens": 16000, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1747 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LHzPUzkJsZXAeHF1CzSkfa", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": -0.76, "z": 0.97 }, "note": "Lever handle centered; approach along tool axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1141, "cache_read_input_tokens": 17747, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1141 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MEhpXDqcGrXjVzQ74eqJNM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "y": -0.8, "z": 0.95 }, "note": "Continue approach to gauge distance to lever." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1087, "cache_read_input_tokens": 18888, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1087 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The lever door looks out of reach. Heading back toward the shower door handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 764, "cache_read_input_tokens": 19975, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 764 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DUob7JoAe4aknJnenMHyVz", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": -0.2, "z": 1.05, "yaw": 0 }, "note": "Lever door out of reach; return toward shower door handle which is at +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 764, "cache_read_input_tokens": 19975, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 764 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EQNG1kaZ1zdcN7wnzpE6hP", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05, "z": 1.1, "pitch": -0.9 }, "note": "Shower handle to +y and above in exterior view; move there with view angled down to spot it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1328, "cache_read_input_tokens": 20739, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1328 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CW8Ru5D7fCS8WmAUSog7Bx", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "y": 0.15, "z": 1.12 }, "note": "Handle at upper-right of wrist view; move +y and forward toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 762, "cache_read_input_tokens": 22067, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 762 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XVSx6GuG2Hekd1a8r7FZvY", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.25, "y": 0.2 }, "note": "Blocked forward (likely glass); handle higher and +y, try raising." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 22829, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 696 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BEQwKA9A8FCme1YZGN1xZe", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.19, "y": 0.2 }, "note": "Stay within bounds; move up and +y toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 693, "cache_read_input_tokens": 23525, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 693 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017qkMQQ1kY6jWK19SMD2LS2", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp a door handle before the motion budget ran low. The gray door's lever handle seemed out of reach. The shower door handle sits high, near the workspace limit, and the arm stalled against the glass while approaching it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 668, "cache_read_input_tokens": 24218, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 668 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the door and ended the episode with give_up, with about 5 seconds of motion time left.\n\n- **Gray door:** It has a lever handle off to the robot's right side, which I lined up in the wrist camera. The arm hit its reach limit about 0.9 m out, and the next step toward the lever was rejected as a large joint jump. My rough estimate put the lever near 1 m away, so I judged it out of reach.\n- **Shower door:** I then went back to the handle on the glass shower door, which the exterior camera was centered on. It sits high and to the robot's left. My move forward stopped short, probably against the glass. A move up to 1.25 m was rejected as outside the workspace, and the arm ended well off its commanded pose. I never got the fingers onto it.\n\nMost of the time went into working out which way the wrist camera faces and which door was the target. That left too little to grasp a handle and pull the door open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 241, "cache_read_input_tokens": 24886, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 241 }, "output_tokens": 297, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 54, "cache_creation_input_tokens": 23574, "cache_read_input_tokens": 341386, "output_tokens": 10506, "output_tokens_details": { "thinking_tokens": 7205 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 23574, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 297, "cache_read_input_tokens": 24886, "cache_creation_input_tokens": 241, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 241 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 54, "outputTokens": 10506, "cacheReadInputTokens": 341386, "cacheCreationInputTokens": 23574, "webSearchRequests": 0, "costUSD": 0.46720520000000004, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7205, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.46720520000000004, "num_turns": 27, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the door.", "joint_positions": [ -0.00588, -0.8033, 0.03688, -2.30619, -0.0173, 1.47146, -0.05885 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28712, 0.00426, 1.03554 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99653, 0.07729, -0.0309 ], [ 0.07588, -0.99613, -0.04434 ], [ -0.03421, 0.04184, -0.99854 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.007263260893524, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Exploring forward toward the glass shower door to locate handle." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the door.", "joint_positions": [ -0.01779, -0.32552, 0.04418, -2.16815, -0.03034, 1.81059, -0.04517 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44878, 0.00425, 0.95054 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00026, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99652, 0.07728, -0.03116 ], [ 0.07586, -0.99613, -0.04434 ], [ -0.03447, 0.04182, -0.99853 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 56 }, "api_seconds": 6.406454683281481, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.9, "pitch": -1.57 }, "note": "Rotating gripper to point forward to view and grasp vertical door handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the door.", "joint_positions": [ -0.01779, -0.32552, 0.04418, -2.16815, -0.03034, 1.81059, -0.04517 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44878, 0.00425, 0.95054 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00026, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99652, 0.07728, -0.03116 ], [ 0.07586, -0.99613, -0.04434 ], [ -0.03447, 0.04182, -0.99853 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 55 }, "api_seconds": 2.0022276481613517, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.95, "pitch": -1.2 }, "note": "Partial pitch toward forward orientation." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the door.", "joint_positions": [ -0.01779, -0.32552, 0.04418, -2.16815, -0.03034, 1.81059, -0.04517 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44878, 0.00425, 0.95054 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00026, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99652, 0.07728, -0.03116 ], [ 0.07586, -0.99613, -0.04434 ], [ -0.03447, 0.04182, -0.99853 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 54 }, "api_seconds": 3.8040895322337747, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Small pitch test to see reachability." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the door.", "joint_positions": [ -0.02093, -0.73471, 0.04737, -2.71644, -0.04487, 2.54512, -0.00986 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44873, 0.00424, 0.95042 ], "tcp_roll_pitch_yaw": [ -6e-05, -0.5954, -2e-05 ], "tcp_rotation_matrix": [ [ 0.84424, 0.04047, 0.53444 ], [ 0.07587, -0.99613, -0.04441 ], [ 0.53057, 0.07804, -0.84404 ] ], "simulated_seconds_remaining": 27.39, "calls_remaining_including_this": 53 }, "api_seconds": 4.206201463937759, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.1, "x": 0.4, "z": 0.9 }, "note": "Handle visible at right in wrist view; continue rotating to face forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the door.", "joint_positions": [ -0.02093, -0.73471, 0.04737, -2.71644, -0.04487, 2.54512, -0.00986 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44873, 0.00424, 0.95042 ], "tcp_roll_pitch_yaw": [ -6e-05, -0.5954, -2e-05 ], "tcp_rotation_matrix": [ [ 0.84424, 0.04047, 0.53444 ], [ 0.07587, -0.99613, -0.04441 ], [ 0.53057, 0.07804, -0.84404 ] ], "simulated_seconds_remaining": 27.39, "calls_remaining_including_this": 52 }, "api_seconds": 3.403213762678206, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Incremental pitch." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the door.", "joint_positions": [ -0.04999, -0.82898, 0.07158, -2.95739, -0.06132, 2.99302, 0.02375 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44871, 0.00422, 0.9502 ], "tcp_roll_pitch_yaw": [ -0.00014, -0.89547, -4e-05 ], "tcp_rotation_matrix": [ [ 0.64969, 0.01551, 0.76004 ], [ 0.07585, -0.99612, -0.04452 ], [ 0.7564, 0.08657, -0.64835 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 51 }, "api_seconds": 4.404670797288418, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 1 }, "note": "Handle appears ahead and slightly higher; move forward/up to approach and relieve elbow joint." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the door.", "joint_positions": [ -0.08505, -0.51158, 0.0926, -2.61766, -0.07305, 2.96246, 0.0226 ], "gripper_open": 1.0, "tcp_xyz": [ 0.54532, 0.00443, 0.99754 ], "tcp_roll_pitch_yaw": [ -0.00716, -0.8866, 0.00742 ], "tcp_rotation_matrix": [ [ 0.65621, 0.01829, 0.75436 ], [ 0.08051, -0.9957, -0.04589 ], [ 0.75027, 0.09085, -0.65486 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 50 }, "api_seconds": 4.004126006737351, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "More forward-facing orientation now arm extended." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the door.", "joint_positions": [ -0.30542, -0.3928, 0.31426, -2.82707, -0.00798, 3.71435, 0.03775 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.54539, 0.00428, 0.99714 ], "tcp_roll_pitch_yaw": [ -0.00674, -1.29476, 0.00674 ], "tcp_rotation_matrix": [ [ 0.30448, -0.01895, 0.95233 ], [ 0.0777, -0.99598, -0.04466 ], [ 0.94934, 0.0876, -0.30178 ] ], "simulated_seconds_remaining": 24.75, "calls_remaining_including_this": 49 }, "api_seconds": 7.406916821375489, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.1, "x": 0.5 }, "note": "Handle left view; raise and back off slightly to find it in wrist camera." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the door.", "joint_positions": [ -0.11866, -0.75105, 0.09885, -2.80145, -0.11216, 3.31918, 0.0828 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50054, 0.0043, 1.09898 ], "tcp_roll_pitch_yaw": [ -0.00694, -1.29516, 0.00695 ], "tcp_rotation_matrix": [ [ 0.3041, -0.01896, 0.95245 ], [ 0.07776, -0.99597, -0.04466 ], [ 0.94946, 0.08764, -0.3014 ] ], "simulated_seconds_remaining": 23.694, "calls_remaining_including_this": 48 }, "api_seconds": 3.8041363144293427, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.12, "z": 1 }, "note": "Scanning sideways to find handle in wrist view." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the door.", "joint_positions": [ 0.15089, -0.53915, -0.56262, -2.88613, -0.4016, 3.63993, -0.09509 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50055, -0.11904, 1.00078 ], "tcp_roll_pitch_yaw": [ -0.00636, -1.29506, 0.00624 ], "tcp_rotation_matrix": [ [ 0.30422, -0.01911, 0.95241 ], [ 0.07756, -0.99598, -0.04476 ], [ 0.94944, 0.08749, -0.30151 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 47 }, "api_seconds": 9.20859537832439, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.22 }, "note": "Handle seen at left of wrist image; shift -y to center it between fingers." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the door.", "joint_positions": [ 0.45398, -0.64538, -1.1045, -2.72603, -0.69536, 3.50699, -0.14153 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50052, -0.21882, 1.0009 ], "tcp_roll_pitch_yaw": [ -0.00604, -1.29528, 0.0057 ], "tcp_rotation_matrix": [ [ 0.30402, -0.01936, 0.95247 ], [ 0.07741, -0.99599, -0.04495 ], [ 0.94951, 0.0874, -0.3013 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 46 }, "api_seconds": 4.004110830835998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.36 }, "note": "Handle moving toward center; continue shifting -y." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the door.", "joint_positions": [ 0.71243, -1.01635, -1.43743, -2.43162, -0.82497, 3.16832, -0.3643 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50047, -0.35881, 1.00097 ], "tcp_roll_pitch_yaw": [ -0.0057, -1.29546, 0.0051 ], "tcp_rotation_matrix": [ [ 0.30387, -0.01964, 0.95251 ], [ 0.07724, -0.99599, -0.04517 ], [ 0.94958, 0.0873, -0.30114 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 45 }, "api_seconds": 4.604727228172123, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.41 }, "note": "Handle near center-left; small further -y shift to center." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the door.", "joint_positions": [ 0.76965, -1.13871, -1.469, -2.3088, -0.8191, 3.04454, -0.46201 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50043, -0.40892, 1.001 ], "tcp_roll_pitch_yaw": [ -0.00537, -1.29557, 0.00457 ], "tcp_rotation_matrix": [ [ 0.30378, -0.01986, 0.95253 ], [ 0.07709, -0.99599, -0.04535 ], [ 0.94962, 0.08721, -0.30104 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 44 }, "api_seconds": 6.606517678126693, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": -0.3 }, "note": "Backing off to get a wider wrist view of door and handles." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the door.", "joint_positions": [ 0.30835, -1.20595, -1.25404, -2.75024, -0.87285, 3.05322, -0.36781 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40092, -0.30102, 1.00102 ], "tcp_roll_pitch_yaw": [ -0.00525, -1.29563, 0.00446 ], "tcp_rotation_matrix": [ [ 0.30372, -0.01986, 0.95255 ], [ 0.07706, -0.996, -0.04533 ], [ 0.94964, 0.08717, -0.30098 ] ], "simulated_seconds_remaining": 18.15, "calls_remaining_including_this": 43 }, "api_seconds": 9.207874001935124, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.12, "z": 1.05 }, "note": "Shower door handle appears to be at +y relative to gripper in exterior view; moving there to find it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 16, "state": { "instruction": "open the door.", "joint_positions": [ 0.30835, -1.20595, -1.25404, -2.75024, -0.87285, 3.05322, -0.36781 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40092, -0.30102, 1.00102 ], "tcp_roll_pitch_yaw": [ -0.00525, -1.29563, 0.00446 ], "tcp_rotation_matrix": [ [ 0.30372, -0.01986, 0.95255 ], [ 0.07706, -0.996, -0.04533 ], [ 0.94964, 0.08717, -0.30098 ] ], "simulated_seconds_remaining": 18.15, "calls_remaining_including_this": 42 }, "api_seconds": 15.011785070411861, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.55, "z": 1 }, "note": "Gray door with lever handle seen to the -y side; moving toward it." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the door.", "joint_positions": [ 0.81378, -1.41768, -1.43238, -1.98348, -0.74151, 2.68038, -0.75927 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44972, -0.54871, 1.00001 ], "tcp_roll_pitch_yaw": [ -0.00501, -1.29568, 0.00414 ], "tcp_rotation_matrix": [ [ 0.30369, -0.01996, 0.95256 ], [ 0.07697, -0.996, -0.04541 ], [ 0.94966, 0.08711, -0.30094 ] ], "simulated_seconds_remaining": 16.17, "calls_remaining_including_this": 41 }, "api_seconds": 8.007062782533467, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.72, "x": 0.4, "yaw": -0.3 }, "note": "Lever handle still left of finger center; shift -y and yaw toward it." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the door.", "joint_positions": [ 0.95013, -1.35375, -1.53842, -1.60087, -0.75384, 2.73828, -0.72373 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40025, -0.71909, 0.99999 ], "tcp_roll_pitch_yaw": [ -0.00484, -1.29568, -0.29854 ], "tcp_rotation_matrix": [ [ 0.31282, -0.31578, 0.89578 ], [ -0.01704, -0.94483, -0.32712 ], [ 0.94966, 0.08706, -0.30094 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 40 }, "api_seconds": 7.206828691996634, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.76, "z": 0.97 }, "note": "Lever handle centered; approach along tool axis." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the door.", "joint_positions": [ 1.31687, -1.40705, -1.60577, -1.20151, -0.73487, 2.71329, -0.80087 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49903, -0.75938, 0.97029 ], "tcp_roll_pitch_yaw": [ -0.00457, -1.29562, -0.29847 ], "tcp_rotation_matrix": [ [ 0.31285, -0.31547, 0.89588 ], [ -0.01702, -0.94494, -0.3268 ], [ 0.94965, 0.08699, -0.301 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 39 }, "api_seconds": 3.608512950129807, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": -0.8, "z": 0.95 }, "note": "Continue approach to gauge distance to lever." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 20, "state": { "instruction": "open the door.", "joint_positions": [ 1.31687, -1.40705, -1.60577, -1.20151, -0.73487, 2.71329, -0.80087 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49903, -0.75938, 0.97029 ], "tcp_roll_pitch_yaw": [ -0.00457, -1.29562, -0.29847 ], "tcp_rotation_matrix": [ [ 0.31285, -0.31547, 0.89588 ], [ -0.01702, -0.94494, -0.3268 ], [ 0.94965, 0.08699, -0.301 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 38 }, "api_seconds": 9.408119882456958, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.2, "z": 1.05, "yaw": 0 }, "note": "Lever door out of reach; return toward shower door handle which is at +y." } } } ] } } ] }, "execution": { "steps": 62, "motion_seconds": 4.0920000000000005, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the door.", "joint_positions": [ 0.23965, -0.91111, -0.91067, -2.78845, -0.85496, 3.25613, 0.00663 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45014, -0.20128, 1.04983 ], "tcp_roll_pitch_yaw": [ -0.0049, -1.29564, -0.00027 ], "tcp_rotation_matrix": [ [ 0.30406, -0.02423, 0.95235 ], [ 0.07563, -0.99591, -0.04948 ], [ 0.94965, 0.08708, -0.30098 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 37 }, "api_seconds": 3.6037368923425674, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "z": 1.1, "pitch": -0.9 }, "note": "Shower handle to +y and above in exterior view; move there with view angled down to spot it." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the door.", "joint_positions": [ 0.34297, -0.89483, -0.13961, -2.57763, -0.53241, 2.48686, 0.44413 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45018, 0.04902, 1.09985 ], "tcp_roll_pitch_yaw": [ -0.00505, -0.90175, -0.0 ], "tcp_rotation_matrix": [ [ 0.64522, 0.01117, 0.76392 ], [ 0.07571, -0.99591, -0.04939 ], [ 0.76024, 0.0897, -0.64342 ] ], "simulated_seconds_remaining": 7.524, "calls_remaining_including_this": 36 }, "api_seconds": 3.2032899502664804, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.15, "z": 1.12 }, "note": "Handle at upper-right of wrist view; move +y and forward toward it." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the door.", "joint_positions": [ 0.34225, -0.55949, 0.01472, -2.23851, -0.53801, 2.25986, 0.60399 ], "gripper_open": 1.0, "tcp_xyz": [ 0.50603, 0.10918, 1.11549 ], "tcp_roll_pitch_yaw": [ -0.1151, -0.77818, -0.03411 ], "tcp_rotation_matrix": [ [ 0.7417, -0.088, 0.66494 ], [ 0.04618, -0.9823, -0.18151 ], [ 0.66914, 0.16534, -0.72451 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 35 }, "api_seconds": 3.003100843168795, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.25, "y": 0.2 }, "note": "Blocked forward (likely glass); handle higher and +y, try raising." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 24, "state": { "instruction": "open the door.", "joint_positions": [ 0.34225, -0.55949, 0.01472, -2.23851, -0.53801, 2.25986, 0.60399 ], "gripper_open": 1.0, "tcp_xyz": [ 0.50603, 0.10918, 1.11549 ], "tcp_roll_pitch_yaw": [ -0.1151, -0.77818, -0.03411 ], "tcp_rotation_matrix": [ [ 0.7417, -0.088, 0.66494 ], [ 0.04618, -0.9823, -0.18151 ], [ 0.66914, 0.16534, -0.72451 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 34 }, "api_seconds": 3.006902947090566, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.19, "y": 0.2 }, "note": "Stay within bounds; move up and +y toward handle." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the door.", "joint_positions": [ 0.36747, -0.39604, 0.16136, -1.90518, -0.51449, 1.8497, 0.66841 ], "gripper_open": 0.9766, "tcp_xyz": [ 0.48455, 0.16364, 1.15837 ], "tcp_roll_pitch_yaw": [ -0.21723, -0.64708, -0.06738 ], "tcp_rotation_matrix": [ [ 0.8277, -0.15707, 0.53875 ], [ 0.01102, -0.95529, -0.29545 ], [ 0.56107, 0.25049, -0.78896 ] ], "simulated_seconds_remaining": 5.214, "calls_remaining_including_this": 33 }, "api_seconds": 3.0034600663930178, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp a door handle before the motion budget ran low. The gray door's lever handle seemed out of reach. The shower door handle sits high, near the workspace limit, and the arm stalled against the glass while approaching it." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 030 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 30, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 26, "wall_seconds": 162.16, "usage": { "input_tokens": 56, "output_tokens": 9647, "cache_read_input_tokens": 363414, "cache_creation_input_tokens": 23351, "thinking_tokens": 6315, "cost_usd": 0.45265479999999997 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ReGHAbCivGekxqSReK1JRo", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012MZKRGvQs4PtRRZUvkGfjh", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lowering to get a better view of cabinet/drawers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Gk6WNCbMGswAccbg7gkxvD", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5708, "x": 0.25, "z": 0.8 }, "note": "Rotating gripper to point forward (+x) toward the cabinet front to look for drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 883, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 883 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012SWhVtx2pJKD7NZmujBSGe", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Partial pitch rotation to test direction and reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1059, "cache_read_input_tokens": 3392, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1059 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FwUvYkQwp9egxNuoqSvSSp", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.5 }, "note": "Testing opposite pitch sign." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 671, "cache_read_input_tokens": 4451, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 671 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Figuring out where the drawer is: I'm tilting the gripper to find which way the cabinet faces." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 661, "cache_read_input_tokens": 5122, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 661 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012FBX6Bux7s6mi1GQ1FtuSt", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "roll": 0.6 }, "note": "Pitch+ tilted toward the robot base (-x). Try tilting toward +y to locate cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 661, "cache_read_input_tokens": 5122, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 661 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CauGs9HwfcWX8Ts5wcTA1H", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.4, "z": 0.75 }, "note": "Cabinet is at +y. Pointing gripper toward +y and lowering to view drawer fronts." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 970, "cache_read_input_tokens": 5783, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 970 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Rg8raLDNtBTfZ6MTZF8GD9", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Handle bar visible at top-right of wrist view; moving up to check image axes." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 6753, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AhSR1vbdPH2QDCx35gLfg1", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4 }, "note": "Testing x image axis; handle at upper right." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 7541, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 859 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011wrPX4LpqSXcE2183xo1wv", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": -0.1, "z": 0.85 }, "note": "Backing away from cabinet (-y) to get a wider view of drawer fronts and handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 8400, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 768 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F5E2jJ2uPGp6Qtv5umfLzv", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92 }, "note": "Handle appears above image center; raising to align." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 910, "cache_read_input_tokens": 9168, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 910 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still locating the handle — lowering the camera to scan the drawer fronts." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 10078, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 882 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ev1GgoTZVJy8Nd58ZukPUg", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.65 }, "note": "Scanning lower to see how drawer fronts shift in wrist image." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 10078, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 882 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SrhLvNxB2pU2MqQ15v9qyS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2 }, "note": "Hypothesis: wrist image up = -x, right = +z. Moving -x to center handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1243, "cache_read_input_tokens": 10960, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1243 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TFMtto8nThPPHVGNKqwo9e", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.15, "z": 0.73 }, "note": "Handle moved down in image as x decreased; handle right of center → raise z." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1237, "cache_read_input_tokens": 12203, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1237 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YU8VAQ4uoUVxe6Z3vA8dr6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 0.75 }, "note": "Handle scale suggests it's far; moving toward +y to approach cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 930, "cache_read_input_tokens": 13440, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 930 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016XYEGQZCHQmvJyRbdW3kMA", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.25, "z": 0.8, "x": 0.27 }, "note": "Approaching handle further along +y, nudging toward handle (upper-right: +z, -x)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1580, "cache_read_input_tokens": 14370, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1580 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018fbb4NzgNxozzP1pdvaVbq", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.4, "z": 0.84, "x": 0.25 }, "note": "Handle growing; continuing approach along +y toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 716, "cache_read_input_tokens": 15950, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 716 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The handle looks vertical, so I'm rotating the gripper 90° to straddle it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 795, "cache_read_input_tokens": 16666, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 795 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LfnTFcntgjiD1x1N4KpfUU", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 1.5708 }, "note": "Handle appears vertical in world (image horizontal = world vertical). Rotating about approach axis so fingers open horizontally." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 795, "cache_read_input_tokens": 16666, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 795 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Hg9taqn5ZosmXBiDwJipBH", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.47, "z": 0.86 }, "note": "Vertical handle centered between fingers; advancing toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1206, "cache_read_input_tokens": 17461, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1206 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013KDFRLy14vkzqD3MyM4bcX", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.52 }, "note": "Handle between fingers, advancing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 18667, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01K75PBDYp2675UybwMM7zou", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.28 }, "note": "Handle is left of finger center; testing whether +x shifts it toward center." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 734, "cache_read_input_tokens": 19486, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 734 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011BLUynAFdqozpsGhhZAfbF", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "y": 0.55 }, "note": "+x moved handle further left, so shift -x to center handle and advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 754, "cache_read_input_tokens": 20220, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 754 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JEyztGJQ7k4SgH7G6EeDRS", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.6, "x": 0.19 }, "note": "Handle bar centered between fingers and close; advancing to enclose it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 880, "cache_read_input_tokens": 20974, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 880 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Handle is lined up between the fingers; moving in to grab it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 733, "cache_read_input_tokens": 21854, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 733 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016k3rXn9FAffjZ16ctya9sP", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.63 }, "note": "Final approach so handle bar sits between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 733, "cache_read_input_tokens": 21854, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 733 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HAiZwive4C4fPGV5M9cm4d", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle bar between fingers; closing gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 683, "cache_read_input_tokens": 22587, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 683 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grip closed on the handle; pulling the drawer open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 23270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 645 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01W7Rv5E8Zjw4Nnx8P2EqCKM", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.35 }, "note": "Grasped handle (gripper 0.25). Pulling along -y to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 23270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 645 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DN5wUjerDfowAQ2Khs9Lpb", "name": "mcp__robot__give_up", "input": { "note": "Grasp slipped off the handle during the pull; only about 3 s of simulated motion left, which isn't enough to re-grasp and open." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 701, "cache_read_input_tokens": 23915, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 701 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't get the drawer open, and I ended the episode by giving up.\n\nI found the cabinet to the robot's left (+y). At about z≈0.86 m I found a handle that stands upright, so I turned the gripper 90° to fit around it. I moved in and closed the gripper on the handle. When I pulled it back along −y, the gripper slipped off and closed all the way, and the front didn't move. An upright handle may mean this is a door rather than a drawer, which could explain why pulling straight back didn't work.\n\nMost of the 30 seconds of simulated motion went into working out which way the wrist camera faces and where the handle was. Only about 3 seconds were left after the grip slipped, which wasn't enough to grab the handle again and pull." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 288, "cache_read_input_tokens": 24616, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 288 }, "output_tokens": 242, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 56, "cache_creation_input_tokens": 23351, "cache_read_input_tokens": 363414, "output_tokens": 9647, "output_tokens_details": { "thinking_tokens": 6315 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 23351, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 242, "cache_read_input_tokens": 24616, "cache_creation_input_tokens": 288, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 288 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 56, "outputTokens": 9647, "cacheReadInputTokens": 363414, "cacheCreationInputTokens": 23351, "webSearchRequests": 0, "costUSD": 0.45265479999999997, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6315, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.45265479999999997, "num_turns": 28, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.01283, -0.74204, 0.064, -2.32672, 0.04765, 1.63058, -0.02998 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3308, 0.03678, 1.02047 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99502, 0.08915, 0.04453 ], [ 0.08892, -0.99601, 0.00706 ], [ 0.04498, -0.00306, -0.99898 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.4073815792799, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lowering to get a better view of cabinet/drawers." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02147, -0.72765, 0.08286, -2.75203, 0.06647, 2.06989, -0.03511 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33074, 0.03677, 0.85123 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00033, 0.0 ], "tcp_rotation_matrix": [ [ 0.99504, 0.08915, 0.0442 ], [ 0.08893, -0.99601, 0.00703 ], [ 0.04465, -0.00307, -0.999 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 6.406568336300552, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5708, "x": 0.25, "z": 0.8 }, "note": "Rotating gripper to point forward (+x) toward the cabinet front to look for drawer handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02147, -0.72765, 0.08286, -2.75203, 0.06647, 2.06989, -0.03511 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33074, 0.03677, 0.85123 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00033, 0.0 ], "tcp_rotation_matrix": [ [ 0.99504, 0.08915, 0.0442 ], [ 0.08893, -0.99601, 0.00703 ], [ 0.04465, -0.00307, -0.999 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 55 }, "api_seconds": 2.602939808741212, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Partial pitch rotation to test direction and reachability." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02147, -0.72765, 0.08286, -2.75203, 0.06647, 2.06989, -0.03511 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33074, 0.03677, 0.85123 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00033, 0.0 ], "tcp_rotation_matrix": [ [ 0.99504, 0.08915, 0.0442 ], [ 0.08893, -0.99601, 0.00703 ], [ 0.04465, -0.00307, -0.999 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 54 }, "api_seconds": 2.402555227279663, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.5 }, "note": "Testing opposite pitch sign." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.00451, -0.28234, 0.06961, -2.35918, 0.0557, 1.62706, -0.03633 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33077, 0.03677, 0.85117 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.49587, -3e-05 ], "tcp_rotation_matrix": [ [ 0.89658, 0.07692, -0.43615 ], [ 0.08889, -0.99602, 0.00707 ], [ -0.43386, -0.04511, -0.89985 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 53 }, "api_seconds": 5.204621360637248, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "roll": 0.6 }, "note": "Pitch+ tilted toward the robot base (-x). Try tilting toward +y to locate cabinet." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01433, -0.64376, -0.25263, -2.74939, 0.49217, 1.98182, -0.51836 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33074, 0.03673, 0.85114 ], "tcp_roll_pitch_yaw": [ 0.59678, 0.00292, 0.00069 ], "tcp_rotation_matrix": [ [ 0.99524, 0.08807, 0.04174 ], [ 0.04896, -0.82207, 0.56728 ], [ 0.08427, -0.56254, -0.82247 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 52 }, "api_seconds": 4.003650210797787, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.4, "z": 0.75 }, "note": "Cabinet is at +y. Pointing gripper toward +y and lowering to view drawer fronts." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.05436, 0.26009, -0.65924, -2.55967, 1.05452, 1.41353, -1.42173 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33064, 0.03676, 0.75039 ], "tcp_roll_pitch_yaw": [ 1.39533, 0.00374, 0.00113 ], "tcp_rotation_matrix": [ [ 0.9954, 0.08567, 0.04279 ], [ -0.02764, -0.17076, 0.98493 ], [ 0.09169, -0.98158, -0.1676 ] ], "simulated_seconds_remaining": 24.882, "calls_remaining_including_this": 51 }, "api_seconds": 4.8044272139668465, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Handle bar visible at top-right of wrist view; moving up to check image axes." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.06823, 0.07493, -0.69365, -2.59547, 0.99688, 1.42959, -1.28204 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33069, 0.03672, 0.79891 ], "tcp_roll_pitch_yaw": [ 1.39531, 0.00348, 0.00107 ], "tcp_rotation_matrix": [ [ 0.99538, 0.08592, 0.04289 ], [ -0.0277, -0.17078, 0.98492 ], [ 0.09195, -0.98156, -0.16761 ] ], "simulated_seconds_remaining": 24.222, "calls_remaining_including_this": 50 }, "api_seconds": 3.6031415900215507, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Testing x image axis; handle at upper right." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.0896, 0.22878, -0.63502, -2.41397, 1.12543, 1.37233, -1.24243 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39879, 0.03674, 0.7989 ], "tcp_roll_pitch_yaw": [ 1.39525, 0.00348, 0.00119 ], "tcp_rotation_matrix": [ [ 0.99538, 0.08594, 0.04278 ], [ -0.02758, -0.17084, 0.98491 ], [ 0.09195, -0.98154, -0.16768 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 49 }, "api_seconds": 5.40507784858346, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.1, "z": 0.85 }, "note": "Backing away from cabinet (-y) to get a wider view of drawer fronts and handles." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.11797, 0.17492, -0.83129, -2.32736, 0.77219, 1.12959, -1.2999 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30079, -0.09903, 0.84961 ], "tcp_roll_pitch_yaw": [ 1.39514, 0.00338, 0.00091 ], "tcp_rotation_matrix": [ [ 0.99536, 0.08599, 0.04306 ], [ -0.02784, -0.17096, 0.98488 ], [ 0.09205, -0.98152, -0.16777 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 48 }, "api_seconds": 5.204668654128909, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Handle appears above image center; raising to align." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.1026, -0.01882, -0.84606, -2.31021, 0.7533, 1.0906, -1.10734 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30082, -0.09907, 0.91883 ], "tcp_roll_pitch_yaw": [ 1.39507, 0.0031, 0.00085 ], "tcp_rotation_matrix": [ [ 0.99534, 0.08626, 0.04318 ], [ -0.0279, -0.17104, 0.98487 ], [ 0.09233, -0.98148, -0.16783 ] ], "simulated_seconds_remaining": 21.186, "calls_remaining_including_this": 47 }, "api_seconds": 9.608608934096992, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.65 }, "note": "Scanning lower to see how drawer fronts shift in wrist image." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.25552, 0.75375, -0.62211, -2.19855, 0.93623, 1.24157, -1.68896 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30078, -0.09903, 0.6513 ], "tcp_roll_pitch_yaw": [ 1.39516, 0.00333, 0.0009 ], "tcp_rotation_matrix": [ [ 0.99536, 0.08603, 0.04308 ], [ -0.02786, -0.17095, 0.98489 ], [ 0.0921, -0.98152, -0.16776 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 46 }, "api_seconds": 8.807428891770542, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2 }, "note": "Hypothesis: wrist image up = -x, right = +z. Moving -x to center handle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.29423, 0.73034, -0.71195, -2.36374, 0.78027, 1.29745, -1.86347 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20124, -0.09906, 0.65129 ], "tcp_roll_pitch_yaw": [ 1.39515, 0.00348, 0.0007 ], "tcp_rotation_matrix": [ [ 0.99537, 0.08586, 0.04325 ], [ -0.02805, -0.17098, 0.98488 ], [ 0.09195, -0.98153, -0.16777 ] ], "simulated_seconds_remaining": 18.084, "calls_remaining_including_this": 45 }, "api_seconds": 5.604893875308335, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "z": 0.73 }, "note": "Handle moved down in image as x decreased; handle right of center → raise z." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.22589, 0.47266, -0.92651, -2.51124, 0.57222, 1.26639, -1.80829 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.15075, -0.09913, 0.72893 ], "tcp_roll_pitch_yaw": [ 1.39501, 0.00338, 0.00049 ], "tcp_rotation_matrix": [ [ 0.99535, 0.08592, 0.04348 ], [ -0.02825, -0.17113, 0.98484 ], [ 0.09205, -0.9815, -0.16791 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 44 }, "api_seconds": 13.215778206475079, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 0.75 }, "note": "Handle scale suggests it's far; moving toward +y to approach cabinet front." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.22162, 0.11985, -0.70925, -2.74871, 1.1258, 1.53947, -1.42479 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29918, 0.09897, 0.74989 ], "tcp_roll_pitch_yaw": [ 1.395, 0.00333, 0.00079 ], "tcp_rotation_matrix": [ [ 0.99536, 0.08601, 0.04319 ], [ -0.02795, -0.17111, 0.98486 ], [ 0.0921, -0.98149, -0.16791 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 43 }, "api_seconds": 3.003755890764296, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 0.8, "x": 0.27 }, "note": "Approaching handle further along +y, nudging toward handle (upper-right: +z, -x)." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.45715, -0.31159, -0.44436, -3.00439, 1.51507, 1.87595, -1.23431 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27021, 0.24881, 0.79961 ], "tcp_roll_pitch_yaw": [ 1.39502, 0.00322, 0.00109 ], "tcp_rotation_matrix": [ [ 0.99536, 0.08617, 0.04291 ], [ -0.02765, -0.17106, 0.98487 ], [ 0.09221, -0.98148, -0.16789 ] ], "simulated_seconds_remaining": 13.794, "calls_remaining_including_this": 42 }, "api_seconds": 4.003584214486182, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4, "z": 0.84, "x": 0.25 }, "note": "Handle growing; continuing approach along +y toward it." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.77781, -0.3332, -0.11478, -2.89892, 2.10279, 2.11093, -1.19231 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25016, 0.39872, 0.83967 ], "tcp_roll_pitch_yaw": [ 1.39501, 0.00306, 0.00136 ], "tcp_rotation_matrix": [ [ 0.99535, 0.08638, 0.04268 ], [ -0.02738, -0.17105, 0.98488 ], [ 0.09237, -0.98147, -0.16789 ] ], "simulated_seconds_remaining": 12.474, "calls_remaining_including_this": 41 }, "api_seconds": 7.607046905905008, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 1.5708 }, "note": "Handle appears vertical in world (image horizontal = world vertical). Rotating about approach axis so fingers open horizontally." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.78156, -0.12334, -0.28843, -2.79201, 1.82924, 1.78644, 0.34759 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25016, 0.39871, 0.83964 ], "tcp_roll_pitch_yaw": [ 1.39545, 1.56617, 0.00176 ], "tcp_rotation_matrix": [ [ 0.10006, -0.98055, -0.16884 ], [ -0.0286, -0.17246, 0.9846 ], [ -0.99457, -0.09369, -0.0453 ] ], "simulated_seconds_remaining": 10.098, "calls_remaining_including_this": 40 }, "api_seconds": 4.205628142692149, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.47, "z": 0.86 }, "note": "Vertical handle centered between fingers; advancing toward it." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.87803, -0.08032, -0.19086, -2.67421, 1.99537, 1.88263, 0.39245 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25011, 0.4688, 0.85967 ], "tcp_roll_pitch_yaw": [ 1.40398, 1.56606, 0.01051 ], "tcp_rotation_matrix": [ [ 0.10017, -0.9805, -0.16906 ], [ -0.02854, -0.17268, 0.98456 ], [ -0.99456, -0.0938, -0.04528 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 39 }, "api_seconds": 3.6033962089568377, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.52 }, "note": "Handle between fingers, advancing." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.93118, 0.00737, -0.13771, -2.56563, 2.09347, 1.92991, 0.39249 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25005, 0.51886, 0.85968 ], "tcp_roll_pitch_yaw": [ 1.40495, 1.56601, 0.01169 ], "tcp_rotation_matrix": [ [ 0.10022, -0.98046, -0.16926 ], [ -0.02851, -0.17287, 0.98453 ], [ -0.99456, -0.09385, -0.04528 ] ], "simulated_seconds_remaining": 8.646, "calls_remaining_including_this": 38 }, "api_seconds": 3.6036412119865417, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.28 }, "note": "Handle is left of finger center; testing whether +x shifts it toward center." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.90661, 0.05314, -0.16142, -2.51046, 2.04232, 1.90175, 0.41981 ], "gripper_open": 0.9905, "tcp_xyz": [ 0.27455, 0.51856, 0.85972 ], "tcp_roll_pitch_yaw": [ 1.61696, 1.56606, 0.2309 ], "tcp_rotation_matrix": [ [ 0.10026, -0.97921, -0.17636 ], [ -0.0268, -0.17984, 0.98333 ], [ -0.9946, -0.09386, -0.04428 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 37 }, "api_seconds": 4.804638241417706, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0.55 }, "note": "+x moved handle further left, so shift -x to center handle and advance." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.00584, -0.00727, -0.0631, -2.5788, 2.23, 1.99424, 0.34676 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20103, 0.54957, 0.85973 ], "tcp_roll_pitch_yaw": [ 1.62194, 1.56603, 0.23617 ], "tcp_rotation_matrix": [ [ 0.10029, -0.97915, -0.17664 ], [ -0.02674, -0.18013, 0.98328 ], [ -0.9946, -0.09388, -0.04425 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 36 }, "api_seconds": 3.0031393067911267, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.6, "x": 0.19 }, "note": "Handle bar centered between fingers and close; advancing to enclose it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.05372, 0.08063, -0.01647, -2.46016, 2.31414, 2.05277, 0.33654 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.19017, 0.59887, 0.85974 ], "tcp_roll_pitch_yaw": [ 1.62702, 1.56599, 0.24145 ], "tcp_rotation_matrix": [ [ 0.10032, -0.97911, -0.17684 ], [ -0.02669, -0.18032, 0.98325 ], [ -0.9946, -0.09392, -0.04422 ] ], "simulated_seconds_remaining": 6.6, "calls_remaining_including_this": 35 }, "api_seconds": 2.6028633788228035, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.63 }, "note": "Final approach so handle bar sits between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.07366, 0.14387, 0.00085, -2.3716, 2.34204, 2.08651, 0.33985 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.19012, 0.62898, 0.85975 ], "tcp_roll_pitch_yaw": [ 1.63271, 1.56598, 0.24726 ], "tcp_rotation_matrix": [ [ 0.10034, -0.97909, -0.17696 ], [ -0.02665, -0.18044, 0.98323 ], [ -0.9946, -0.09394, -0.0442 ] ], "simulated_seconds_remaining": 6.072, "calls_remaining_including_this": 34 }, "api_seconds": 2.6030979324132204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle bar between fingers; closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.07517, 0.14321, 0.00285, -2.37383, 2.34054, 2.08538, 0.34038 ], "gripper_open": 0.2463, "tcp_xyz": [ 0.18717, 0.62902, 0.85921 ], "tcp_roll_pitch_yaw": [ 1.50147, 1.56705, 0.12118 ], "tcp_rotation_matrix": [ [ 0.09953, -0.97824, -0.18207 ], [ -0.02688, -0.18555, 0.98227 ], [ -0.99467, -0.09287, -0.04476 ] ], "simulated_seconds_remaining": 5.148, "calls_remaining_including_this": 33 }, "api_seconds": 3.00327171664685, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.35 }, "note": "Grasped handle (gripper 0.25). Pulling along -y to open drawer." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.73547, -0.44788, -0.30659, -3.02969, 1.72215, 1.86005, 0.41428 ], "gripper_open": 0.0, "tcp_xyz": [ 0.18728, 0.35132, 0.85925 ], "tcp_roll_pitch_yaw": [ 1.52457, 1.56708, 0.14397 ], "tcp_rotation_matrix": [ [ 0.09948, -0.9783, -0.18176 ], [ -0.02683, -0.18524, 0.98233 ], [ -0.99468, -0.09284, -0.04467 ] ], "simulated_seconds_remaining": 2.97, "calls_remaining_including_this": 32 }, "api_seconds": 4.004146101884544, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Grasp slipped off the handle during the pull; only about 3 s of simulated motion left, which isn't enough to re-grasp and open." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 031 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 31, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 47, "wall_seconds": 214.21, "usage": { "input_tokens": 98, "output_tokens": 12562, "cache_read_input_tokens": 1015206, "cache_creation_input_tokens": 37051, "thinking_tokens": 6856, "cost_usd": 0.7510812 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018y3EGcpPAGD44rzvcoyAVc", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FDSB1XTQ2qcng3kyJSRux1", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8, "x": 0.4 }, "note": "Dresser visible ahead; lowering to explore with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018DvUfjUuiHs6MXMKimNedo", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "pitch": -1.57 }, "note": "Pitch gripper to point forward toward dresser front to view handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 767, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 767 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JcgoUqNx6RwL5VovD4AApK", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Partial pitch toward forward to test direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1183, "cache_read_input_tokens": 3279, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1183 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VH8yyM5jjGUM8oguTwj9s3", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.9 }, "note": "Testing other pitch direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 668, "cache_read_input_tokens": 4462, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 668 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still looking for the dresser handles. Resetting the tilt, then trying to point the gripper forward from a lower spot." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 5130, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016TzVxyjro2HoGygXuLyzZK", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.35, "z": 0.7 }, "note": "Tool pointed backward toward base; revert and lower to try forward pitch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 5130, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JksfsyEjsrMm3Z477qCRWX", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Try pointing forward toward dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 905, "cache_read_input_tokens": 5805, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 905 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BJ4uXrQR3grZsEDsGXJywQ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Small forward pitch step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 660, "cache_read_input_tokens": 6710, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 660 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Wk1bvTgjxeqMvymSGMeW5m", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4, "z": 0.9, "x": 0.3 }, "note": "Arm folded near limits; try forward pitch at higher position." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 683, "cache_read_input_tokens": 7370, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 683 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BWrbeGbcKp6S695NCzWjMH", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "x": 0.28, "z": 0.85 }, "note": "Forward pitch works from here; tilt more to view dresser front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 852, "cache_read_input_tokens": 8053, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 852 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fb8yVp3JgC7VndUdMV8qCw", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "pitch": -0.8 }, "note": "Extend forward to unfold arm and tilt more toward front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 922, "cache_read_input_tokens": 8905, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 922 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Found a drawer handle in the wrist camera. Rotating the gripper so its fingers close vertically around the horizontal bar." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 9827, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011BZHP5BuZZUCM8nQHxHX7F", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.57 }, "note": "Handle bar horizontal ahead; roll so fingers open vertically." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 9827, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DefuWfkwea4Jp2ZMfuYS69", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.8, "pitch": 0, "yaw": 1.57 }, "note": "Wrong composition; use yaw 90 then roll-forward equivalent to spin tool about its axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 999, "cache_read_input_tokens": 10650, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 999 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Uy8AZCiC193TePvaCebUxS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57, "z": 0.83 }, "note": "Handle near image center; advance along tool axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1715, "cache_read_input_tokens": 11649, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1715 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0169e5nAFZjqnEAz2voHsE6K", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62, "z": 0.815 }, "note": "Handle close, slightly offset; advance to enclose it between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1013, "cache_read_input_tokens": 13364, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1013 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JL7XbRVP9fbSQhJ9H5yXmJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.64, "z": 0.8 }, "note": "Handle between fingers in view; push a bit deeper before closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 973, "cache_read_input_tokens": 14377, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 973 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019MzmPzDeJyTKsqihbdo2bw", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "In contact; handle between fingers. Close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 772, "cache_read_input_tokens": 15350, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 772 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Missed the handle. Opening and shifting toward it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 16122, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014rYVfVKm1K9sxoS1zWMgmB", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.6, "z": 0.86, "roll": -0.8, "pitch": 0, "yaw": 1.57 }, "note": "Closed on nothing; reopen, back off, raise toward handle, restore orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 16122, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CVMryFkBdJX9Zp8U2WDBcj", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.6, "z": 0.85 }, "note": "Reopen and back off slightly, raising." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 839, "cache_read_input_tokens": 16827, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 839 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HYBBTWmXB1yqWmwqKQxwu3", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.635, "z": 0.87 }, "note": "Exterior suggests handle slightly above gripper; move up and forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 628, "cache_read_input_tokens": 17666, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 628 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HHWCAo5SsnbXbP2hVwAZMd", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.87 }, "note": "Smaller step: raise only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1152, "cache_read_input_tokens": 18294, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1152 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PvNdQjretZybKyFDSonJvn", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.8, "pitch": 0, "yaw": 1.57 }, "note": "Restore clean orientation to free up IK." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 19446, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 652 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Wf78wZ848b1PUizmm81DLy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56, "z": 0.86 }, "note": "Back off to escape IK trap." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 20098, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Adjusting for a handle that seems slightly lower than where I first grasped." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 20773, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016cB67gDQxx36cP5XUFKch8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "z": 0.8 }, "note": "Floor at image right means handle bar is below axis; move lower and forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 20773, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01B2eE7a5PChRTGDtoqg6p7D", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "yaw": 1.57 }, "note": "Clean up orientation drift before approaching." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1047, "cache_read_input_tokens": 21449, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1047 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CEnrNwC7ebSdB9FUdaFYZs", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "z": 0.8, "roll": -0.6 }, "note": "Reduce tilt to relieve wrist joint limit, move down toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 676, "cache_read_input_tokens": 22496, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 676 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012uLNr6a2yzYtpbMKgux6GD", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.6 }, "note": "Split motion: reduce tilt only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 23172, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WQfeF9Zq3oULdiiGquQ7jK", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.835, "x": 0.58 }, "note": "Small step down/forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 632, "cache_read_input_tokens": 23995, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 632 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XJpuvzanEFW1mbrZAQc1aQ", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.805, "x": 0.61 }, "note": "Step forward along tool axis toward drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 24627, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 647 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Moving closer to the drawer front, then closing the gripper." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 802, "cache_read_input_tokens": 25274, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 802 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014kXPr9fGfRCNtJsgbrNjXm", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.785, "x": 0.635 }, "note": "Tan bar between fingers; advance a bit more." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 802, "cache_read_input_tokens": 25274, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 802 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Xe1aAGvuFd9Qr1PpTH1nY6", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at contact; try grasping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 725, "cache_read_input_tokens": 26076, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 725 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Gripper stopped partway closed, so it may be holding the handle. Pulling back." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 26801, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 677 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Cx6i66rYSPkiRrKxUpWguu", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.48 }, "note": "Gripper partially closed (holding something); pull back to open drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 26801, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 677 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JKB1XZDZAYqh65m7iJbHAr", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58 }, "note": "Smaller pull step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 27478, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 28, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017tifseJLsKiyEPpKPsjHME", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "pitch": 0, "yaw": 1.57, "roll": -0.83 }, "note": "Pull back slightly while restoring orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 604, "cache_read_input_tokens": 28183, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 604 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NL4e2XmXkEUHDFeoqJ1K2i", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.75 }, "note": "Reduce tilt slightly to move away from wrist limit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 693, "cache_read_input_tokens": 28787, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 693 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018PwUivU8LhHrTL7QqfRZtq", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.605 }, "note": "Tiny pull step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 670, "cache_read_input_tokens": 29480, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 670 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NfoUQsUd3ry3iyTuVgJ3wM", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.58, "z": 0.83 }, "note": "Lost grip; reopen and back off to relocate handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 630, "cache_read_input_tokens": 30150, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 630 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still trying to hook the handle; about 7 seconds of motion time left. Stepping lower." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 904, "cache_read_input_tokens": 30780, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 904 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015PL85MHkxQ4mWAvS693dnR", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.78, "x": 0.6 }, "note": "Try lower handle height, moving slightly forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 904, "cache_read_input_tokens": 30780, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 904 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TmKHnQHwN8iUDVrQwTaKvr", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.81 }, "note": "Small step down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 838, "cache_read_input_tokens": 31684, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 838 }, "output_tokens": 28, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UEJ7Wvrx39GWui8T7ALYjS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 0.86 }, "note": "Retreat to escape IK trap." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 601, "cache_read_input_tokens": 32522, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 601 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HVmH5svAorzAtChwMfhgJ6", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "yaw": 1.57 }, "note": "Small orientation correction to escape trap." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 659, "cache_read_input_tokens": 33123, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 659 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JN3iYdYpCeT16Kfr7ZAPWC", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.84 }, "note": "Tiny step up." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 666, "cache_read_input_tokens": 33782, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 666 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Bce7JywjSRBuLmv3e6q2g7", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.02 }, "note": "Try lateral small move to find feasible IK." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 662, "cache_read_input_tokens": 34448, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 662 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm is stuck near a joint limit. Trying a small tilt change to free it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 655, "cache_read_input_tokens": 35110, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 655 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0147MkfktvmwTEvuAf1MAL6R", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -0.9 }, "note": "Attempt small tilt change to escape IK lock." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 655, "cache_read_input_tokens": 35110, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 655 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ASYKaS3kPGcWfb468brS7A", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.59 }, "note": "Tiny forward step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 716, "cache_read_input_tokens": 35765, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 716 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0164NZpf3p7uWYuRQJCHy9j6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.625 }, "note": "Advance to handle contact depth again." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 36481, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017pWYGPj9fcaTGzNgUfdq6a", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "At contact depth; close to grasp handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 671, "cache_read_input_tokens": 37114, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 671 }, "output_tokens": 26, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018nSifkfY31EBHXeP4akdsm", "name": "mcp__robot__give_up", "input": { "note": "Could not get a secure grasp on the dresser drawer handle. The arm is near its wrist joint limits, so most IK moves are rejected, and only about 5 seconds of motion remain. The drawer was not opened." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 612, "cache_read_input_tokens": 37785, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 612 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser, and I ended the episode with give_up.\n\n- **Finding the handle:** I found a drawer handle through the wrist camera and turned the gripper so its fingers would close around the horizontal bar.\n- **Grasp attempts:** I tried to grasp it three times. Twice the gripper closed fully on nothing. Once it stopped partly closed, which looked like it had the handle. But I couldn't pull back right away, and when the arm finally moved back about 1.5 cm, the grip was gone.\n- **Why I stopped:** Tilting the gripper toward the dresser had pushed one wrist joint close to its limit. After that, the controller rejected most of my moves, including small steps back and orientation fixes. With about 5 seconds of motion time left and no secure grip, I didn't have time for another reliable try.\n\nTwo things caused this. I read the rotation convention wrong at first and wasted motion time on a bad tilt. Then I approached from an angle that left the arm with almost no room to move, so it couldn't pull back while holding the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 207, "cache_read_input_tokens": 38397, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 207 }, "output_tokens": 347, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 98, "cache_creation_input_tokens": 37051, "cache_read_input_tokens": 1015206, "output_tokens": 12562, "output_tokens_details": { "thinking_tokens": 6856 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 37051, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 347, "cache_read_input_tokens": 38397, "cache_creation_input_tokens": 207, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 207 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 98, "outputTokens": 12562, "cacheReadInputTokens": 1015206, "cacheCreationInputTokens": 37051, "webSearchRequests": 0, "costUSD": 0.7510812, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6856, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.7510812, "num_turns": 49, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01699, -0.76727, -0.01843, -2.30301, 0.04521, 1.48028, -0.1059 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29443, 0.00178, 1.02756 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99558, 0.07704, -0.05378 ], [ 0.08021, -0.99501, 0.05943 ], [ -0.04893, -0.06348, -0.99678 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.00519663374871, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "x": 0.4 }, "note": "Dresser visible ahead; lowering to explore with wrist camera." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00782, -0.33999, -0.01671, -2.57304, 0.06402, 2.17652, -0.14019 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39936, 0.00179, 0.80113 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00036, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99556, 0.07703, -0.05413 ], [ 0.08022, -0.995, 0.05944 ], [ -0.04928, -0.06352, -0.99676 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 56 }, "api_seconds": 8.210347540676594, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "pitch": -1.57 }, "note": "Pitch gripper to point forward toward dresser front to view handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00782, -0.33999, -0.01671, -2.57304, 0.06402, 2.17652, -0.14019 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39936, 0.00179, 0.80113 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00036, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99556, 0.07703, -0.05413 ], [ 0.08022, -0.995, 0.05944 ], [ -0.04928, -0.06352, -0.99676 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 55 }, "api_seconds": 2.6028821049258113, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Partial pitch toward forward to test direction." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00782, -0.33999, -0.01671, -2.57304, 0.06402, 2.17652, -0.14019 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39936, 0.00179, 0.80113 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00036, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99556, 0.07703, -0.05413 ], [ 0.08022, -0.995, 0.05944 ], [ -0.04928, -0.06352, -0.99676 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 54 }, "api_seconds": 2.2027170388028026, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.9 }, "note": "Testing other pitch direction." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00886, 0.22904, -0.01322, -1.77511, 0.04533, 1.06496, -0.08436 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37605, 0.00408, 0.89012 ], "tcp_roll_pitch_yaw": [ 0.00974, 0.88425, 0.01706 ], "tcp_rotation_matrix": [ [ 0.59237, 0.00921, -0.80561 ], [ 0.0908, -0.99433, 0.0554 ], [ -0.80053, -0.10596, -0.58984 ] ], "simulated_seconds_remaining": 26.532, "calls_remaining_including_this": 53 }, "api_seconds": 4.8044281816110015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.35, "z": 0.7 }, "note": "Tool pointed backward toward base; revert and lower to try forward pitch." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.00234, -0.27067, -0.02074, -2.81859, 0.10123, 2.48437, -0.19569 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34988, 0.00414, 0.70065 ], "tcp_roll_pitch_yaw": [ 0.00995, 0.00492, 0.01715 ], "tcp_rotation_matrix": [ [ 0.9938, 0.09372, -0.05986 ], [ 0.09775, -0.99286, 0.06833 ], [ -0.05303, -0.07375, -0.99587 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 52 }, "api_seconds": 2.602556126192212, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Try pointing forward toward dresser." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.00234, -0.27067, -0.02074, -2.81859, 0.10123, 2.48437, -0.19569 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34988, 0.00414, 0.70065 ], "tcp_roll_pitch_yaw": [ 0.00995, 0.00492, 0.01715 ], "tcp_rotation_matrix": [ [ 0.9938, 0.09372, -0.05986 ], [ 0.09775, -0.99286, 0.06833 ], [ -0.05303, -0.07375, -0.99587 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 51 }, "api_seconds": 2.804492639377713, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Small forward pitch step." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.00234, -0.27067, -0.02074, -2.81859, 0.10123, 2.48437, -0.19569 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34988, 0.00414, 0.70065 ], "tcp_roll_pitch_yaw": [ 0.00995, 0.00492, 0.01715 ], "tcp_rotation_matrix": [ [ 0.9938, 0.09372, -0.05986 ], [ 0.09775, -0.99286, 0.06833 ], [ -0.05303, -0.07375, -0.99587 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 50 }, "api_seconds": 4.8042171318084, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4, "z": 0.9, "x": 0.3 }, "note": "Arm folded near limits; try forward pitch at higher position." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02694, -1.19057, -0.02149, -2.94933, 0.07876, 2.09746, -0.17648 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30033, 0.00414, 0.89911 ], "tcp_roll_pitch_yaw": [ 0.00995, -0.39824, 0.01714 ], "tcp_rotation_matrix": [ [ 0.93481, 0.1165, 0.3355 ], [ 0.09673, -0.99247, 0.0751 ], [ 0.34172, -0.03775, -0.93904 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 49 }, "api_seconds": 5.0045048939064145, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "x": 0.28, "z": 0.85 }, "note": "Forward pitch works from here; tilt more to view dresser front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02694, -1.19057, -0.02149, -2.94933, 0.07876, 2.09746, -0.17648 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30033, 0.00414, 0.89911 ], "tcp_roll_pitch_yaw": [ 0.00995, -0.39824, 0.01714 ], "tcp_rotation_matrix": [ [ 0.93481, 0.1165, 0.3355 ], [ 0.09673, -0.99247, 0.0751 ], [ 0.34172, -0.03775, -0.93904 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 48 }, "api_seconds": 3.6033645970746875, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "pitch": -0.8 }, "note": "Extend forward to unfold arm and tilt more toward front." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.13527, -0.51711, -0.12305, -2.81441, 0.17529, 3.04167, -0.28839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49897, 0.00418, 0.89903 ], "tcp_roll_pitch_yaw": [ 0.01015, -0.79764, 0.01711 ], "tcp_rotation_matrix": [ [ 0.72826, 0.12346, 0.67409 ], [ 0.09317, -0.99234, 0.08109 ], [ 0.67894, 0.00376, -0.73418 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 47 }, "api_seconds": 5.804762212559581, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.57 }, "note": "Handle bar horizontal ahead; roll so fingers open vertically." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ 1.50185, -1.1818, -1.73578, -2.02633, 0.35711, 1.77568, -1.19119 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49904, 0.00419, 0.89905 ], "tcp_roll_pitch_yaw": [ 1.56579, -0.79761, 0.01676 ], "tcp_rotation_matrix": [ [ 0.63718, 0.76506, -0.09321 ], [ 0.06002, 0.07132, 0.99565 ], [ 0.76837, -0.64, -0.00047 ] ], "simulated_seconds_remaining": 19.272, "calls_remaining_including_this": 46 }, "api_seconds": 12.811805163510144, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.8, "pitch": 0, "yaw": 1.57 }, "note": "Wrong composition; use yaw 90 then roll-forward equivalent to spin tool about its axis." } } } ] } } ] }, "execution": { "steps": 47, "motion_seconds": 3.1020000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.37366, -0.54164, -0.46801, -2.73486, -0.9632, 2.89605, -0.88257 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49908, 0.00412, 0.89914 ], "tcp_roll_pitch_yaw": [ -0.79755, -0.00338, 1.56963 ], "tcp_rotation_matrix": [ [ -0.01985, 0.74049, 0.67178 ], [ 0.9959, 0.07393, -0.05206 ], [ -0.08821, 0.66799, -0.73892 ] ], "simulated_seconds_remaining": 16.17, "calls_remaining_including_this": 45 }, "api_seconds": 6.005114125087857, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "z": 0.83 }, "note": "Handle near image center; advance along tool axis." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.20113, -0.1016, -0.3643, -2.50833, -1.29835, 3.17237, -0.49055 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56913, 0.00407, 0.83089 ], "tcp_roll_pitch_yaw": [ -0.79752, -0.0031, 1.5696 ], "tcp_rotation_matrix": [ [ -0.01981, 0.74051, 0.67176 ], [ 0.99588, 0.07409, -0.05229 ], [ -0.08849, 0.66795, -0.73893 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 44 }, "api_seconds": 5.605253945104778, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "z": 0.815 }, "note": "Handle close, slightly offset; advance to enclose it between fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.20032, 0.05645, -0.35862, -2.36798, -1.23181, 3.23034, -0.51424 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61784, 0.00578, 0.82221 ], "tcp_roll_pitch_yaw": [ -0.81088, -0.01461, 1.57753 ], "tcp_rotation_matrix": [ [ -0.0265, 0.73096, 0.6819 ], [ 0.99666, 0.07206, -0.03852 ], [ -0.07729, 0.6786, -0.73043 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 43 }, "api_seconds": 4.003635906614363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.64, "z": 0.8 }, "note": "Handle between fingers in view; push a bit deeper before closing." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.24347, 0.10691, -0.44159, -2.25162, -1.67804, 3.27892, -0.26403 ], "gripper_open": 1.0, "tcp_xyz": [ 0.6226, -0.00303, 0.82047 ], "tcp_roll_pitch_yaw": [ -0.82216, 0.11654, 1.71952 ], "tcp_rotation_matrix": [ [ -0.16347, 0.6926, 0.70255 ], [ 0.96454, 0.26178, -0.03364 ], [ -0.20721, 0.67215, -0.71083 ] ], "simulated_seconds_remaining": 13.992, "calls_remaining_including_this": 42 }, "api_seconds": 3.003203068859875, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "In contact; handle between fingers. Close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.24443, 0.09447, -0.4407, -2.24475, -1.67616, 3.29019, -0.26365 ], "gripper_open": 0.0145, "tcp_xyz": [ 0.62582, 0.00101, 0.83224 ], "tcp_roll_pitch_yaw": [ -0.84291, 0.10811, 1.72566 ], "tcp_rotation_matrix": [ [ -0.16776, 0.6774, 0.71623 ], [ 0.96547, 0.25979, -0.01956 ], [ -0.19932, 0.68822, -0.69759 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 41 }, "api_seconds": 4.204558928497136, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.6, "z": 0.86, "roll": -0.8, "pitch": 0, "yaw": 1.57 }, "note": "Closed on nothing; reopen, back off, raise toward handle, restore orientation." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.24443, 0.09447, -0.4407, -2.24475, -1.67616, 3.29019, -0.26365 ], "gripper_open": 0.0145, "tcp_xyz": [ 0.62582, 0.00101, 0.83224 ], "tcp_roll_pitch_yaw": [ -0.84291, 0.10811, 1.72566 ], "tcp_rotation_matrix": [ [ -0.16776, 0.6774, 0.71623 ], [ 0.96547, 0.25979, -0.01956 ], [ -0.19932, 0.68822, -0.69759 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 40 }, "api_seconds": 2.002774023450911, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.6, "z": 0.85 }, "note": "Reopen and back off slightly, raising." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.25395, -0.02904, -0.44656, -2.40147, -1.40072, 3.24967, -0.57864 ], "gripper_open": 0.9844, "tcp_xyz": [ 0.59923, 0.00033, 0.8458 ], "tcp_roll_pitch_yaw": [ -0.83621, 0.10848, 1.7252 ], "tcp_rotation_matrix": [ [ -0.16792, 0.68218, 0.71164 ], [ 0.96539, 0.25993, -0.02138 ], [ -0.19956, 0.68342, -0.70222 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 39 }, "api_seconds": 8.007199186831713, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.635, "z": 0.87 }, "note": "Exterior suggests handle slightly above gripper; move up and forward." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.25395, -0.02904, -0.44656, -2.40147, -1.40072, 3.24967, -0.57864 ], "gripper_open": 0.9844, "tcp_xyz": [ 0.59923, 0.00033, 0.8458 ], "tcp_roll_pitch_yaw": [ -0.83621, 0.10848, 1.7252 ], "tcp_rotation_matrix": [ [ -0.16792, 0.68218, 0.71164 ], [ 0.96539, 0.25993, -0.02138 ], [ -0.19956, 0.68342, -0.70222 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 38 }, "api_seconds": 2.4031586349010468, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Smaller step: raise only." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.25395, -0.02904, -0.44656, -2.40147, -1.40072, 3.24967, -0.57864 ], "gripper_open": 0.9844, "tcp_xyz": [ 0.59923, 0.00033, 0.8458 ], "tcp_roll_pitch_yaw": [ -0.83621, 0.10848, 1.7252 ], "tcp_rotation_matrix": [ [ -0.16792, 0.68218, 0.71164 ], [ 0.96539, 0.25993, -0.02138 ], [ -0.19956, 0.68342, -0.70222 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 37 }, "api_seconds": 2.6030811816453934, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.8, "pitch": 0, "yaw": 1.57 }, "note": "Restore clean orientation to free up IK." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.25395, -0.02904, -0.44656, -2.40147, -1.40072, 3.24967, -0.57864 ], "gripper_open": 0.9844, "tcp_xyz": [ 0.59923, 0.00033, 0.8458 ], "tcp_roll_pitch_yaw": [ -0.83621, 0.10848, 1.7252 ], "tcp_rotation_matrix": [ [ -0.16792, 0.68218, 0.71164 ], [ 0.96539, 0.25993, -0.02138 ], [ -0.19956, 0.68342, -0.70222 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 36 }, "api_seconds": 2.4032427249476314, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "z": 0.86 }, "note": "Back off to escape IK trap." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.26774, -0.18324, -0.46074, -2.5372, -1.33988, 3.19664, -0.6829 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.56108, 0.00031, 0.85965 ], "tcp_roll_pitch_yaw": [ -0.83629, 0.10843, 1.72512 ], "tcp_rotation_matrix": [ [ -0.16784, 0.68214, 0.71169 ], [ 0.96541, 0.25984, -0.02138 ], [ -0.19952, 0.68349, -0.70216 ] ], "simulated_seconds_remaining": 11.55, "calls_remaining_including_this": 35 }, "api_seconds": 6.6060969438403845, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.8 }, "note": "Floor at image right means handle bar is below axis; move lower and forward." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.26774, -0.18324, -0.46074, -2.5372, -1.33988, 3.19664, -0.6829 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.56108, 0.00031, 0.85965 ], "tcp_roll_pitch_yaw": [ -0.83629, 0.10843, 1.72512 ], "tcp_rotation_matrix": [ [ -0.16784, 0.68214, 0.71169 ], [ 0.96541, 0.25984, -0.02138 ], [ -0.19952, 0.68349, -0.70216 ] ], "simulated_seconds_remaining": 11.55, "calls_remaining_including_this": 34 }, "api_seconds": 2.803556825965643, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "yaw": 1.57 }, "note": "Clean up orientation drift before approaching." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.26682, -0.19669, -0.43238, -2.54496, -1.2821, 3.14041, -0.53965 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56109, 0.00034, 0.85967 ], "tcp_roll_pitch_yaw": [ -0.83648, 0.00241, 1.57349 ], "tcp_rotation_matrix": [ [ -0.02011, 0.71364, 0.70023 ], [ 0.9953, 0.08064, -0.05361 ], [ -0.09472, 0.69586, -0.7119 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 33 }, "api_seconds": 4.003690220415592, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.8, "roll": -0.6 }, "note": "Reduce tilt to relieve wrist joint limit, move down toward handle." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 26, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.26682, -0.19669, -0.43238, -2.54496, -1.2821, 3.14041, -0.53965 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56109, 0.00034, 0.85967 ], "tcp_roll_pitch_yaw": [ -0.83648, 0.00241, 1.57349 ], "tcp_rotation_matrix": [ [ -0.02011, 0.71364, 0.70023 ], [ 0.9953, 0.08064, -0.05361 ], [ -0.09472, 0.69586, -0.7119 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 32 }, "api_seconds": 2.4030186468735337, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.6 }, "note": "Split motion: reduce tilt only." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 27, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.26682, -0.19669, -0.43238, -2.54496, -1.2821, 3.14041, -0.53965 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56109, 0.00034, 0.85967 ], "tcp_roll_pitch_yaw": [ -0.83648, 0.00241, 1.57349 ], "tcp_rotation_matrix": [ [ -0.02011, 0.71364, 0.70023 ], [ 0.9953, 0.08064, -0.05361 ], [ -0.09472, 0.69586, -0.7119 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 31 }, "api_seconds": 2.4028295632451773, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.835, "x": 0.58 }, "note": "Small step down/forward." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.21476, -0.06696, -0.3956, -2.42852, -1.57246, 3.19578, -0.22581 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57943, 0.00034, 0.83587 ], "tcp_roll_pitch_yaw": [ -0.83649, 0.00262, 1.57355 ], "tcp_rotation_matrix": [ [ -0.02017, 0.71362, 0.70024 ], [ 0.99528, 0.08084, -0.05371 ], [ -0.09494, 0.69585, -0.71188 ] ], "simulated_seconds_remaining": 10.494, "calls_remaining_including_this": 30 }, "api_seconds": 3.8037129286676645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.805, "x": 0.61 }, "note": "Step forward along tool axis toward drawer front." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.18447, 0.1003, -0.34544, -2.22364, -2.01689, 3.2356, 0.27766 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60993, 0.00097, 0.80881 ], "tcp_roll_pitch_yaw": [ -0.84099, 0.00114, 1.57504 ], "tcp_rotation_matrix": [ [ -0.02123, 0.71037, 0.70351 ], [ 0.99539, 0.08086, -0.0516 ], [ -0.09354, 0.69917, -0.70881 ] ], "simulated_seconds_remaining": 9.9, "calls_remaining_including_this": 29 }, "api_seconds": 3.203220502473414, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.785, "x": 0.635 }, "note": "Tan bar between fingers; advance a bit more." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04034, 0.16521, -0.20637, -2.10458, -2.24183, 3.33143, 0.50786 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61922, 0.00221, 0.80624 ], "tcp_roll_pitch_yaw": [ -0.8219, -0.04755, 1.6154 ], "tcp_rotation_matrix": [ [ -0.06329, 0.72122, 0.6898 ], [ 0.997, 0.07661, 0.01138 ], [ -0.04464, 0.68845, -0.72391 ] ], "simulated_seconds_remaining": 9.372, "calls_remaining_including_this": 28 }, "api_seconds": 2.802951260469854, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at contact; try grasping." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03942, 0.15575, -0.20759, -2.10115, -2.24151, 3.3393, 0.50795 ], "gripper_open": 0.1066, "tcp_xyz": [ 0.62027, 0.0025, 0.81352 ], "tcp_roll_pitch_yaw": [ -0.8306, -0.05207, 1.61807 ], "tcp_rotation_matrix": [ [ -0.06516, 0.71519, 0.69588 ], [ 0.99706, 0.07481, 0.01647 ], [ -0.04028, 0.69491, -0.71797 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 27 }, "api_seconds": 3.0028373152017593, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48 }, "note": "Gripper partially closed (holding something); pull back to open drawer." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 32, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03942, 0.15575, -0.20759, -2.10115, -2.24151, 3.3393, 0.50795 ], "gripper_open": 0.1066, "tcp_xyz": [ 0.62027, 0.0025, 0.81352 ], "tcp_roll_pitch_yaw": [ -0.8306, -0.05207, 1.61807 ], "tcp_rotation_matrix": [ [ -0.06516, 0.71519, 0.69588 ], [ 0.99706, 0.07481, 0.01647 ], [ -0.04028, 0.69491, -0.71797 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 26 }, "api_seconds": 2.202436883933842, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58 }, "note": "Smaller pull step." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 33, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03942, 0.15575, -0.20759, -2.10115, -2.24151, 3.3393, 0.50795 ], "gripper_open": 0.1066, "tcp_xyz": [ 0.62027, 0.0025, 0.81352 ], "tcp_roll_pitch_yaw": [ -0.8306, -0.05207, 1.61807 ], "tcp_rotation_matrix": [ [ -0.06516, 0.71519, 0.69588 ], [ 0.99706, 0.07481, 0.01647 ], [ -0.04028, 0.69491, -0.71797 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 25 }, "api_seconds": 2.80333577375859, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "pitch": 0, "yaw": 1.57, "roll": -0.83 }, "note": "Pull back slightly while restoring orientation." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 34, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03942, 0.15575, -0.20759, -2.10115, -2.24151, 3.3393, 0.50795 ], "gripper_open": 0.1066, "tcp_xyz": [ 0.62027, 0.0025, 0.81352 ], "tcp_roll_pitch_yaw": [ -0.8306, -0.05207, 1.61807 ], "tcp_rotation_matrix": [ [ -0.06516, 0.71519, 0.69588 ], [ 0.99706, 0.07481, 0.01647 ], [ -0.04028, 0.69491, -0.71797 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 24 }, "api_seconds": 3.0039758030325174, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.75 }, "note": "Reduce tilt slightly to move away from wrist limit." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 35, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03942, 0.15575, -0.20759, -2.10115, -2.24151, 3.3393, 0.50795 ], "gripper_open": 0.1066, "tcp_xyz": [ 0.62027, 0.0025, 0.81352 ], "tcp_roll_pitch_yaw": [ -0.8306, -0.05207, 1.61807 ], "tcp_rotation_matrix": [ [ -0.06516, 0.71519, 0.69588 ], [ 0.99706, 0.07481, 0.01647 ], [ -0.04028, 0.69491, -0.71797 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 23 }, "api_seconds": 2.4030436016619205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.605 }, "note": "Tiny pull step." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.10198, 0.11444, -0.0626, -2.15324, -2.2623, 3.31785, 0.51056 ], "gripper_open": 0.0, "tcp_xyz": [ 0.60574, 0.00245, 0.81323 ], "tcp_roll_pitch_yaw": [ -0.82993, -0.05214, 1.61805 ], "tcp_rotation_matrix": [ [ -0.06521, 0.71566, 0.6954 ], [ 0.99706, 0.0748, 0.01651 ], [ -0.0402, 0.69443, -0.71843 ] ], "simulated_seconds_remaining": 8.052, "calls_remaining_including_this": 22 }, "api_seconds": 5.004473282024264, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.58, "z": 0.83 }, "note": "Lost grip; reopen and back off to relocate handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 21 }, "api_seconds": 4.604518034495413, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78, "x": 0.6 }, "note": "Try lower handle height, moving slightly forward." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 38, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 20 }, "api_seconds": 2.002812189050019, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.81 }, "note": "Small step down." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 39, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 19 }, "api_seconds": 2.4041764670982957, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.86 }, "note": "Retreat to escape IK trap." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 40, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 18 }, "api_seconds": 2.803399508818984, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "yaw": 1.57 }, "note": "Small orientation correction to escape trap." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 41, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 17 }, "api_seconds": 2.6032903492450714, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Tiny step up." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 42, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 16 }, "api_seconds": 2.602894961833954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.02 }, "note": "Try lateral small move to find feasible IK." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 43, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 15 }, "api_seconds": 3.2037607189267874, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -0.9 }, "note": "Attempt small tilt change to escape IK lock." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 44, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.36086, 0.03733, -0.51146, -2.18694, -2.43579, 3.34899, 0.70484 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.58095, 0.00238, 0.82935 ], "tcp_roll_pitch_yaw": [ -0.82996, -0.05208, 1.61812 ], "tcp_rotation_matrix": [ [ -0.06527, 0.71563, 0.69542 ], [ 0.99706, 0.07488, 0.01651 ], [ -0.04026, 0.69445, -0.71841 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 14 }, "api_seconds": 2.803214884363115, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.59 }, "note": "Tiny forward step." } } } ] } } ] }, "execution": { "steps": 5, "motion_seconds": 0.33, "status": "executing; next observation shows actual arrival" } } { "call": 45, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.33366, 0.05914, -0.48969, -2.16452, -2.39906, 3.35911, 0.67196 ], "gripper_open": 1.0, "tcp_xyz": [ 0.58867, 0.00304, 0.82997 ], "tcp_roll_pitch_yaw": [ -0.82986, -0.05343, 1.61982 ], "tcp_rotation_matrix": [ [ -0.06698, 0.71562, 0.69528 ], [ 0.997, 0.07518, 0.01867 ], [ -0.03891, 0.69444, -0.7185 ] ], "simulated_seconds_remaining": 6.798, "calls_remaining_including_this": 13 }, "api_seconds": 3.003334772773087, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.625 }, "note": "Advance to handle contact depth again." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 46, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.3077, 0.15699, -0.48325, -2.03898, -2.35322, 3.44723, 0.66003 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61575, 0.00553, 0.83314 ], "tcp_roll_pitch_yaw": [ -0.81031, -0.0782, 1.6333 ], "tcp_rotation_matrix": [ [ -0.08224, 0.7289, 0.67966 ], [ 0.99652, 0.06958, 0.04597 ], [ -0.01378, 0.68108, -0.73208 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 12 }, "api_seconds": 2.2021491695195436, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At contact depth; close to grasp handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 47, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.3072, 0.1518, -0.48419, -2.0375, -2.35336, 3.45017, 0.66003 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.61612, 0.00527, 0.83678 ], "tcp_roll_pitch_yaw": [ -0.8149, -0.08055, 1.63401 ], "tcp_rotation_matrix": [ [ -0.08253, 0.72586, 0.68288 ], [ 0.99652, 0.06803, 0.04813 ], [ -0.01152, 0.68447, -0.72895 ] ], "simulated_seconds_remaining": 5.346, "calls_remaining_including_this": 11 }, "api_seconds": 3.2029172712936997, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not get a secure grasp on the dresser drawer handle. The arm is near its wrist joint limits, so most IK moves are rejected, and only about 5 seconds of motion remain. The drawer was not opened." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 032 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 32, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 16, "wall_seconds": 117.76, "usage": { "input_tokens": 36, "output_tokens": 6595, "cache_read_input_tokens": 151894, "cache_creation_input_tokens": 15051, "thinking_tokens": 4449, "cost_usd": 0.2828308 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017rvTQCMrQi3P1yYGPEPygr", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RY1aebNobCct4W9CT7ssnB", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Scene unclear; lowering to see the object from wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 483 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0156LnJBF5dX1c2JnaY1nedt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Calibrating camera direction by moving forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 837, "cache_read_input_tokens": 2508, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 837 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HF2fxjfBKbtXWmze78WikM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 1, "pitch": 0 }, "note": "Motion blocked at x~0.34 with pitch deviation; backing off." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 977, "cache_read_input_tokens": 3345, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 977 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UxDo22UV5D4LQJzH33HRvZ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 0.95 }, "note": "Tilting gripper to face forward so the wrist camera can see the door/handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 845, "cache_read_input_tokens": 4322, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 845 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QoG2W5rNdJf6LvkPPm83yy", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Smaller tilt forward to look ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1302, "cache_read_input_tokens": 5167, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1302 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm trying to point the gripper forward so the wrist camera can find the door. The last two tilts couldn't be reached, so I'm trying the opposite direction." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 611, "cache_read_input_tokens": 6469, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 611 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Vk2BumYBkx8G2HjUVdQPzi", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.8 }, "note": "Trying opposite pitch sign." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 611, "cache_read_input_tokens": 6469, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 611 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Uk3yXbqZL5XRVYss9dQChp", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4, "x": 0.4, "z": 0.9 }, "note": "Wrist sees robot base behind; turning back to face forward-down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 7080, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 694 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0145yHC9oiBSw7uBiSWH9Uck", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Grey panel ahead; tilting more forward to view it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 932, "cache_read_input_tokens": 7774, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 932 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011jeEhpgb2f1o1NQ9qoWbUy", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7, "z": 1.1, "x": 0.45 }, "note": "Raising to allow more forward tilt within joint limits." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 8706, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Dmaxq12TBLLWA9yMyqWduB", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0.8 }, "note": "Scanning left to locate door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 717, "cache_read_input_tokens": 9525, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 717 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DBGY4EB2Ea3NDtEEjGaFXr", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0, "pitch": 0, "x": 0.3, "z": 1.2 }, "note": "Rising for wider top-down view of surface below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 920, "cache_read_input_tokens": 10242, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 920 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I still can't tell where the door is, so I'm moving the arm sideways to see how it shows up in the exterior camera." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1083, "cache_read_input_tokens": 11162, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1083 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01B9qNYGfwH7DfNmEuFtTtK1", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Calibrate exterior view: move left." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1083, "cache_read_input_tokens": 11162, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1083 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011C8395ZGGgQxKwAUCpRcYb", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0, "z": 0.95 }, "note": "Grey slab (likely glass door top edge) under fingers; descending to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1012, "cache_read_input_tokens": 12245, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1012 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YE9aJcMciSRv9sbGo1919G", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.55, "x": 0.45 }, "note": "Objects appear far below; descending to approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1376, "cache_read_input_tokens": 13257, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1376 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SAJXQCggJsFbaobxpKVrnY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 0.7 }, "note": "Hand near glass panel; attempting to push forward on the panel." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 891, "cache_read_input_tokens": 14633, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 891 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N9FUHyJrbkV4dCBdKYavYi", "name": "mcp__robot__give_up", "input": { "note": "Could not locate the door handle: camera views are ambiguous and forward motion is blocked near x≈0.40 by joint/IK limits. Little simulated time remains." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 833, "cache_read_input_tokens": 15524, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 833 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the door, and I ended the episode with give_up.\n\n- **Couldn't find the door or handle:** The outside camera showed a bathroom with a brick wall and a glass shower enclosure. The door was probably the glass shower door, but I never saw a handle in either camera. The wrist camera's view barely changed as the arm moved, so I couldn't judge where the gripper was relative to things around it.\n- **Arm couldn't move forward:** Every attempt to go past about x = 0.40 m stopped short, or tilted the gripper as if it had bumped something. Tilting the gripper to face forward failed twice because the controller couldn't find a joint solution for the pose. Several joints were near their limits.\n\nI stopped with about 9 seconds of motion time left, because without a located handle I had no grasp to try." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 247, "cache_read_input_tokens": 16357, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 247 }, "output_tokens": 265, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 36, "cache_creation_input_tokens": 15051, "cache_read_input_tokens": 151894, "output_tokens": 6595, "output_tokens_details": { "thinking_tokens": 4449 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 15051, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 265, "cache_read_input_tokens": 16357, "cache_creation_input_tokens": 247, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 247 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 36, "outputTokens": 6595, "cacheReadInputTokens": 151894, "cacheCreationInputTokens": 15051, "webSearchRequests": 0, "costUSD": 0.2828308, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 4449, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.2828308, "num_turns": 18, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the door.", "joint_positions": [ 0.00443, -0.77685, -0.02984, -2.29666, -0.0002, 1.68161, 0.03593 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.34559, -0.00882, 1.05364 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98553, -0.0523, 0.1612 ], [ -0.05587, -0.99828, 0.01773 ], [ 0.16, -0.02648, -0.98676 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.606538150459528, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Scene unclear; lowering to see the object from wrist camera." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the door.", "joint_positions": [ 4e-05, -0.77817, -0.03887, -2.81841, -0.00589, 2.20162, 0.0277 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34553, -0.00881, 0.85125 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00034, 1e-05 ], "tcp_rotation_matrix": [ [ 0.98559, -0.0523, 0.16086 ], [ -0.05586, -0.99828, 0.01773 ], [ 0.15966, -0.02646, -0.98682 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 5.608772706240416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Calibrating camera direction by moving forward." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the door.", "joint_positions": [ 0.01828, -0.59404, -0.04485, -2.58062, 0.00279, 1.89233, 0.04208 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.339, -0.00477, 0.87217 ], "tcp_roll_pitch_yaw": [ 0.01167, 0.25625, -0.0016 ], "tcp_rotation_matrix": [ [ 0.99365, -0.06185, -0.09404 ], [ -0.05933, -0.99781, 0.0294 ], [ -0.09565, -0.02363, -0.99513 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 55 }, "api_seconds": 4.404386670328677, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1, "pitch": 0 }, "note": "Motion blocked at x~0.34 with pitch deviation; backing off." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the door.", "joint_positions": [ 0.01199, -0.96312, -0.03588, -2.53336, 0.00129, 1.73063, 0.04608 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30034, -0.00477, 0.99915 ], "tcp_roll_pitch_yaw": [ 0.01168, 0.00163, -0.0016 ], "tcp_rotation_matrix": [ [ 0.9857, -0.05396, 0.15964 ], [ -0.05932, -0.99782, 0.02899 ], [ 0.15772, -0.03805, -0.98675 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 54 }, "api_seconds": 9.208489500917494, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 0.95 }, "note": "Tilting gripper to face forward so the wrist camera can see the door/handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the door.", "joint_positions": [ 0.01199, -0.96312, -0.03588, -2.53336, 0.00129, 1.73063, 0.04608 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30034, -0.00477, 0.99915 ], "tcp_roll_pitch_yaw": [ 0.01168, 0.00163, -0.0016 ], "tcp_rotation_matrix": [ [ 0.9857, -0.05396, 0.15964 ], [ -0.05932, -0.99782, 0.02899 ], [ 0.15772, -0.03805, -0.98675 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 53 }, "api_seconds": 2.0021718647331, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Smaller tilt forward to look ahead." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the door.", "joint_positions": [ 0.01199, -0.96312, -0.03588, -2.53336, 0.00129, 1.73063, 0.04608 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30034, -0.00477, 0.99915 ], "tcp_roll_pitch_yaw": [ 0.01168, 0.00163, -0.0016 ], "tcp_rotation_matrix": [ [ 0.9857, -0.05396, 0.15964 ], [ -0.05932, -0.99782, 0.02899 ], [ 0.15772, -0.03805, -0.98675 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 52 }, "api_seconds": 2.602674726396799, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.8 }, "note": "Trying opposite pitch sign." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the door.", "joint_positions": [ 0.02132, -0.54854, -0.04387, -1.99938, 0.0091, 0.62117, 0.05372 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.14317, -0.00481, 1.11164 ], "tcp_roll_pitch_yaw": [ 0.03935, 0.99114, 0.03245 ], "tcp_rotation_matrix": [ [ 0.67339, -0.05126, -0.73751 ], [ -0.04029, -0.99866, 0.03262 ], [ -0.73819, 0.00775, -0.67455 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 51 }, "api_seconds": 5.205326288938522, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4, "x": 0.4, "z": 0.9 }, "note": "Wrist sees robot base behind; turning back to face forward-down." } } } ] } } ] }, "execution": { "steps": 38, "motion_seconds": 2.508, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the door.", "joint_positions": [ 0.04191, -0.89004, -0.0985, -2.9263, 0.03716, 2.59064, -0.05456 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39924, -0.00477, 0.90024 ], "tcp_roll_pitch_yaw": [ 0.03947, -0.39532, 0.03256 ], "tcp_rotation_matrix": [ [ 0.85038, 0.00955, 0.52609 ], [ -0.03448, -0.99668, 0.07382 ], [ 0.52504, -0.08091, -0.84722 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 50 }, "api_seconds": 4.4041424337774515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Grey panel ahead; tilting more forward to view it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the door.", "joint_positions": [ 0.04191, -0.89004, -0.0985, -2.9263, 0.03716, 2.59064, -0.05456 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39924, -0.00477, 0.90024 ], "tcp_roll_pitch_yaw": [ 0.03947, -0.39532, 0.03256 ], "tcp_rotation_matrix": [ [ 0.85038, 0.00955, 0.52609 ], [ -0.03448, -0.99668, 0.07382 ], [ 0.52504, -0.08091, -0.84722 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 49 }, "api_seconds": 3.003115969710052, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7, "z": 1.1, "x": 0.45 }, "note": "Raising to allow more forward tilt within joint limits." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the door.", "joint_positions": [ 0.06491, -0.90467, -0.09008, -2.61402, 0.04772, 2.24193, -0.04778 ], "gripper_open": 0.9844, "tcp_xyz": [ 0.40332, 0.00327, 1.02038 ], "tcp_roll_pitch_yaw": [ 0.05373, -0.37523, 0.06323 ], "tcp_rotation_matrix": [ [ 0.86186, 0.04362, 0.50526 ], [ -0.00994, -0.99465, 0.10283 ], [ 0.50704, -0.09365, -0.85682 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 48 }, "api_seconds": 5.205175717361271, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.8 }, "note": "Scanning left to locate door." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the door.", "joint_positions": [ 0.38961, -0.83623, -0.48874, -2.42354, 0.02924, 1.93101, -0.77528 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38581, -0.01376, 1.01693 ], "tcp_roll_pitch_yaw": [ 0.05007, -0.3056, 0.81287 ], "tcp_rotation_matrix": [ [ 0.65996, 0.70466, 0.26059 ], [ 0.60443, -0.70399, 0.37292 ], [ 0.44624, -0.08861, -0.89052 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 47 }, "api_seconds": 7.208215638063848, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0, "pitch": 0, "x": 0.3, "z": 1.2 }, "note": "Rising for wider top-down view of surface below." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the door.", "joint_positions": [ 0.1031, -0.71035, -0.10547, -1.84121, -0.00346, 1.29831, 0.07103 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30041, -0.01375, 1.1993 ], "tcp_roll_pitch_yaw": [ 0.05056, -0.00151, 0.00368 ], "tcp_rotation_matrix": [ [ 0.98553, -0.04851, 0.16244 ], [ -0.06026, -0.99585, 0.06817 ], [ 0.15846, -0.07697, -0.98436 ] ], "simulated_seconds_remaining": 17.424, "calls_remaining_including_this": 46 }, "api_seconds": 6.80596178304404, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Calibrate exterior view: move left." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the door.", "joint_positions": [ 0.14011, -0.59544, 0.25507, -1.75407, 0.15111, 1.35502, 0.46582 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3004, 0.1987, 1.19928 ], "tcp_roll_pitch_yaw": [ 0.05046, -0.00148, 0.00388 ], "tcp_rotation_matrix": [ [ 0.98554, -0.04832, 0.1624 ], [ -0.06005, -0.99587, 0.06811 ], [ 0.15843, -0.07688, -0.98437 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 45 }, "api_seconds": 10.610591222532094, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0, "z": 0.95 }, "note": "Grey slab (likely glass door top edge) under fingers; descending to straddle it." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the door.", "joint_positions": [ 0.06814, -0.99605, -0.08951, -2.6723, -0.00941, 1.84234, 0.06973 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30039, 0.00081, 0.951 ], "tcp_roll_pitch_yaw": [ 0.05051, -0.0013, 0.00378 ], "tcp_rotation_matrix": [ [ 0.98556, -0.04844, 0.16222 ], [ -0.06016, -0.99586, 0.06814 ], [ 0.15825, -0.07691, -0.9844 ] ], "simulated_seconds_remaining": 13.266, "calls_remaining_including_this": 44 }, "api_seconds": 5.405502574518323, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.55, "x": 0.45 }, "note": "Objects appear far below; descending to approach." } } } ] } } ] }, "execution": { "steps": 48, "motion_seconds": 3.168, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the door.", "joint_positions": [ 0.01388, -0.13962, 0.12887, -2.85942, 0.9527, 2.99112, -0.75677 ], "gripper_open": 1.0, "tcp_xyz": [ 0.4086, 0.01483, 0.6841 ], "tcp_roll_pitch_yaw": [ 0.12623, -0.15528, 0.02801 ], "tcp_rotation_matrix": [ [ 0.95196, -0.00051, 0.30622 ], [ -0.04893, -0.98741, 0.15045 ], [ 0.30228, -0.1582, -0.94 ] ], "simulated_seconds_remaining": 10.098, "calls_remaining_including_this": 43 }, "api_seconds": 4.604909681715071, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.7 }, "note": "Hand near glass panel; attempting to push forward on the panel." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the door.", "joint_positions": [ -0.04338, -0.07854, 0.08757, -2.85828, 0.57527, 2.97295, -0.43131 ], "gripper_open": 0.9973, "tcp_xyz": [ 0.40131, -0.00719, 0.66202 ], "tcp_roll_pitch_yaw": [ 0.08319, -0.05038, -0.02411 ], "tcp_rotation_matrix": [ [ 0.97454, -0.07064, 0.21279 ], [ -0.09249, -0.99121, 0.09456 ], [ 0.20424, -0.11183, -0.97251 ] ], "simulated_seconds_remaining": 8.844, "calls_remaining_including_this": 42 }, "api_seconds": 3.0031182635575533, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not locate the door handle: camera views are ambiguous and forward motion is blocked near x≈0.40 by joint/IK limits. Little simulated time remains." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 033 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 33, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 41, "wall_seconds": 328.75, "usage": { "input_tokens": 86, "output_tokens": 12811, "cache_read_input_tokens": 770135, "cache_creation_input_tokens": 34271, "thinking_tokens": 7966, "cost_usd": 0.6847590000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VZqDF2UZox5akz9Sx73qT9", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NK5qoHdYtE9HGe6MMpEgpa", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Scene unclear; tilt gripper forward to look ahead with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MMviGx522dLq6gcYoqG4bA", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.5 }, "note": "Handles visible ahead; rotate to face forward fully." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 849, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 849 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KNzFSVRNKzEkV72RWRAbCx", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 0.85 }, "note": "Lower and rotate more forward to reach IK-feasible forward-facing pose." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 718, "cache_read_input_tokens": 3361, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 718 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JQr3m7Epcyv5aBrrpsLCVz", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Lower first in small step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 4079, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still trying to find a reachable pose. Lowering failed because the elbow joint is near its limit, so I'll move the gripper forward to straighten the arm." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 662, "cache_read_input_tokens": 4754, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 662 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XNhykLWq9ZqZ6ZkqsHUHW4", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42 }, "note": "Elbow near limit; extend forward to relieve it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 662, "cache_read_input_tokens": 4754, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 662 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BMAv3CkfVZqsX2VSS318DT", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95, "pitch": -1.1 }, "note": "Lower and pitch more forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 794, "cache_read_input_tokens": 5416, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 794 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ECLdfBzmHg5veB6mLxtzts", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.98 }, "note": "Try just lowering a bit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 6210, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 645 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VVvYakvpNe144sGipx2hU1", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52 }, "note": "Extend forward toward cabinet handles to unfold elbow." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 6855, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018x3ELXg7dwL71gixVYymco", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62 }, "note": "Continue approaching handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 793, "cache_read_input_tokens": 7530, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 793 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012cDpFN9zKevvsAGy4UT8wK", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handles appear right between fingertips after contact; try grasping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 761, "cache_read_input_tokens": 8323, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 761 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper closed on nothing, so I missed the handle. I'm opening it again and backing off to try a better approach." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 903, "cache_read_input_tokens": 9084, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 903 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017FhdMZCQqt7kGiq2XDyHFQ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.55 }, "note": "Missed grasp; reopen and back off." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 903, "cache_read_input_tokens": 9084, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 903 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CKmjWhW4mHr9BHJhbaooPE", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower to get handle level into view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 9987, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 769 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011dQLdVUEVwBkoGgsCUMx4e", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "roll": 0, "yaw": 0 }, "note": "Try incrementally pitching forward toward horizontal approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1189, "cache_read_input_tokens": 10756, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1189 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GsPwBg471B3PtJqRzAU54o", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "Continue pitching forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1510, "cache_read_input_tokens": 11945, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1510 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015kcJoLjNXH3qmtJqynXRAP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.63 }, "note": "Approach cabinet at lower height to find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 13455, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DNSnhuwp4r2wwa8ARpTC6M", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57, "z": 0.97 }, "note": "Handle appears above; raise to handle level, slightly back from door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 801, "cache_read_input_tokens": 14096, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 801 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I think I've found the handle height. I'm raising the gripper in small steps because the arm keeps reaching joint-limit and IK errors." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1071, "cache_read_input_tokens": 14897, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1071 }, "output_tokens": 71, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0124uHNQjZ46vAyPNPwpQX7j", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.59, "z": 0.91 }, "note": "Smaller step upward and back." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1071, "cache_read_input_tokens": 14897, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1071 }, "output_tokens": 71, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019PXaqK65NNiHmYLZQam5yA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58, "pitch": -0.8 }, "note": "Back off and relax pitch to escape awkward config." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 658, "cache_read_input_tokens": 15968, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 658 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Lg4Rihfy1CCjh5gKo9xiBJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58 }, "note": "Just back off in x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 16626, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 652 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BdjMap1NiNLyAwL1hGSbUe", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92 }, "note": "Raise toward handle level." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 611, "cache_read_input_tokens": 17278, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 611 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01258ivpT5x62JeeLgK2AgXA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.63 }, "note": "Handles visible just ahead of fingers; approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 608, "cache_read_input_tokens": 17889, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 608 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011moKpwip1ZoYh2Bw7fHHRK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.605 }, "note": "Smaller forward step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1250, "cache_read_input_tokens": 18497, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1250 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Both handles are now in view between the fingers. I'm moving in a little closer before grasping." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 637, "cache_read_input_tokens": 19747, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 637 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017YPjww21dCPDEvkBWHBggN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.63 }, "note": "Continue approach to handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 637, "cache_read_input_tokens": 19747, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 637 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0155AYHJj8Q5cywJNEzLKdkQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.618 }, "note": "Tiny step forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 667, "cache_read_input_tokens": 20384, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 667 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CpmRDiw6WjqNa91nXhC86Z", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handles between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 605, "cache_read_input_tokens": 21051, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 605 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01H6AtR2qJTSsroMJQKJCSCd", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Missed; handles appear slightly above/beyond fingertips. Open and raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 651, "cache_read_input_tokens": 21656, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 651 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Vf4NX6dZyZV5XdJt8nH6Tq", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.64 }, "note": "Approach handles further." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 804, "cache_read_input_tokens": 22307, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 804 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Lm8HuNhb9yajGq38GC9Co9", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "In contact; handles between fingers. Grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 631, "cache_read_input_tokens": 23111, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 631 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Missed again: the fingers touch something before they reach the handles. I'm opening the gripper and shifting sideways to work out how the camera image lines up with the robot's axes." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 680, "cache_read_input_tokens": 23742, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 680 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AxmSdDX1zhcKSjKgUjahvq", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.6, "y": -0.02 }, "note": "Missed; back off and shift +y to calibrate image direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 680, "cache_read_input_tokens": 23742, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 680 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KQp1dTpxeHiDq2NbFqdshg", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.99, "y": -0.045 }, "note": "Try higher grasp height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 987, "cache_read_input_tokens": 24422, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 987 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017YWFbtp64eKhF4PT99fryQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.65 }, "note": "Approach at higher height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1287, "cache_read_input_tokens": 25409, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1287 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WcBWd4XW3A5eXcFcw2eUQE", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.035 }, "note": "Both handles between fingers; shift sideways to isolate one handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 632, "cache_read_input_tokens": 26696, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 632 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013Qbr6U7secTZCGkTLqbZFj", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handles between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1345, "cache_read_input_tokens": 27328, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1345 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JFBnW7w81SQD1JHGNaeyhj", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.6, "y": -0.05, "roll": 0, "yaw": 0, "pitch": -0.9 }, "note": "Grasp missed again; reset orientation and back off." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 731, "cache_read_input_tokens": 28673, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 731 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm resetting the orientation and trying a lower approach, because the contact point shifts with height." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1248, "cache_read_input_tokens": 29404, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1248 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017mJw7Lnxspy7hPTPHTjDZs", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Probe lower height to see handle position change." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1248, "cache_read_input_tokens": 29404, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1248 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013tpJVf8smGwf8VMfmmQA3X", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.04 }, "note": "Image seems inverted; handles likely higher. Raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 949, "cache_read_input_tokens": 30652, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 949 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KeypqJXXtQujBFTgGgK5n7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.67 }, "note": "Approach handles at higher height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1202, "cache_read_input_tokens": 31601, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1202 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LqTfgJPgq6kNi6HLMT3DLG", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handles large between fingers; grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 32803, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C1Nmh9osvr7NF6zvQeCquZ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58 }, "note": "Gripper blocked from closing, possibly holding something; pull back to test." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 671, "cache_read_input_tokens": 33436, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 671 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QfQBif3rCDswjZPAPGWvtU", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.655, "gripper": 0 }, "note": "Last attempt: approach handle and close simultaneously." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 763, "cache_read_input_tokens": 34107, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 763 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XRDoz6t3w29rwift4z7Dwu", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the cabinet handles: something always stopped the fingers before they reached them, and simulated time is nearly exhausted." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 770, "cache_read_input_tokens": 34870, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 770 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the cabinet; I ended the episode with give_up after about 5 seconds of motion time was left.\n\n- **What I found:** The outside camera was almost completely dark, so I worked only from the wrist camera. It showed two vertical handles on a dark cabinet ahead of the gripper, roughly 0.65–0.7 m forward.\n- **What went wrong:** I tilted the gripper to aim forward and down and tried to grasp five times, at heights from about 0.85 to 1.04 m. Each time the fingers were stopped at around 0.62–0.66 m forward, and they closed on nothing. The one time they stayed open, pulling back moved nothing.\n- **Other time lost:** Many moves were refused or jammed near joint limits, because the arm couldn't aim the gripper straight ahead.\n- **Likely cause:** I couldn't tell from the images how far away the handles were, what the fingers were hitting, or even whether the wrist image was upside down. The stops at larger distances when higher suggest the fingertips were catching an edge or top surface rather than reaching the handles." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 184, "cache_read_input_tokens": 35640, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 184 }, "output_tokens": 359, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 86, "cache_creation_input_tokens": 34271, "cache_read_input_tokens": 770135, "output_tokens": 12811, "output_tokens_details": { "thinking_tokens": 7966 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 34271, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 359, "cache_read_input_tokens": 35640, "cache_creation_input_tokens": 184, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 184 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 86, "outputTokens": 12811, "cacheReadInputTokens": 770135, "cacheCreationInputTokens": 34271, "webSearchRequests": 0, "costUSD": 0.6847590000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7966, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.6847590000000001, "num_turns": 43, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01505, -0.82402, 0.02857, -2.31321, -0.10935, 1.6275, 0.11387 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32342, -0.02359, 1.05637 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98353, -0.11707, 0.13774 ], [ -0.09938, -0.98666, -0.12897 ], [ 0.151, 0.11316, -0.98204 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.208045542240143, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Scene unclear; tilt gripper forward to look ahead with wrist camera." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02527, -1.51045, 0.01159, -2.96502, -0.14995, 2.38463, 0.2045 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3234, -0.02362, 1.05629 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.79551, -7e-05 ], "tcp_rotation_matrix": [ [ 0.58054, -0.16284, 0.79778 ], [ -0.09941, -0.98664, -0.12904 ], [ 0.80814, -0.00439, -0.58897 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 3.4036104613915086, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.5 }, "note": "Handles visible ahead; rotate to face forward fully." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02527, -1.51045, 0.01159, -2.96502, -0.14995, 2.38463, 0.2045 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3234, -0.02362, 1.05629 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.79551, -7e-05 ], "tcp_rotation_matrix": [ [ 0.58054, -0.16284, 0.79778 ], [ -0.09941, -0.98664, -0.12904 ], [ 0.80814, -0.00439, -0.58897 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 55 }, "api_seconds": 3.2034707367420197, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 0.85 }, "note": "Lower and rotate more forward to reach IK-feasible forward-facing pose." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02527, -1.51045, 0.01159, -2.96502, -0.14995, 2.38463, 0.2045 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3234, -0.02362, 1.05629 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.79551, -7e-05 ], "tcp_rotation_matrix": [ [ 0.58054, -0.16284, 0.79778 ], [ -0.09941, -0.98664, -0.12904 ], [ 0.80814, -0.00439, -0.58897 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 54 }, "api_seconds": 2.802920004352927, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lower first in small step." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02527, -1.51045, 0.01159, -2.96502, -0.14995, 2.38463, 0.2045 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3234, -0.02362, 1.05629 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.79551, -7e-05 ], "tcp_rotation_matrix": [ [ 0.58054, -0.16284, 0.79778 ], [ -0.09941, -0.98664, -0.12904 ], [ 0.80814, -0.00439, -0.58897 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 53 }, "api_seconds": 4.204145680181682, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Elbow near limit; extend forward to relieve it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.06823, -1.06423, 0.0308, -2.83865, -0.16779, 2.70556, 0.24279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41863, -0.02363, 1.05623 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.79527, -0.00011 ], "tcp_rotation_matrix": [ [ 0.58073, -0.16289, 0.79764 ], [ -0.09943, -0.98663, -0.12909 ], [ 0.808, -0.00434, -0.58916 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 52 }, "api_seconds": 3.205081610009074, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "pitch": -1.1 }, "note": "Lower and pitch more forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.06823, -1.06423, 0.0308, -2.83865, -0.16779, 2.70556, 0.24279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41863, -0.02363, 1.05623 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.79527, -0.00011 ], "tcp_rotation_matrix": [ [ 0.58073, -0.16289, 0.79764 ], [ -0.09943, -0.98663, -0.12909 ], [ 0.808, -0.00434, -0.58916 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 51 }, "api_seconds": 3.203204605728388, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.98 }, "note": "Try just lowering a bit." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10395, -1.02932, 0.05362, -3.01487, -0.18623, 2.91922, 0.27387 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41862, -0.02364, 0.9812 ], "tcp_roll_pitch_yaw": [ -6e-05, -0.79495, -0.00013 ], "tcp_rotation_matrix": [ [ 0.58098, -0.16293, 0.79744 ], [ -0.09944, -0.98663, -0.12913 ], [ 0.80782, -0.00427, -0.58941 ] ], "simulated_seconds_remaining": 26.928, "calls_remaining_including_this": 50 }, "api_seconds": 4.404103873297572, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "Extend forward toward cabinet handles to unfold elbow." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.22441, -0.58861, 0.16133, -2.76655, -0.20547, 3.12048, 0.32444 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5187, -0.02366, 0.98119 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.79485, -0.00013 ], "tcp_rotation_matrix": [ [ 0.58106, -0.16298, 0.79738 ], [ -0.09943, -0.98662, -0.1292 ], [ 0.80776, -0.00421, -0.58949 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 49 }, "api_seconds": 4.8043137565255165, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Continue approaching handles." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.49294, -0.29128, 0.38085, -2.4874, -0.28331, 3.16272, 0.33879 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61237, -0.04354, 0.98667 ], "tcp_roll_pitch_yaw": [ -0.08951, -0.79025, 0.07287 ], "tcp_rotation_matrix": [ [ 0.58359, -0.15372, 0.79737 ], [ -0.04311, -0.9864, -0.15861 ], [ 0.8109, 0.05819, -0.58228 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 48 }, "api_seconds": 6.406188078224659, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handles appear right between fingertips after contact; try grasping." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.49294, -0.29128, 0.38085, -2.4874, -0.28331, 3.16272, 0.33879 ], "gripper_open": 0.0, "tcp_xyz": [ 0.61238, -0.04354, 0.98668 ], "tcp_roll_pitch_yaw": [ -0.08978, -0.79022, 0.07319 ], "tcp_rotation_matrix": [ [ 0.58361, -0.15358, 0.79738 ], [ -0.04287, -0.98641, -0.15861 ], [ 0.8109, 0.05838, -0.58227 ] ], "simulated_seconds_remaining": 24.024, "calls_remaining_including_this": 47 }, "api_seconds": 6.005836807191372, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.55 }, "note": "Missed grasp; reopen and back off." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.31662, -0.47797, 0.21135, -2.66944, -0.22756, 3.14686, 0.27376 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.55135, -0.04354, 0.98671 ], "tcp_roll_pitch_yaw": [ -0.08984, -0.79027, 0.07324 ], "tcp_rotation_matrix": [ [ 0.58357, -0.15359, 0.79741 ], [ -0.04284, -0.98641, -0.15864 ], [ 0.81093, 0.05841, -0.58222 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 46 }, "api_seconds": 9.40825011394918, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower to get handle level into view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.00735, -0.23302, 0.96355, -2.79637, 0.00125, 3.59731, 0.16281 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55132, -0.04349, 0.85122 ], "tcp_roll_pitch_yaw": [ -0.08973, -0.7899, 0.07331 ], "tcp_rotation_matrix": [ [ 0.58388, -0.15342, 0.79721 ], [ -0.04279, -0.98643, -0.15849 ], [ 0.81071, 0.05842, -0.58252 ] ], "simulated_seconds_remaining": 21.912, "calls_remaining_including_this": 45 }, "api_seconds": 12.810722600668669, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "roll": 0, "yaw": 0 }, "note": "Try incrementally pitching forward toward horizontal approach." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.13105, 0.08438, 1.15616, -2.81795, 0.23969, 4.01192, -0.11738 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55142, -0.04329, 0.85094 ], "tcp_roll_pitch_yaw": [ -0.00038, -0.99572, 0.00115 ], "tcp_rotation_matrix": [ [ 0.40831, -0.15781, 0.8991 ], [ -0.09885, -0.9868, -0.12831 ], [ 0.90748, -0.03649, -0.41852 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 44 }, "api_seconds": 2.2027317313477397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "Continue pitching forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.13105, 0.08438, 1.15616, -2.81795, 0.23969, 4.01192, -0.11738 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55142, -0.04329, 0.85094 ], "tcp_roll_pitch_yaw": [ -0.00038, -0.99572, 0.00115 ], "tcp_rotation_matrix": [ [ 0.40831, -0.15781, 0.8991 ], [ -0.09885, -0.9868, -0.12831 ], [ 0.90748, -0.03649, -0.41852 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 43 }, "api_seconds": 4.204313974827528, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63 }, "note": "Approach cabinet at lower height to find handle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.91524, 0.33761, 1.00969, -2.55844, 0.42441, 3.98672, -0.43627 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62444, -0.04815, 0.84901 ], "tcp_roll_pitch_yaw": [ -0.015, -0.9933, 0.00664 ], "tcp_rotation_matrix": [ [ 0.40983, -0.16457, 0.8972 ], [ -0.09438, -0.98596, -0.13773 ], [ 0.90727, -0.02823, -0.41961 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 42 }, "api_seconds": 7.006676023826003, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "z": 0.97 }, "note": "Handle appears above; raise to handle level, slightly back from door." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.91524, 0.33761, 1.00969, -2.55844, 0.42441, 3.98672, -0.43627 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62444, -0.04815, 0.84901 ], "tcp_roll_pitch_yaw": [ -0.015, -0.9933, 0.00664 ], "tcp_rotation_matrix": [ [ 0.40983, -0.16457, 0.8972 ], [ -0.09438, -0.98596, -0.13773 ], [ 0.90727, -0.02823, -0.41961 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 41 }, "api_seconds": 2.4032242568209767, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.59, "z": 0.91 }, "note": "Smaller step upward and back." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.91524, 0.33761, 1.00969, -2.55844, 0.42441, 3.98672, -0.43627 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62444, -0.04815, 0.84901 ], "tcp_roll_pitch_yaw": [ -0.015, -0.9933, 0.00664 ], "tcp_rotation_matrix": [ [ 0.40983, -0.16457, 0.8972 ], [ -0.09438, -0.98596, -0.13773 ], [ 0.90727, -0.02823, -0.41961 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 40 }, "api_seconds": 2.603124003857374, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "pitch": -0.8 }, "note": "Back off and relax pitch to escape awkward config." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.91524, 0.33761, 1.00969, -2.55844, 0.42441, 3.98672, -0.43627 ], "gripper_open": 1.0, "tcp_xyz": [ 0.62444, -0.04815, 0.84901 ], "tcp_roll_pitch_yaw": [ -0.015, -0.9933, 0.00664 ], "tcp_rotation_matrix": [ [ 0.40983, -0.16457, 0.8972 ], [ -0.09438, -0.98596, -0.13773 ], [ 0.90727, -0.02823, -0.41961 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 39 }, "api_seconds": 3.4037644313648343, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58 }, "note": "Just back off in x." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.03695, 0.21637, 1.09386, -2.71085, 0.34275, 4.01056, -0.29026 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58122, -0.04814, 0.84903 ], "tcp_roll_pitch_yaw": [ -0.01524, -0.9933, 0.00691 ], "tcp_rotation_matrix": [ [ 0.40983, -0.1645, 0.89721 ], [ -0.09424, -0.98598, -0.13773 ], [ 0.90728, -0.0281, -0.41958 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 38 }, "api_seconds": 5.208365669474006, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Raise toward handle level." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.04365, -0.22878, 0.94269, -2.73177, -0.07594, 3.73554, 0.2774 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5813, -0.04815, 0.91882 ], "tcp_roll_pitch_yaw": [ -0.01575, -0.99355, 0.00755 ], "tcp_rotation_matrix": [ [ 0.40963, -0.16428, 0.89734 ], [ -0.0939, -0.98602, -0.13766 ], [ 0.90741, -0.02787, -0.41932 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 37 }, "api_seconds": 19.417357424274087, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63 }, "note": "Handles visible just ahead of fingers; approach." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.04365, -0.22878, 0.94269, -2.73177, -0.07594, 3.73554, 0.2774 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5813, -0.04815, 0.91882 ], "tcp_roll_pitch_yaw": [ -0.01575, -0.99355, 0.00755 ], "tcp_rotation_matrix": [ [ 0.40963, -0.16428, 0.89734 ], [ -0.0939, -0.98602, -0.13766 ], [ 0.90741, -0.02787, -0.41932 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 36 }, "api_seconds": 54.64751597028226, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.605 }, "note": "Smaller forward step." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.13825, -0.14517, 1.07923, -2.66076, 0.04786, 3.72279, 0.14409 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60399, -0.04812, 0.91882 ], "tcp_roll_pitch_yaw": [ -0.01554, -0.99356, 0.00743 ], "tcp_rotation_matrix": [ [ 0.40962, -0.16423, 0.89735 ], [ -0.09398, -0.98603, -0.13756 ], [ 0.9074, -0.02799, -0.41933 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 35 }, "api_seconds": 12.21064781025052, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63 }, "note": "Continue approach to handles." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.13825, -0.14517, 1.07923, -2.66076, 0.04786, 3.72279, 0.14409 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60399, -0.04812, 0.91882 ], "tcp_roll_pitch_yaw": [ -0.01554, -0.99356, 0.00743 ], "tcp_rotation_matrix": [ [ 0.40962, -0.16423, 0.89735 ], [ -0.09398, -0.98603, -0.13756 ], [ 0.9074, -0.02799, -0.41933 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 34 }, "api_seconds": 7.206288072280586, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.618 }, "note": "Tiny step forward." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.20115, -0.07969, 1.17841, -2.61553, 0.156, 3.71883, 0.021 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61714, -0.04807, 0.91885 ], "tcp_roll_pitch_yaw": [ -0.01504, -0.99363, 0.00707 ], "tcp_rotation_matrix": [ [ 0.40956, -0.16417, 0.89739 ], [ -0.0942, -0.98603, -0.13739 ], [ 0.90741, -0.02827, -0.4193 ] ], "simulated_seconds_remaining": 18.282, "calls_remaining_including_this": 33 }, "api_seconds": 14.813169253058732, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handles between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.20115, -0.07969, 1.17841, -2.61553, 0.156, 3.71883, 0.021 ], "gripper_open": 0.0, "tcp_xyz": [ 0.61715, -0.04807, 0.91885 ], "tcp_roll_pitch_yaw": [ -0.01505, -0.99363, 0.00707 ], "tcp_rotation_matrix": [ [ 0.40956, -0.16417, 0.89739 ], [ -0.0942, -0.98603, -0.13739 ], [ 0.90741, -0.02826, -0.4193 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 32 }, "api_seconds": 4.804041067138314, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Missed; handles appear slightly above/beyond fingertips. Open and raise." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.05025, -0.20003, 0.95326, -2.60395, -0.05869, 3.62458, 0.24977 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.61716, -0.04808, 0.94927 ], "tcp_roll_pitch_yaw": [ -0.01514, -0.9937, 0.00714 ], "tcp_rotation_matrix": [ [ 0.40949, -0.16418, 0.89742 ], [ -0.09416, -0.98603, -0.13742 ], [ 0.90744, -0.02822, -0.41923 ] ], "simulated_seconds_remaining": 16.434, "calls_remaining_including_this": 31 }, "api_seconds": 2.602619375102222, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.64 }, "note": "Approach handles further." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.2017, -0.12413, 1.1409, -2.54266, 0.09652, 3.61594, 0.08904 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63559, -0.05614, 0.94525 ], "tcp_roll_pitch_yaw": [ -0.01628, -0.98766, -0.00517 ], "tcp_rotation_matrix": [ [ 0.41369, -0.1774, 0.89297 ], [ -0.09904, -0.98378, -0.14956 ], [ 0.90501, -0.02657, -0.42455 ] ], "simulated_seconds_remaining": 15.972, "calls_remaining_including_this": 30 }, "api_seconds": 2.20252419821918, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "In contact; handles between fingers. Grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.2017, -0.12413, 1.1409, -2.54266, 0.09652, 3.61594, 0.08904 ], "gripper_open": 0.0, "tcp_xyz": [ 0.6356, -0.05614, 0.94524 ], "tcp_roll_pitch_yaw": [ -0.01628, -0.98765, -0.00517 ], "tcp_rotation_matrix": [ [ 0.4137, -0.17741, 0.89296 ], [ -0.09905, -0.98378, -0.14956 ], [ 0.90501, -0.02657, -0.42456 ] ], "simulated_seconds_remaining": 15.048, "calls_remaining_including_this": 29 }, "api_seconds": 7.006089221686125, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.6, "y": -0.02 }, "note": "Missed; back off and shift +y to calibrate image direction." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.00348, -0.28425, 0.96896, -2.6595, 0.05692, 3.61033, 0.26924 ], "gripper_open": 0.952, "tcp_xyz": [ 0.59954, -0.03585, 0.94643 ], "tcp_roll_pitch_yaw": [ 0.01626, -0.99201, -0.06926 ], "tcp_rotation_matrix": [ [ 0.40493, -0.21338, 0.8891 ], [ -0.13015, -0.97594, -0.17494 ], [ 0.90504, -0.04488, -0.42296 ] ], "simulated_seconds_remaining": 14.124, "calls_remaining_including_this": 28 }, "api_seconds": 9.608510923571885, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.99, "y": -0.045 }, "note": "Try higher grasp height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.78697, -0.33864, 0.68771, -2.62269, -0.08894, 3.48882, 0.35367 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.59959, -0.04476, 0.9889 ], "tcp_roll_pitch_yaw": [ 0.01619, -0.99224, -0.06924 ], "tcp_rotation_matrix": [ [ 0.40472, -0.2134, 0.88919 ], [ -0.13012, -0.97593, -0.17499 ], [ 0.90514, -0.04488, -0.42274 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 27 }, "api_seconds": 3.002913468517363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65 }, "note": "Approach at higher height." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.14708, -0.23651, 1.05195, -2.48456, 0.05055, 3.47981, 0.23581 ], "gripper_open": 1.0, "tcp_xyz": [ 0.64297, -0.06331, 0.98386 ], "tcp_roll_pitch_yaw": [ 0.01537, -0.98572, -0.09881 ], "tcp_rotation_matrix": [ [ 0.4065, -0.24311, 0.88071 ], [ -0.14248, -0.96902, -0.20172 ], [ 0.90247, -0.04348, -0.42855 ] ], "simulated_seconds_remaining": 12.87, "calls_remaining_including_this": 26 }, "api_seconds": 11.012197331525385, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.035 }, "note": "Both handles between fingers; shift sideways to isolate one handle." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.18946, -0.29038, 1.12421, -2.49653, 0.16667, 3.45892, 0.25975 ], "gripper_open": 0.9579, "tcp_xyz": [ 0.63703, -0.0629, 0.98025 ], "tcp_roll_pitch_yaw": [ 0.10152, -0.98153, -0.2402 ], "tcp_rotation_matrix": [ [ 0.39058, -0.3096, 0.86695 ], [ -0.21321, -0.94657, -0.24198 ], [ 0.89554, -0.09033, -0.43572 ] ], "simulated_seconds_remaining": 12.408, "calls_remaining_including_this": 25 }, "api_seconds": 3.80395760666579, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handles between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the cabinet.", "joint_positions": [ -1.18946, -0.29038, 1.12421, -2.49653, 0.16667, 3.45892, 0.25975 ], "gripper_open": 0.0, "tcp_xyz": [ 0.63704, -0.06289, 0.98025 ], "tcp_roll_pitch_yaw": [ 0.10155, -0.98153, -0.24025 ], "tcp_rotation_matrix": [ [ 0.39057, -0.30962, 0.86695 ], [ -0.21323, -0.94656, -0.24199 ], [ 0.89554, -0.09034, -0.43572 ] ], "simulated_seconds_remaining": 11.484, "calls_remaining_including_this": 24 }, "api_seconds": 9.408511446788907, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.6, "y": -0.05, "roll": 0, "yaw": 0, "pitch": -0.9 }, "note": "Grasp missed again; reset orientation and back off." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.48068, -0.29026, 0.36337, -2.59172, -0.15172, 3.36785, 0.27149 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.6004, -0.05018, 0.98034 ], "tcp_roll_pitch_yaw": [ 0.00078, -0.90107, -0.00245 ], "tcp_rotation_matrix": [ [ 0.49198, -0.1632, 0.85517 ], [ -0.1007, -0.98635, -0.13031 ], [ 0.86476, -0.02201, -0.5017 ] ], "simulated_seconds_remaining": 10.56, "calls_remaining_including_this": 23 }, "api_seconds": 6.205639733932912, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Probe lower height to see handle position change." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.79053, -0.11589, 0.75085, -2.65449, 0.11839, 3.60978, 0.04246 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60039, -0.05013, 0.9011 ], "tcp_roll_pitch_yaw": [ 0.00104, -0.90077, -0.00251 ], "tcp_rotation_matrix": [ [ 0.49225, -0.16307, 0.85504 ], [ -0.10077, -0.98637, -0.1301 ], [ 0.8646, -0.02212, -0.50197 ] ], "simulated_seconds_remaining": 9.702, "calls_remaining_including_this": 22 }, "api_seconds": 9.208283835090697, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.04 }, "note": "Image seems inverted; handles likely higher. Raise." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.28883, -0.36652, 0.17467, -2.51112, -0.17318, 3.1953, 0.26514 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60043, -0.05012, 1.03888 ], "tcp_roll_pitch_yaw": [ 0.00088, -0.90114, -0.00239 ], "tcp_rotation_matrix": [ [ 0.49194, -0.16306, 0.85523 ], [ -0.10068, -0.98637, -0.13015 ], [ 0.86479, -0.02208, -0.50165 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 21 }, "api_seconds": 2.602741233073175, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.67 }, "note": "Approach handles at higher height." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 38, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.54613, -0.18569, 0.38911, -2.30922, -0.27485, 3.19008, 0.36563 ], "gripper_open": 1.0, "tcp_xyz": [ 0.66178, -0.07186, 1.04339 ], "tcp_roll_pitch_yaw": [ -0.01128, -0.90627, -0.02599 ], "tcp_rotation_matrix": [ [ 0.48408, -0.19557, 0.85289 ], [ -0.11028, -0.98057, -0.16225 ], [ 0.86805, -0.01551, -0.49624 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 20 }, "api_seconds": 3.0031769508495927, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handles large between fingers; grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 39, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.54679, -0.19322, 0.38698, -2.31546, -0.27632, 3.19024, 0.36384 ], "gripper_open": 0.9756, "tcp_xyz": [ 0.65949, -0.07315, 1.04407 ], "tcp_roll_pitch_yaw": [ -0.01987, -0.9065, -0.02071 ], "tcp_rotation_matrix": [ [ 0.48383, -0.19703, 0.85269 ], [ -0.1064, -0.98034, -0.16616 ], [ 0.86867, -0.01033, -0.49529 ] ], "simulated_seconds_remaining": 6.732, "calls_remaining_including_this": 19 }, "api_seconds": 4.204554818570614, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58 }, "note": "Gripper blocked from closing, possibly holding something; pull back to test." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 40, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.29667, -0.42479, 0.13967, -2.55467, -0.18401, 3.18662, 0.25701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58123, -0.07315, 1.04414 ], "tcp_roll_pitch_yaw": [ -0.02006, -0.90658, -0.02061 ], "tcp_rotation_matrix": [ [ 0.48376, -0.19707, 0.85273 ], [ -0.10632, -0.98034, -0.16625 ], [ 0.86872, -0.01024, -0.4952 ] ], "simulated_seconds_remaining": 5.874, "calls_remaining_including_this": 18 }, "api_seconds": 4.604545179754496, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.655, "gripper": 0 }, "note": "Last attempt: approach handle and close simultaneously." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 41, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.51997, -0.20894, 0.36166, -2.33403, -0.25879, 3.19207, 0.34741 ], "gripper_open": 0.0, "tcp_xyz": [ 0.65393, -0.07316, 1.0441 ], "tcp_roll_pitch_yaw": [ -0.02011, -0.90648, -0.02058 ], "tcp_rotation_matrix": [ [ 0.48384, -0.19708, 0.85267 ], [ -0.1063, -0.98033, -0.16627 ], [ 0.86867, -0.01019, -0.49528 ] ], "simulated_seconds_remaining": 4.95, "calls_remaining_including_this": 17 }, "api_seconds": 2.602912763133645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the cabinet handles: something always stopped the fingers before they reached them, and simulated time is nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 034 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 34, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 47, "wall_seconds": 220.91, "usage": { "input_tokens": 98, "output_tokens": 12784, "cache_read_input_tokens": 982159, "cache_creation_input_tokens": 37116, "thinking_tokens": 7241, "cost_usd": 0.7494318000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DPhj8Qn845evzawbg3unFS", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017dHnx2Lgv1JdAc3aFrNcpW", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1 }, "note": "Tilt gripper forward to see the door in wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D6dnmLuYeWgiFeLcmjgRcV", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5, "z": 0.95 }, "note": "Partial forward tilt and lower to view door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 962, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 962 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VwBZ5qKkt88gvKAVHYgbCr", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.1, "z": 0.85 }, "note": "Tilt further forward to look at glass door for handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 673, "cache_read_input_tokens": 3471, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 673 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018opRDyULxWXMBZd269MW57", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9, "x": 0.45, "z": 0.9 }, "note": "Extend forward while tilting more to see door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 786, "cache_read_input_tokens": 4144, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 786 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still looking for the shower door's handle. My last few moves were rejected because the arm couldn't reach those poses, so I'm now making smaller moves." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 724, "cache_read_input_tokens": 4930, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 724 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012LvSAVnrCnqqYepGhvVCNh", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Small step forward to get closer to shower door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 724, "cache_read_input_tokens": 4930, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 724 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Tm2R5RRnh2fi1VaL7pkg92", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Tilt more forward to see door features." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 5654, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 694 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018aVSiZja6hUEPjSpKH7M3b", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower to scan the door seam for a handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1073, "cache_read_input_tokens": 6348, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1073 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MrVDHsvh1GHSJU65aKoxV5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Move forward to extend elbow away from limit and approach door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 973, "cache_read_input_tokens": 7421, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 973 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Trt6zX73trXWP9p2NB1Sa6", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower along the door to look for a handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 664, "cache_read_input_tokens": 8394, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 664 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X6EZzgv18M4oTboaTHpeZ7", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5, "x": 0.5, "z": 0.85 }, "note": "Relax wrist near joint limit, back off slightly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 9058, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still trying to find the shower door's handle, so I'm turning the gripper to look sideways along the glass." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1092, "cache_read_input_tokens": 9699, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1092 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XFELt8F7mXQTgQbrpzNKkz", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0.6 }, "note": "Yaw left to scan for the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1092, "cache_read_input_tokens": 9699, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1092 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01M9p95Meu8dARrmRjaorrEq", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0, "pitch": -0.8, "x": 0.58, "z": 0.85 }, "note": "Face the vertical bar again and approach it horizontally." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1229, "cache_read_input_tokens": 10791, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1229 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RgDSENcSwJJARJFQtcDydg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.64 }, "note": "Approach vertical bar so it sits between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1228, "cache_read_input_tokens": 12020, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1228 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0113xvPj9y8qr83af8xti4wg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.61, "pitch": -0.6 }, "note": "Smaller step forward with less tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 635, "cache_read_input_tokens": 13248, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 635 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fe7KvbkSRSemgegSrpgWNS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.95, "pitch": -0.5 }, "note": "Back off to recover a nicer arm configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 646, "cache_read_input_tokens": 13883, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 646 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Small step back." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 670, "cache_read_input_tokens": 14529, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 670 }, "output_tokens": 35, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015CgzMbwMr8fo39UBUmxaBH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Small step back only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 670, "cache_read_input_tokens": 14529, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 670 }, "output_tokens": 35, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DQ4jCrwpXFn8EZUhyzD35b", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95, "pitch": -0.6 }, "note": "Rise and reduce tilt to unwind config." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 15199, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 607 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015GbsruK5aTgCYUzD19fwiN", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Rise a little only." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 642, "cache_read_input_tokens": 15806, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 642 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RHnKqjwaU8a8j1TDYXqzi5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Step back further to free the arm." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 600, "cache_read_input_tokens": 16448, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 600 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D5jQKYFyE7hFTQan4CoT59", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.65 }, "note": "Small pitch change to unwind wrist." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 637, "cache_read_input_tokens": 17048, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 637 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014rZFUr6yH8cf8Mm754HhHi", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42 }, "note": "Keep backing off to regain configuration room." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 670, "cache_read_input_tokens": 17685, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 670 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm has ended up in an awkward joint configuration and some moves are being rejected. I'm trying small rotations to get it back to a usable pose." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 664, "cache_read_input_tokens": 18355, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 664 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011WyJA79p8nRnKfN8shuVrn", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0.2 }, "note": "Try small yaw to unwind arm configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 664, "cache_read_input_tokens": 18355, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 664 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013EHZ4EYJ3QJZowYjFxfZL4", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0, "x": 0.56 }, "note": "Re-center and advance toward the vertical edge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 717, "cache_read_input_tokens": 19019, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 717 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0196VpB7zaswo4jUa35vbtdK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Continue forward in small step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1167, "cache_read_input_tokens": 19736, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1167 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015B4yrNoV9hwQjB2NU3ZusV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.64 }, "note": "Continue forward toward the edge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 678, "cache_read_input_tokens": 20903, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 678 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KJkvJFpw6ZEqBBUCLwQWf2", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower so the edge of the glass panel enters between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 604, "cache_read_input_tokens": 21581, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 604 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NjwR8dcHDuZpwRsGJyGKCW", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Back off and rise to reset arm configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1400, "cache_read_input_tokens": 22185, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1400 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm is still stuck in a bad pose. I'm backing it off in small steps to reset it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 23585, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 758 }, "output_tokens": 59, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JJw7QoieABoxPikRxT4ejP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57 }, "note": "Tiny step back." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 23585, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 758 }, "output_tokens": 59, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01R1czix9xrDyrgVEGzYY5Dr", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.88 }, "note": "Small rise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 634, "cache_read_input_tokens": 24343, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 634 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Q3FNz5UP5Cqd6EwFnk51WE", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95 }, "note": "Rise further to unwind configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 624, "cache_read_input_tokens": 24977, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 624 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XhZX2PgiZLTCy8azwvPYdW", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Test whether the vertical edge is between the fingers by closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 25601, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 859 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ut8GFAQHXgK78esEgmTH7j", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "pitch": -0.7 }, "note": "Nothing grasped; reopen and slightly reduce tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 756, "cache_read_input_tokens": 26460, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 756 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Pp13PVsyBTxQLdQ51bvhvX", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1 }, "note": "Reopen gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 718, "cache_read_input_tokens": 27216, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 718 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Testing a close-in grasp caught nothing, so the edge I can see is farther away. Next I'm trying small sideways moves to reach it and push the door." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 27934, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UvAnE47BRqJEmdt9QwqaVs", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "z": 0.86 }, "note": "Advance along the approach axis toward the edge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 27934, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QiERdyj9PihmW64Z1S8GuU", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52 }, "note": "Back off to regain IK freedom." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 775, "cache_read_input_tokens": 28567, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 775 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019TnUQ4uySnXfemQuc4GN7v", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.72 }, "note": "Tiny pitch reduction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 29342, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 686 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014F8hSi3B1DjTPKm66VWKNR", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": -0.2 }, "note": "Try yaw to shift arm into better branch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 644, "cache_read_input_tokens": 30028, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 644 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HT7Xjy9gt37vokLfbiDjLH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58, "y": -0.03 }, "note": "Probe forward toward glass to try pushing door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 692, "cache_read_input_tokens": 30672, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 692 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012YKZTraZKwr9W9w67FBkGR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.63, "y": -0.05 }, "note": "Continue probing forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 765, "cache_read_input_tokens": 31364, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 765 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm pushing the gripper forward against the glass. It met resistance around x≈0.62 m, and I'm now testing whether the door swings inward." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 638, "cache_read_input_tokens": 32129, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 638 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DBrXLTHzPcN3wy11DoXhJ8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.68 }, "note": "Contact felt; push further to see if the door swings inward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 638, "cache_read_input_tokens": 32129, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 638 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RA1rnZv1hqGLFXnpjGG7k5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56, "y": 0 }, "note": "Glass is rigid; back off from contact." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 810, "cache_read_input_tokens": 32767, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 810 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JouAT5NvNZdtMsLQmg3PWZ", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0, "yaw": 0, "pitch": -0.7 }, "note": "Restore cleaner orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1376, "cache_read_input_tokens": 33577, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1376 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012x6gyb2sPnnnStE66mifYP", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0.1, "yaw": -0.45 }, "note": "Partial orientation restore." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 658, "cache_read_input_tokens": 34953, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 658 }, "output_tokens": 26, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L2Eta81DotbmfXtyvUgriJ", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "roll": 0, "yaw": -0.2 }, "note": "Raise to scan for a handle at typical height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 614, "cache_read_input_tokens": 35611, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 614 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019MgTDsbN8dVBZ87okutRxd", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12, "x": 0.6 }, "note": "Probe left panel of the glass for a movable door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 735, "cache_read_input_tokens": 36225, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 735 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "No handle found yet. I'm now testing the left glass panel to see if it moves when pushed." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 817, "cache_read_input_tokens": 36960, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 817 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015eXhWbLJHvhq72av82Caxu", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.7 }, "note": "Push forward on left panel to test if it swings." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 817, "cache_read_input_tokens": 36960, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 817 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NrRkGXaMxJs3jFb4R7sZX8", "name": "mcp__robot__give_up", "input": { "note": "Could not locate a graspable door handle on the glass shower enclosure; pushing the panels met rigid resistance and IK limits prevented further exploration within the remaining time." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 37777, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 652 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the door, and I ended the episode with give_up after 47 of the 57 calls, with about 8 seconds of motion time left.\n\n- **No handle found:** The door looked like part of a glass shower enclosure. I scanned it at several heights and angles with both cameras and never saw a handle or knob.\n- **Closing the gripper caught nothing:** I closed it on a vertical frame edge I could see, but the edge was farther away than it looked and the gripper closed on empty air.\n- **Pushing didn't work:** I pushed forward on the right-hand glass and then on the left-hand glass. Both times the gripper stopped just short of its target at about x = 0.62–0.68 m and nothing swung open.\n- **Lost motion:** Many moves, over a dozen, were rejected because the arm couldn't reach the pose or would have needed a large joint jump. The arm got stuck in an awkward twisted pose near its joint limits, and I spent a lot of time and calls backing it out in small steps.\n\nI also saw a brown panel at the far left that might be a wooden door, but it looked out of reach and I didn't check it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 240, "cache_read_input_tokens": 38429, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 240 }, "output_tokens": 1, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 98, "cache_creation_input_tokens": 37116, "cache_read_input_tokens": 982159, "output_tokens": 12784, "output_tokens_details": { "thinking_tokens": 7241 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 37116, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 368, "cache_read_input_tokens": 38429, "cache_creation_input_tokens": 240, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 240 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 98, "outputTokens": 12784, "cacheReadInputTokens": 982159, "cacheCreationInputTokens": 37116, "webSearchRequests": 0, "costUSD": 0.7494318000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7241, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.7494318000000001, "num_turns": 49, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the door.", "joint_positions": [ 0.01625, -0.78216, 0.00476, -2.2674, -0.00911, 1.59774, 0.14944 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32818, 0.00457, 1.05988 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98521, -0.12928, 0.11247 ], [ -0.12895, -0.9916, -0.01023 ], [ 0.11285, -0.00442, -0.9936 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.007662045769393, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1 }, "note": "Tilt gripper forward to see the door in wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the door.", "joint_positions": [ 0.01625, -0.78216, 0.00476, -2.2674, -0.00911, 1.59774, 0.14944 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32818, 0.00457, 1.05988 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98521, -0.12928, 0.11247 ], [ -0.12895, -0.9916, -0.01023 ], [ 0.11285, -0.00442, -0.9936 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.402630664408207, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5, "z": 0.95 }, "note": "Partial forward tilt and lower to view door." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the door.", "joint_positions": [ 0.0168, -1.31188, 0.01143, -2.98785, -0.0165, 2.28413, 0.1626 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32809, 0.00457, 0.95069 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.49579, 2e-05 ], "tcp_rotation_matrix": [ [ 0.8129, -0.11162, 0.57161 ], [ -0.12893, -0.9916, -0.01027 ], [ 0.56796, -0.06535, -0.82046 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 55 }, "api_seconds": 4.0036631766706705, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.1, "z": 0.85 }, "note": "Tilt further forward to look at glass door for handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the door.", "joint_positions": [ 0.0168, -1.31188, 0.01143, -2.98785, -0.0165, 2.28413, 0.1626 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32809, 0.00457, 0.95069 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.49579, 2e-05 ], "tcp_rotation_matrix": [ [ 0.8129, -0.11162, 0.57161 ], [ -0.12893, -0.9916, -0.01027 ], [ 0.56796, -0.06535, -0.82046 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 54 }, "api_seconds": 2.602506250143051, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9, "x": 0.45, "z": 0.9 }, "note": "Extend forward while tilting more to see door." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the door.", "joint_positions": [ 0.0168, -1.31188, 0.01143, -2.98785, -0.0165, 2.28413, 0.1626 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32809, 0.00457, 0.95069 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.49579, 2e-05 ], "tcp_rotation_matrix": [ [ 0.8129, -0.11162, 0.57161 ], [ -0.12893, -0.9916, -0.01027 ], [ 0.56796, -0.06535, -0.82046 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 53 }, "api_seconds": 2.8026586631312966, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Small step forward to get closer to shower door." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the door.", "joint_positions": [ 0.00474, -0.75643, 0.0106, -2.75444, -0.02238, 2.60609, 0.16294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44867, 0.00456, 0.95067 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.49564, -0.0 ], "tcp_rotation_matrix": [ [ 0.81298, -0.11164, 0.57149 ], [ -0.12894, -0.9916, -0.01028 ], [ 0.56784, -0.06534, -0.82054 ] ], "simulated_seconds_remaining": 27.852, "calls_remaining_including_this": 52 }, "api_seconds": 6.6062334487214684, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Tilt more forward to see door features." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the door.", "joint_positions": [ -0.01267, -0.82805, 0.02437, -2.98892, -0.03159, 3.06905, 0.17731 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44866, 0.00455, 0.95043 ], "tcp_roll_pitch_yaw": [ -9e-05, -0.79541, -0.0 ], "tcp_rotation_matrix": [ [ 0.60903, -0.0874, 0.78831 ], [ -0.12894, -0.9916, -0.01033 ], [ 0.78259, -0.09536, -0.61519 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 51 }, "api_seconds": 6.605979839339852, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower to scan the door seam for a handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the door.", "joint_positions": [ -0.01267, -0.82805, 0.02437, -2.98892, -0.03159, 3.06905, 0.17731 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44866, 0.00455, 0.95043 ], "tcp_roll_pitch_yaw": [ -9e-05, -0.79541, -0.0 ], "tcp_rotation_matrix": [ [ 0.60903, -0.0874, 0.78831 ], [ -0.12894, -0.9916, -0.01033 ], [ 0.78259, -0.09536, -0.61519 ] ], "simulated_seconds_remaining": 27.126, "calls_remaining_including_this": 50 }, "api_seconds": 2.6024861251935363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Move forward to extend elbow away from limit and approach door." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the door.", "joint_positions": [ -0.04544, -0.42246, 0.04967, -2.71715, -0.03707, 3.20319, 0.18229 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54871, 0.00455, 0.95042 ], "tcp_roll_pitch_yaw": [ -0.0001, -0.79534, -2e-05 ], "tcp_rotation_matrix": [ [ 0.60909, -0.08743, 0.78827 ], [ -0.12895, -0.9916, -0.01035 ], [ 0.78255, -0.09535, -0.61525 ] ], "simulated_seconds_remaining": 26.136, "calls_remaining_including_this": 49 }, "api_seconds": 2.2022963408380747, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower along the door to look for a handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the door.", "joint_positions": [ -0.16317, 0.00503, 0.20057, -2.80139, 0.07452, 3.71473, 0.08895 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54867, 0.00455, 0.80117 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.79497, -5e-05 ], "tcp_rotation_matrix": [ [ 0.60939, -0.08744, 0.78804 ], [ -0.12898, -0.99159, -0.01029 ], [ 0.78231, -0.09537, -0.61554 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 48 }, "api_seconds": 7.005759966559708, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5, "x": 0.5, "z": 0.85 }, "note": "Relax wrist near joint limit, back off slightly." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the door.", "joint_positions": [ -0.02774, -0.39395, 0.03937, -2.78319, -0.02282, 3.00707, 0.16765 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.501, 0.00455, 0.84973 ], "tcp_roll_pitch_yaw": [ -0.00018, -0.50513, 4e-05 ], "tcp_rotation_matrix": [ [ 0.80755, -0.11104, 0.57925 ], [ -0.1289, -0.9916, -0.01039 ], [ 0.57554, -0.06627, -0.81508 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 47 }, "api_seconds": 9.207922285422683, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.6 }, "note": "Yaw left to scan for the handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the door.", "joint_positions": [ 0.64376, -0.48351, -0.7372, -2.69137, 0.1887, 2.81064, -0.74064 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50105, 0.00446, 0.84982 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.50515, 0.59518 ], "tcp_rotation_matrix": [ [ 0.74098, 0.46403, 0.48542 ], [ 0.34598, -0.88333, 0.31627 ], [ 0.57554, -0.0664, -0.81507 ] ], "simulated_seconds_remaining": 22.968, "calls_remaining_including_this": 46 }, "api_seconds": 9.00735186599195, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0, "pitch": -0.8, "x": 0.58, "z": 0.85 }, "note": "Face the vertical bar again and approach it horizontally." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the door.", "joint_positions": [ 1.01827, -0.11972, -0.8886, -2.68137, 0.43267, 3.55588, -0.26583 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57948, 0.00455, 0.84979 ], "tcp_roll_pitch_yaw": [ -0.0013, -0.79748, 0.00504 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08307, 0.78962 ], [ -0.12574, -0.99203, -0.00755 ], [ 0.78396, -0.0947, -0.61355 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 45 }, "api_seconds": 2.2023426545783877, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.64 }, "note": "Approach vertical bar so it sits between fingers." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the door.", "joint_positions": [ 1.01827, -0.11972, -0.8886, -2.68137, 0.43267, 3.55588, -0.26583 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57948, 0.00455, 0.84979 ], "tcp_roll_pitch_yaw": [ -0.0013, -0.79748, 0.00504 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08307, 0.78962 ], [ -0.12574, -0.99203, -0.00755 ], [ 0.78396, -0.0947, -0.61355 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 44 }, "api_seconds": 2.4025763673707843, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.61, "pitch": -0.6 }, "note": "Smaller step forward with less tilt." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 15, "state": { "instruction": "open the door.", "joint_positions": [ 1.01827, -0.11972, -0.8886, -2.68137, 0.43267, 3.55588, -0.26583 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57948, 0.00455, 0.84979 ], "tcp_roll_pitch_yaw": [ -0.0013, -0.79748, 0.00504 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08307, 0.78962 ], [ -0.12574, -0.99203, -0.00755 ], [ 0.78396, -0.0947, -0.61355 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 43 }, "api_seconds": 2.402905512601137, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.95, "pitch": -0.5 }, "note": "Back off to recover a nicer arm configuration." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 16, "state": { "instruction": "open the door.", "joint_positions": [ 1.01827, -0.11972, -0.8886, -2.68137, 0.43267, 3.55588, -0.26583 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57948, 0.00455, 0.84979 ], "tcp_roll_pitch_yaw": [ -0.0013, -0.79748, 0.00504 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08307, 0.78962 ], [ -0.12574, -0.99203, -0.00755 ], [ 0.78396, -0.0947, -0.61355 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 42 }, "api_seconds": 2.20230299141258, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Small step back only." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the door.", "joint_positions": [ 0.94232, -0.20661, -0.76401, -2.75117, 0.58691, 3.59212, -0.41118 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55129, 0.0046, 0.84979 ], "tcp_roll_pitch_yaw": [ -0.00103, -0.79752, 0.00491 ], "tcp_rotation_matrix": [ [ 0.60793, -0.08299, 0.78964 ], [ -0.12585, -0.99202, -0.00738 ], [ 0.78396, -0.09489, -0.61352 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 41 }, "api_seconds": 2.2021785397082567, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "pitch": -0.6 }, "note": "Rise and reduce tilt to unwind config." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the door.", "joint_positions": [ 0.94232, -0.20661, -0.76401, -2.75117, 0.58691, 3.59212, -0.41118 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55129, 0.0046, 0.84979 ], "tcp_roll_pitch_yaw": [ -0.00103, -0.79752, 0.00491 ], "tcp_rotation_matrix": [ [ 0.60793, -0.08299, 0.78964 ], [ -0.12585, -0.99202, -0.00738 ], [ 0.78396, -0.09489, -0.61352 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 40 }, "api_seconds": 2.002046477049589, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Rise a little only." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "open the door.", "joint_positions": [ 0.94232, -0.20661, -0.76401, -2.75117, 0.58691, 3.59212, -0.41118 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55129, 0.0046, 0.84979 ], "tcp_roll_pitch_yaw": [ -0.00103, -0.79752, 0.00491 ], "tcp_rotation_matrix": [ [ 0.60793, -0.08299, 0.78964 ], [ -0.12585, -0.99202, -0.00738 ], [ 0.78396, -0.09489, -0.61352 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 39 }, "api_seconds": 2.203276416286826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Step back further to free the arm." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the door.", "joint_positions": [ 0.83865, -0.35157, -0.59171, -2.87783, 0.77106, 3.64426, -0.56609 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50119, 0.00464, 0.84978 ], "tcp_roll_pitch_yaw": [ -0.00086, -0.79751, 0.00484 ], "tcp_rotation_matrix": [ [ 0.60794, -0.08294, 0.78964 ], [ -0.12591, -0.99202, -0.00726 ], [ 0.78394, -0.09501, -0.61353 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 38 }, "api_seconds": 2.6024886909872293, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.65 }, "note": "Small pitch change to unwind wrist." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 21, "state": { "instruction": "open the door.", "joint_positions": [ 0.83865, -0.35157, -0.59171, -2.87783, 0.77106, 3.64426, -0.56609 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50119, 0.00464, 0.84978 ], "tcp_roll_pitch_yaw": [ -0.00086, -0.79751, 0.00484 ], "tcp_rotation_matrix": [ [ 0.60794, -0.08294, 0.78964 ], [ -0.12591, -0.99202, -0.00726 ], [ 0.78394, -0.09501, -0.61353 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 37 }, "api_seconds": 2.2026378037407994, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Keep backing off to regain configuration room." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 22, "state": { "instruction": "open the door.", "joint_positions": [ 0.83865, -0.35157, -0.59171, -2.87783, 0.77106, 3.64426, -0.56609 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50119, 0.00464, 0.84978 ], "tcp_roll_pitch_yaw": [ -0.00086, -0.79751, 0.00484 ], "tcp_rotation_matrix": [ [ 0.60794, -0.08294, 0.78964 ], [ -0.12591, -0.99202, -0.00726 ], [ 0.78394, -0.09501, -0.61353 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 36 }, "api_seconds": 3.0026506297290325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.2 }, "note": "Try small yaw to unwind arm configuration." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the door.", "joint_positions": [ 0.88955, -0.48918, -0.80347, -2.91082, 0.50033, 3.53277, -0.64235 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50124, 0.00446, 0.84985 ], "tcp_roll_pitch_yaw": [ -0.00039, -0.79754, 0.19486 ], "tcp_rotation_matrix": [ [ 0.62081, 0.10625, 0.77673 ], [ -0.00887, -0.98976, 0.14248 ], [ 0.78391, -0.09534, -0.6135 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 35 }, "api_seconds": 8.40692581050098, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0, "x": 0.56 }, "note": "Re-center and advance toward the vertical edge." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the door.", "joint_positions": [ 1.04035, -0.19601, -0.85982, -2.72379, 0.60299, 3.59059, -0.42981 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55915, 0.0045, 0.84983 ], "tcp_roll_pitch_yaw": [ -0.00061, -0.79731, 0.00328 ], "tcp_rotation_matrix": [ [ 0.60792, -0.08433, 0.78951 ], [ -0.12689, -0.99188, -0.00825 ], [ 0.78379, -0.09516, -0.61369 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 34 }, "api_seconds": 3.003038682974875, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Continue forward in small step." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the door.", "joint_positions": [ 1.18826, -0.05923, -1.09708, -2.63122, 0.30185, 3.5317, -0.13842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59887, 0.00441, 0.8498 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.79725, 0.00327 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08448, 0.78947 ], [ -0.12688, -0.99188, -0.00843 ], [ 0.78377, -0.09504, -0.61373 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 33 }, "api_seconds": 2.002099041827023, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.64 }, "note": "Continue forward toward the edge." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 26, "state": { "instruction": "open the door.", "joint_positions": [ 1.18826, -0.05923, -1.09708, -2.63122, 0.30185, 3.5317, -0.13842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59887, 0.00441, 0.8498 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.79725, 0.00327 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08448, 0.78947 ], [ -0.12688, -0.99188, -0.00843 ], [ 0.78377, -0.09504, -0.61373 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 32 }, "api_seconds": 11.009316409938037, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower so the edge of the glass panel enters between fingers." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 27, "state": { "instruction": "open the door.", "joint_positions": [ 1.18826, -0.05923, -1.09708, -2.63122, 0.30185, 3.5317, -0.13842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59887, 0.00441, 0.8498 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.79725, 0.00327 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08448, 0.78947 ], [ -0.12688, -0.99188, -0.00843 ], [ 0.78377, -0.09504, -0.61373 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 31 }, "api_seconds": 3.203087257221341, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Back off and rise to reset arm configuration." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 28, "state": { "instruction": "open the door.", "joint_positions": [ 1.18826, -0.05923, -1.09708, -2.63122, 0.30185, 3.5317, -0.13842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59887, 0.00441, 0.8498 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.79725, 0.00327 ], "tcp_rotation_matrix": [ [ 0.60795, -0.08448, 0.78947 ], [ -0.12688, -0.99188, -0.00843 ], [ 0.78377, -0.09504, -0.61373 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 30 }, "api_seconds": 2.2028350895270705, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57 }, "note": "Tiny step back." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the door.", "joint_positions": [ 1.08425, -0.15954, -0.92359, -2.69423, 0.5411, 3.57382, -0.37107 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57131, 0.00451, 0.84981 ], "tcp_roll_pitch_yaw": [ -0.00031, -0.79736, 0.00306 ], "tcp_rotation_matrix": [ [ 0.60788, -0.08434, 0.78954 ], [ -0.12706, -0.99186, -0.00812 ], [ 0.7838, -0.09538, -0.61365 ] ], "simulated_seconds_remaining": 18.414, "calls_remaining_including_this": 29 }, "api_seconds": 2.202131708152592, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Small rise." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the door.", "joint_positions": [ 0.88627, -0.21041, -0.6584, -2.62994, 0.86921, 3.50469, -0.66381 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57143, 0.00455, 0.87912 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.79771, 0.00302 ], "tcp_rotation_matrix": [ [ 0.60761, -0.08427, 0.78975 ], [ -0.12709, -0.99186, -0.00805 ], [ 0.784, -0.09548, -0.61338 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 28 }, "api_seconds": 5.204166105017066, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Rise further to unwind configuration." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 31, "state": { "instruction": "open the door.", "joint_positions": [ 0.88627, -0.21041, -0.6584, -2.62994, 0.86921, 3.50469, -0.66381 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57143, 0.00455, 0.87912 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.79771, 0.00302 ], "tcp_rotation_matrix": [ [ 0.60761, -0.08427, 0.78975 ], [ -0.12709, -0.99186, -0.00805 ], [ 0.784, -0.09548, -0.61338 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 27 }, "api_seconds": 4.003996191546321, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Test whether the vertical edge is between the fingers by closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the door.", "joint_positions": [ 0.88627, -0.21041, -0.6584, -2.62994, 0.86921, 3.50469, -0.66381 ], "gripper_open": 0.0, "tcp_xyz": [ 0.57143, 0.00455, 0.87913 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.7977, 0.00302 ], "tcp_rotation_matrix": [ [ 0.60762, -0.08427, 0.78975 ], [ -0.12709, -0.99186, -0.00805 ], [ 0.78399, -0.09548, -0.61338 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 26 }, "api_seconds": 3.2029992006719112, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "pitch": -0.7 }, "note": "Nothing grasped; reopen and slightly reduce tilt." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 33, "state": { "instruction": "open the door.", "joint_positions": [ 0.88627, -0.21041, -0.6584, -2.62994, 0.86921, 3.50469, -0.66381 ], "gripper_open": 0.0, "tcp_xyz": [ 0.57143, 0.00455, 0.87913 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.7977, 0.00302 ], "tcp_rotation_matrix": [ [ 0.60762, -0.08427, 0.78975 ], [ -0.12709, -0.99186, -0.00805 ], [ 0.78399, -0.09548, -0.61338 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 25 }, "api_seconds": 2.0021199164912105, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1 }, "note": "Reopen gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the door.", "joint_positions": [ 0.88627, -0.21041, -0.6584, -2.62994, 0.86921, 3.50469, -0.66381 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.57143, 0.00455, 0.87913 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.7977, 0.00302 ], "tcp_rotation_matrix": [ [ 0.60762, -0.08427, 0.78975 ], [ -0.12709, -0.99186, -0.00805 ], [ 0.78399, -0.09548, -0.61338 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 24 }, "api_seconds": 4.003529139794409, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.86 }, "note": "Advance along the approach axis toward the edge." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 35, "state": { "instruction": "open the door.", "joint_positions": [ 0.88627, -0.21041, -0.6584, -2.62994, 0.86921, 3.50469, -0.66381 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.57143, 0.00455, 0.87913 ], "tcp_roll_pitch_yaw": [ -0.00021, -0.7977, 0.00302 ], "tcp_rotation_matrix": [ [ 0.60762, -0.08427, 0.78975 ], [ -0.12709, -0.99186, -0.00805 ], [ 0.78399, -0.09548, -0.61338 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 23 }, "api_seconds": 3.203392105177045, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "Back off to regain IK freedom." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "open the door.", "joint_positions": [ 0.793, -0.35229, -0.50219, -2.7497, 1.04099, 3.56196, -0.81152 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5212, 0.00457, 0.87913 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.79773, 0.00295 ], "tcp_rotation_matrix": [ [ 0.6076, -0.08422, 0.78976 ], [ -0.12715, -0.99185, -0.00795 ], [ 0.784, -0.09559, -0.61336 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 22 }, "api_seconds": 2.402349683456123, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.72 }, "note": "Tiny pitch reduction." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 37, "state": { "instruction": "open the door.", "joint_positions": [ 0.793, -0.35229, -0.50219, -2.7497, 1.04099, 3.56196, -0.81152 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5212, 0.00457, 0.87913 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.79773, 0.00295 ], "tcp_rotation_matrix": [ [ 0.6076, -0.08422, 0.78976 ], [ -0.12715, -0.99185, -0.00795 ], [ 0.784, -0.09559, -0.61336 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 21 }, "api_seconds": 3.0032553831115365, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.2 }, "note": "Try yaw to shift arm into better branch." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 38, "state": { "instruction": "open the door.", "joint_positions": [ 0.78508, -0.22074, -0.3822, -2.64103, 1.3443, 3.68981, -0.84161 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52132, 0.00465, 0.87922 ], "tcp_roll_pitch_yaw": [ -0.00034, -0.79796, -0.19577 ], "tcp_rotation_matrix": [ [ 0.57034, -0.27855, 0.77273 ], [ -0.24452, -0.95567, -0.16401 ], [ 0.78417, -0.09541, -0.61317 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 20 }, "api_seconds": 3.803399134427309, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "y": -0.03 }, "note": "Probe forward toward glass to try pushing door." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 39, "state": { "instruction": "open the door.", "joint_positions": [ 0.73118, -0.0929, -0.48158, -2.51482, 1.1971, 3.55877, -0.78416 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57883, -0.02937, 0.87922 ], "tcp_roll_pitch_yaw": [ -0.00029, -0.79798, -0.19601 ], "tcp_rotation_matrix": [ [ 0.57027, -0.27874, 0.77272 ], [ -0.24467, -0.95561, -0.16415 ], [ 0.78417, -0.09545, -0.61316 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 19 }, "api_seconds": 2.002247984521091, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "y": -0.05 }, "note": "Continue probing forward." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 40, "state": { "instruction": "open the door.", "joint_positions": [ 0.70023, 0.02668, -0.51973, -2.4, 1.12909, 3.49217, -0.67109 ], "gripper_open": 1.0, "tcp_xyz": [ 0.6206, -0.04575, 0.88037 ], "tcp_roll_pitch_yaw": [ 0.04817, -0.80612, -0.27875 ], "tcp_rotation_matrix": [ [ 0.54491, -0.32232, 0.77407 ], [ -0.29558, -0.93774, -0.18241 ], [ 0.78467, -0.1294, -0.60625 ] ], "simulated_seconds_remaining": 13.398, "calls_remaining_including_this": 18 }, "api_seconds": 4.404120527207851, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.68 }, "note": "Contact felt; push further to see if the door swings inward." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 41, "state": { "instruction": "open the door.", "joint_positions": [ 0.83338, 0.20568, -0.59655, -2.18221, 1.57383, 3.61557, -0.74105 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63321, -0.04932, 0.88479 ], "tcp_roll_pitch_yaw": [ 0.20859, -0.83348, -0.68926 ], "tcp_rotation_matrix": [ [ 0.36825, -0.56367, 0.73937 ], [ -0.49723, -0.79137, -0.35567 ], [ 0.7856, -0.23666, -0.57169 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 17 }, "api_seconds": 11.208504093810916, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "y": 0 }, "note": "Glass is rigid; back off from contact." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 42, "state": { "instruction": "open the door.", "joint_positions": [ 0.94822, 0.03745, -0.52431, -2.3906, 1.54968, 3.80731, -0.6373 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56114, -0.00065, 0.88476 ], "tcp_roll_pitch_yaw": [ 0.20862, -0.83339, -0.68909 ], "tcp_rotation_matrix": [ [ 0.36839, -0.56353, 0.73941 ], [ -0.49721, -0.79146, -0.35548 ], [ 0.78554, -0.23669, -0.57176 ] ], "simulated_seconds_remaining": 11.814, "calls_remaining_including_this": 16 }, "api_seconds": 2.6067768298089504, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "yaw": 0, "pitch": -0.7 }, "note": "Restore cleaner orientation." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 43, "state": { "instruction": "open the door.", "joint_positions": [ 0.94822, 0.03745, -0.52431, -2.3906, 1.54968, 3.80731, -0.6373 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56114, -0.00065, 0.88476 ], "tcp_roll_pitch_yaw": [ 0.20862, -0.83339, -0.68909 ], "tcp_rotation_matrix": [ [ 0.36839, -0.56353, 0.73941 ], [ -0.49721, -0.79146, -0.35548 ], [ 0.78554, -0.23669, -0.57176 ] ], "simulated_seconds_remaining": 11.814, "calls_remaining_including_this": 15 }, "api_seconds": 2.2025490533560514, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.1, "yaw": -0.45 }, "note": "Partial orientation restore." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 44, "state": { "instruction": "open the door.", "joint_positions": [ 0.9351, -0.04046, -0.53774, -2.46758, 1.42125, 3.74431, -0.71248 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56114, -0.00074, 0.88478 ], "tcp_roll_pitch_yaw": [ 0.10249, -0.83352, -0.45548 ], "tcp_rotation_matrix": [ [ 0.46744, -0.44139, 0.76595 ], [ -0.38466, -0.88167, -0.27332 ], [ 0.79595, -0.16687, -0.58191 ] ], "simulated_seconds_remaining": 11.286, "calls_remaining_including_this": 14 }, "api_seconds": 3.803627618588507, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "roll": 0, "yaw": -0.2 }, "note": "Raise to scan for a handle at typical height." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 45, "state": { "instruction": "open the door.", "joint_positions": [ 1.0035, -0.25801, -0.60543, -2.17857, 1.9439, 3.7819, -1.63149 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56121, -0.00083, 0.99914 ], "tcp_roll_pitch_yaw": [ 0.0017, -0.83394, -0.2034 ], "tcp_rotation_matrix": [ [ 0.5406, -0.28095, 0.79298 ], [ -0.24336, -0.95451, -0.17228 ], [ 0.80531, -0.09985, -0.58438 ] ], "simulated_seconds_remaining": 10.23, "calls_remaining_including_this": 13 }, "api_seconds": 4.6042182967066765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12, "x": 0.6 }, "note": "Probe left panel of the glass for a movable door." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 46, "state": { "instruction": "open the door.", "joint_positions": [ 1.08613, 0.06048, -0.5751, -1.87794, 2.16539, 3.81871, -1.65629 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59958, 0.11883, 0.99912 ], "tcp_roll_pitch_yaw": [ 0.00147, -0.83394, -0.20299 ], "tcp_rotation_matrix": [ [ 0.54068, -0.28072, 0.79301 ], [ -0.24311, -0.9546, -0.17217 ], [ 0.80533, -0.0997, -0.58438 ] ], "simulated_seconds_remaining": 9.108, "calls_remaining_including_this": 12 }, "api_seconds": 2.8028912991285324, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7 }, "note": "Push forward on left panel to test if it swings." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 47, "state": { "instruction": "open the door.", "joint_positions": [ 0.73454, 0.38433, -0.43215, -1.36949, 2.60915, 3.85926, -2.11696 ], "gripper_open": 1.0, "tcp_xyz": [ 0.68374, 0.11939, 0.99912 ], "tcp_roll_pitch_yaw": [ -0.0238, -0.79843, -0.20998 ], "tcp_rotation_matrix": [ [ 0.56492, -0.30832, 0.76538 ], [ -0.24946, -0.94798, -0.19775 ], [ 0.78654, -0.07922, -0.61244 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 11 }, "api_seconds": 3.4034515377134085, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not locate a graspable door handle on the glass shower enclosure; pushing the panels met rigid resistance and IK limits prevented further exploration within the remaining time." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 035 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 35, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 16, "wall_seconds": 131.92, "usage": { "input_tokens": 36, "output_tokens": 7928, "cache_read_input_tokens": 154234, "cache_creation_input_tokens": 16337, "thinking_tokens": 5705, "cost_usd": 0.3202468 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WtjdG1MXWNA4Kpheqmr2fY", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016wHSXZ5Rk3Njt9m5Rj3ppr", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Tilt wrist camera to look forward and locate the cabinet drawers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 483 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C3E4nvWd3WJhcietKvi17c", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5, "z": 0.9 }, "note": "Smaller tilt forward to view cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 799, "cache_read_input_tokens": 2508, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 799 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GNCuvLkgfGbTcW3jzLrW6m", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower to look around; test reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 732, "cache_read_input_tokens": 3307, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 732 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MkkFmU1L8f2PNiY77KpTgU", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.4 }, "note": "Test pitch direction to orient toward cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 646, "cache_read_input_tokens": 4039, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 646 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Locating the cabinet drawers: I'm tilting the gripper and wrist camera forward to get a view of them." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 863, "cache_read_input_tokens": 4685, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 863 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QMnc3j4WuVHjX4VA7FLccD", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Pitch positive pointed backward; try negative pitch to face forward toward cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 863, "cache_read_input_tokens": 4685, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 863 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UFwQ6zX3WnsC44tZ6VV5pV", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0 }, "note": "Return to neutral pitch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1288, "cache_read_input_tokens": 5548, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1288 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HbQCbo6NXDnSJTWnS2Jstn", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Move forward to see where cabinet is relative to gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 6836, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017cWQYBrwJp7M7VGH13tCjF", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.65 }, "note": "Cabinet appears ahead (+x) and below; back off and lower to view its front face and handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 814, "cache_read_input_tokens": 7477, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 814 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DhDbhfxTTm9oHLpB9gHj7F", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.7 }, "note": "Lower while farther forward to probe workspace near cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1829, "cache_read_input_tokens": 8291, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1829 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CDTZohjr93Hp6vNqkW3F47", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Probe y-direction mapping in the images." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 718, "cache_read_input_tokens": 10120, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 718 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Mapping the axes: the cabinet front faces +y and the drawer handles run along x. Next I'll lower the gripper in front of the face to find a handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 832, "cache_read_input_tokens": 10838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 832 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QkmnECz2M1i9tQDa6kiPzC", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.08, "z": 0.6, "x": 0.55 }, "note": "Cabinet front appears to face +y; lower in front of it to find the drawer handle with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 832, "cache_read_input_tokens": 10838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 832 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015UCEzBTyqaT4QDYfVbRYiZ", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.05, "z": 0.65 }, "note": "Cabinet seems at -y side in wrist view; move toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1507, "cache_read_input_tokens": 11670, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1507 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PZwr3kBtNJhh4R8AVepAhm", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.5 }, "note": "Gray cabinet top is left of gripper, not under it; descend in front of drawer face to find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 829, "cache_read_input_tokens": 13177, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 829 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E41uTBDizsZ1jqkSi7j1tw", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.68 }, "note": "Test whether cabinet front lies further in +x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1029, "cache_read_input_tokens": 14006, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1029 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019MDBXDmenfUJRoQ4qMXauJ", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.12 }, "note": "Gray face at left of wrist view (-y); move toward it to locate front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1054, "cache_read_input_tokens": 15035, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1054 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SjihpkmVDADKNjBbW61iWw", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0, "z": 0.6, "x": 0.62, "roll": 0, "yaw": 0 }, "note": "Contacted something at y≈-0.06 (cabinet front). Back off and rise to view handle from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 941, "cache_read_input_tokens": 16089, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 941 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The task was not completed: the episode ended before the table's drawers were opened. It ended without my calling done or give_up, as I was backing the arm away from the cabinet.\n\nI spent most of the run just working out where the table was. Tilting the gripper forward to point the wrist camera at it was rejected as unreachable twice. I then worked out the directions by moving the arm and watching the camera images. The table is a small two-drawer cabinet whose front faces roughly +y (toward the robot's left), with the drawer handles running along x. It sits near x ≈ 0.55–0.7 m.\n\nAt about z = 0.5 m the gripper hit something at y ≈ -0.06 m, most likely the lower drawer's front or its handle. My plan was to reach down from above, with the fingers already opening along y, and close them around a handle bar. The episode ended on the next move, which was lifting and backing off to look down at the handle. No handle was grasped and neither drawer was pulled open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 860, "cache_read_input_tokens": 17030, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 860 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 36, "cache_creation_input_tokens": 16337, "cache_read_input_tokens": 154234, "output_tokens": 7928, "output_tokens_details": { "thinking_tokens": 5705 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 16337, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 327, "cache_read_input_tokens": 17030, "cache_creation_input_tokens": 860, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 860 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 36, "outputTokens": 7928, "cacheReadInputTokens": 154234, "cacheCreationInputTokens": 16337, "webSearchRequests": 0, "costUSD": 0.3202468, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5705, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.3202468, "num_turns": 18, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ 0.01954, -0.7817, -0.02124, -2.41402, -0.09468, 1.71074, -0.08371 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33272, -0.02319, 1.00053 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99248, 0.09359, 0.07886 ], [ 0.09977, -0.99192, -0.07841 ], [ 0.07088, 0.08568, -0.9938 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.205891344696283, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Tilt wrist camera to look forward and locate the cabinet drawers." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ 0.01954, -0.7817, -0.02124, -2.41402, -0.09468, 1.71074, -0.08371 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33272, -0.02319, 1.00053 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99248, 0.09359, 0.07886 ], [ 0.09977, -0.99192, -0.07841 ], [ 0.07088, 0.08568, -0.9938 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.6038425024598837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5, "z": 0.9 }, "note": "Smaller tilt forward to view cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ 0.01954, -0.7817, -0.02124, -2.41402, -0.09468, 1.71074, -0.08371 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33272, -0.02319, 1.00053 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99248, 0.09359, 0.07886 ], [ 0.09977, -0.99192, -0.07841 ], [ 0.07088, 0.08568, -0.9938 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.2027397388592362, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower to look around; test reachability." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.00608, -0.68677, -0.03506, -2.8734, -0.12878, 2.26346, -0.04056 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33265, -0.0232, 0.80124 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00036, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99251, 0.09361, 0.0785 ], [ 0.09976, -0.99192, -0.07843 ], [ 0.07052, 0.08567, -0.99382 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 54 }, "api_seconds": 4.608760702423751, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.4 }, "note": "Test pitch direction to orient toward cabinet." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ 0.02227, -0.33985, -0.03335, -2.54573, -0.09678, 1.8883, -0.07521 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3327, -0.02321, 0.8012 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.39588, -1e-05 ], "tcp_rotation_matrix": [ [ 0.94306, 0.11939, -0.31047 ], [ 0.09976, -0.99192, -0.07843 ], [ -0.31732, 0.04299, -0.94734 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 53 }, "api_seconds": 9.207999747246504, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Pitch positive pointed backward; try negative pitch to face forward toward cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ 0.02227, -0.33985, -0.03335, -2.54573, -0.09678, 1.8883, -0.07521 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3327, -0.02321, 0.8012 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.39588, -1e-05 ], "tcp_rotation_matrix": [ [ 0.94306, 0.11939, -0.31047 ], [ 0.09976, -0.99192, -0.07843 ], [ -0.31732, 0.04299, -0.94734 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 52 }, "api_seconds": 2.202289028093219, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0 }, "note": "Return to neutral pitch." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.00645, -0.68311, -0.03521, -2.86999, -0.12856, 2.25948, -0.04081 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33262, -0.02323, 0.80117 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00468, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99281, 0.09395, 0.07421 ], [ 0.09973, -0.99191, -0.07848 ], [ 0.06624, 0.08532, -0.99415 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 51 }, "api_seconds": 4.003931374289095, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Move forward to see where cabinet is relative to gripper." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ 0.01348, -0.27177, -0.03494, -2.54158, -0.12067, 2.34243, -0.03675 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44863, -0.02323, 0.80118 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.0047, -5e-05 ], "tcp_rotation_matrix": [ [ 0.99281, 0.09395, 0.07418 ], [ 0.09972, -0.99192, -0.07847 ], [ 0.06621, 0.08531, -0.99415 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 50 }, "api_seconds": 16.212844896130264, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.65 }, "note": "Cabinet appears ahead (+x) and below; back off and lower to view its front face and handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ 0.01348, -0.27177, -0.03494, -2.54158, -0.12067, 2.34243, -0.03675 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44863, -0.02323, 0.80118 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.0047, -5e-05 ], "tcp_rotation_matrix": [ [ 0.99281, 0.09395, 0.07418 ], [ 0.09972, -0.99192, -0.07847 ], [ 0.06621, 0.08531, -0.99415 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 49 }, "api_seconds": 3.403281615115702, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.7 }, "note": "Lower while farther forward to probe workspace near cabinet." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ 0.00866, 0.07013, -0.03711, -2.45892, -0.1438, 2.60079, -0.00485 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49933, -0.02324, 0.70109 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.005, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99283, 0.09396, 0.07388 ], [ 0.09971, -0.99192, -0.07849 ], [ 0.06591, 0.08529, -0.99417 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 48 }, "api_seconds": 4.203641417436302, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Probe y-direction mapping in the images." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ 0.14845, 0.10157, 0.06954, -2.40818, -0.18154, 2.55745, 0.26902 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49932, 0.09879, 0.70109 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00499, 0.00026 ], "tcp_rotation_matrix": [ [ 0.9928, 0.09428, 0.07392 ], [ 0.10003, -0.99189, -0.07846 ], [ 0.06592, 0.08529, -0.99417 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 47 }, "api_seconds": 12.21219586301595, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08, "z": 0.6, "x": 0.55 }, "note": "Cabinet front appears to face +y; lower in front of it to find the drawer handle with wrist camera." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ 0.13204, 0.43545, 0.0206, -2.24313, -0.24506, 2.72884, 0.27514 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54933, 0.08016, 0.60108 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00525, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99282, 0.0942, 0.07365 ], [ 0.09994, -0.99189, -0.07852 ], [ 0.06566, 0.08531, -0.99419 ] ], "simulated_seconds_remaining": 22.44, "calls_remaining_including_this": 46 }, "api_seconds": 4.804407860152423, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05, "z": 0.65 }, "note": "Cabinet seems at -y side in wrist view; move toward it." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ -0.09098, 0.30634, 0.01326, -2.28931, -0.16923, 2.6698, -0.02771 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54937, -0.04893, 0.64959 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00514, -0.00017 ], "tcp_rotation_matrix": [ [ 0.99285, 0.09386, 0.07374 ], [ 0.09961, -0.99192, -0.07858 ], [ 0.06577, 0.08537, -0.99418 ] ], "simulated_seconds_remaining": 21.186, "calls_remaining_including_this": 45 }, "api_seconds": 6.606763805262744, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.5 }, "note": "Gray cabinet top is left of gripper, not under it; descend in front of drawer face to find handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ -0.0446, 0.6879, -0.04736, -2.18794, -0.2251, 2.95027, 0.04225 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54925, -0.04893, 0.50119 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00547, -0.00018 ], "tcp_rotation_matrix": [ [ 0.99287, 0.09389, 0.07341 ], [ 0.0996, -0.99192, -0.07857 ], [ 0.06544, 0.08532, -0.9942 ] ], "simulated_seconds_remaining": 19.866, "calls_remaining_including_this": 44 }, "api_seconds": 6.606752401217818, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.68 }, "note": "Test whether cabinet front lies further in +x." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ -0.0715, 0.9187, 0.00984, -1.66965, -0.17684, 2.66077, -0.0091 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.67875, -0.04892, 0.50121 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00534, -0.00016 ], "tcp_rotation_matrix": [ [ 0.99286, 0.09389, 0.07354 ], [ 0.09962, -0.99192, -0.07857 ], [ 0.06557, 0.08534, -0.99419 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 43 }, "api_seconds": 6.005953847430646, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.12 }, "note": "Gray face at left of wrist view (-y); move toward it to locate front face." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ -0.11464, 0.92818, 0.03934, -1.65104, -0.17357, 2.6533, -0.06606 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.68246, -0.05713, 0.50127 ], "tcp_roll_pitch_yaw": [ 0.01966, 0.00498, 0.02761 ], "tcp_rotation_matrix": [ [ 0.98974, 0.1213, 0.0755 ], [ 0.12572, -0.99044, -0.05679 ], [ 0.06789, 0.0657, -0.99553 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 42 }, "api_seconds": 10.009576710872352, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0, "z": 0.6, "x": 0.62, "roll": 0, "yaw": 0 }, "note": "Contacted something at y≈-0.06 (cabinet front). Back off and rise to view handle from above." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 036 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 36, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 27, "wall_seconds": 193.44, "usage": { "input_tokens": 64, "output_tokens": 11731, "cache_read_input_tokens": 456889, "cache_creation_input_tokens": 27221, "thinking_tokens": 7771, "cost_usd": 0.5440218000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HckSzW2rrb3rfQXxUvPddZ", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NirMW4mKwtrsDginHnRA7X", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Table with drawer knob visible ahead; moving forward to get a better wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 483 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013PHvnJyTapbwSj12LtAaow", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 848, "cache_read_input_tokens": 2508, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 848 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XtZKjvbqqweQhiA3UT4xW7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.85, "pitch": -1.57, "roll": 0, "yaw": 0 }, "note": "Pitch gripper to point forward toward the table drawer knob for a horizontal grasp and better wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 522, "cache_read_input_tokens": 3356, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 522 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VT6EXMMTXLvYcr7H5Qacey", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.9, "pitch": -1 }, "note": "Try a partial forward pitch first since full pitch was unreachable." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 854, "cache_read_input_tokens": 3878, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 854 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm working out a gripper orientation the arm can actually reach. Next I'll test a small tilt to check which way the pitch sign goes." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 4732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 798 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013uvYU6T1XQNnGzNwEofRzp", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Testing a small pitch change to learn reachable orientation direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 4732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 798 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V8XzkMFkfrrFNvMmbkZTM2", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Negative pitch tilts gripper forward; continue tilting." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 699, "cache_read_input_tokens": 5530, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 699 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01New6JMb4PEMLfV2DDQY8hZ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.8, "pitch": -0.7 }, "note": "Move forward and lower while tilting more toward horizontal." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 725, "cache_read_input_tokens": 6229, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 725 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Splitting into smaller steps." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 692, "cache_read_input_tokens": 6954, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 692 }, "output_tokens": 38, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Lt7dBg2k84RCYTwQE4yLcF", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47, "z": 0.88, "pitch": -0.55 }, "note": "Smaller incremental step forward/down/tilt to avoid joint jump." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 692, "cache_read_input_tokens": 6954, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 692 }, "output_tokens": 38, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017fCsLhWb53GxutuDVmcVBZ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58, "z": 0.85, "pitch": -0.7 }, "note": "Table visible ahead in wrist camera; advance toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 7646, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 649 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FqXPLMtzCs4XAiLBHZEd1o", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 875, "cache_read_input_tokens": 8295, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 875 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0141tDr1Pi5njmWQNPZQctbJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.43, "y": 0, "z": 0.95, "roll": 0, "pitch": -0.55, "yaw": 0 }, "note": "Arm twisted unexpectedly (roll -0.97) and stalled; restoring clean orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 528, "cache_read_input_tokens": 9170, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 528 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015Ap5CKEWUt5GAeK2EwSNiX", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.82 }, "note": "Lower to drawer/knob height to view the table front in wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 929, "cache_read_input_tokens": 9698, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 929 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01J6ebJcjuFvAnfSPVqbtFTY", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9, "x": 0.48 }, "note": "Smaller step down and forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1098, "cache_read_input_tokens": 10627, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1098 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The arm seems blocked by the table edge. I'll lift up and move sideways to figure out which way the table is from the robot." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 11725, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SG8LtYetoVktDVbRQTeELW", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.05, "x": 0.4, "y": -0.1, "pitch": 0 }, "note": "Arm appears stuck against table top; lift and shift -y to learn camera/robot axis mapping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 11725, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UiaNzTmaJTvptbyKiJBG1t", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": -0.1, "z": 1, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Looking down; advance +x to see how table moves in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 985, "cache_read_input_tokens": 12502, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 985 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LzwdC53igr8EzkgGxJD23w", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "y": 0.05, "z": 1.05, "pitch": 0 }, "note": "Gripper is above the table top; test +y motion to map directions." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 957, "cache_read_input_tokens": 13487, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 957 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y1qfG2ToFTeNtoG8H1Nk7d", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": -0.05, "z": 0.9, "pitch": 0 }, "note": "Table appears ahead (+x) around y≈-0.07; lower gripper in front of it before tilting." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1122, "cache_read_input_tokens": 14444, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1122 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013i32mXHUET1QZzmtXa3PVc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": -0.25, "z": 1, "pitch": 0, "roll": 0 }, "note": "Hypothesis: table front faces -y (toward exterior camera). Move out to -y side of table before descending." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1698, "cache_read_input_tokens": 15566, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1698 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PK4LD1yafXW9hj8nkmGn1o", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": -0.3, "z": 1, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Arm is bumping the table; move clear to the -y side (table front) at safe height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1681, "cache_read_input_tokens": 17264, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1681 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The pose readings seem to lag behind the motion, so I'm checking the arm's actual position." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1334, "cache_read_input_tokens": 18945, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1334 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BUv4W9mhABpeDj1Sfq5LKv", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1334, "cache_read_input_tokens": 18945, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1334 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VcZXxkbBxGT7A6vFhzE7xe", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.26, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Small step toward -y to test if arm can move freely." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 599, "cache_read_input_tokens": 20279, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 599 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014UZmkE8r4xpDi7uVacMyPC", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15, "x": 0.4, "z": 1 }, "note": "Mapping found: exterior camera looks along +x, table is ahead and toward +y. Shift to +y in line with the knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 20878, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 847 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013zENQ4yM7cd7AVDCxby4kK", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.86, "pitch": -0.5 }, "note": "Back off in front of table face and lower to knob height, tilting forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1413, "cache_read_input_tokens": 21725, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1413 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014QqHMf3D8G6sNwvertQUhJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36, "z": 0.9, "pitch": -0.3 }, "note": "Smaller descent step with modest forward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 940, "cache_read_input_tokens": 23138, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 940 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CibwFPSa4pzGz5fEYL3x28", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.28, "z": 0.93, "pitch": -0.6 }, "note": "Gripper is in front of table apron; knob appears further +y. Shift toward knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 24078, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper is now in front of the table near the knob. Next I'll lower it and push forward to reach the knob." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 983, "cache_read_input_tokens": 24753, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 983 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UkE7224ReJfnE63xoY5EiL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.87, "x": 0.42 }, "note": "In front of table near knob; lower and advance to engage knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 983, "cache_read_input_tokens": 24753, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 983 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XgLtbyhXvFxBxyKcLsm5rG", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92, "y": 0.34, "x": 0.45 }, "note": "Knob appears slightly above and further +y of the gripper; move onto it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 712, "cache_read_input_tokens": 25736, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 712 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PvDLMG1V312Yxq7e4w121X", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper in contact near knob area; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 808, "cache_read_input_tokens": 26448, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 808 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016bYoJVE3eixFRAX7XBqcL7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3 }, "note": "Attempt to pull drawer toward robot (-x)." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 667, "cache_read_input_tokens": 27256, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 667 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013kjjFzV8TK1BZGFJXeSt8w", "name": "mcp__robot__give_up", "input": { "note": "Could not get a grasp on the drawer knob. Reach was limited and collisions/IK failures wasted most of the motion time. The pull came back with nothing, and there is too little simulated time left to try again." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 618, "cache_read_input_tokens": 27923, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 618 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table's drawer, and I ended the episode with `give_up`.\n\n- **Early moves went wrong:** I misjudged where the table was relative to the robot at first. Several moves bumped into it and twisted it slightly out of place.\n- **The arm couldn't get low enough:** Many moves were rejected as out of reach or too large a joint change. Near the table, the gripper stopped at about 0.9 m high and wouldn't go lower.\n- **No grasp:** The gripper ended up in front of the drawer near the knob, but when I closed it, it only partly closed and didn't hold anything. When I pulled back toward the robot, it came away empty and the drawer stayed shut.\n- **Out of time:** About 3.5 seconds of the 30-second motion budget were left, which wasn't enough to set up another attempt." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 233, "cache_read_input_tokens": 28541, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 233 }, "output_tokens": 272, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 64, "cache_creation_input_tokens": 27221, "cache_read_input_tokens": 456889, "output_tokens": 11731, "output_tokens_details": { "thinking_tokens": 7771 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 27221, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 272, "cache_read_input_tokens": 28541, "cache_creation_input_tokens": 233, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 233 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 64, "outputTokens": 11731, "cacheReadInputTokens": 456889, "cacheCreationInputTokens": 27221, "webSearchRequests": 0, "costUSD": 0.5440218000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 7771, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.5440218000000001, "num_turns": 32, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ -0.008, -0.83384, 0.0498, -2.41322, -0.03862, 1.70889, -0.10786 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32734, 0.00264, 1.01748 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98259, 0.13231, 0.1304 ], [ 0.14242, -0.98723, -0.07144 ], [ 0.11928, 0.08877, -0.98888 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.605597602203488, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Table with drawer knob visible ahead; moving forward to get a better wrist view." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ -0.02582, -0.4568, 0.07343, -2.26859, -0.06758, 1.80155, -0.06915 ], "gripper_open": 1.0, "tcp_xyz": [ 0.41299, 0.00218, 0.95914 ], "tcp_roll_pitch_yaw": [ -0.02736, 0.13607, -0.02219 ], "tcp_rotation_matrix": [ [ 0.99214, 0.12491, -0.00681 ], [ 0.12365, -0.98744, -0.09834 ], [ -0.01901, 0.09672, -0.99513 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 56 }, "api_seconds": 6.005501214414835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.85, "pitch": -1.57, "roll": 0, "yaw": 0 }, "note": "Pitch gripper to point forward toward the table drawer knob for a horizontal grasp and better wrist view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ -0.02582, -0.4568, 0.07343, -2.26859, -0.06758, 1.80155, -0.06915 ], "gripper_open": 1.0, "tcp_xyz": [ 0.41299, 0.00218, 0.95914 ], "tcp_roll_pitch_yaw": [ -0.02736, 0.13607, -0.02219 ], "tcp_rotation_matrix": [ [ 0.99214, 0.12491, -0.00681 ], [ 0.12365, -0.98744, -0.09834 ], [ -0.01901, 0.09672, -0.99513 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 55 }, "api_seconds": 3.403473432175815, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.9, "pitch": -1 }, "note": "Try a partial forward pitch first since full pitch was unreachable." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ -0.02582, -0.4568, 0.07343, -2.26859, -0.06758, 1.80155, -0.06915 ], "gripper_open": 1.0, "tcp_xyz": [ 0.41299, 0.00218, 0.95914 ], "tcp_roll_pitch_yaw": [ -0.02736, 0.13607, -0.02219 ], "tcp_rotation_matrix": [ [ 0.99214, 0.12491, -0.00681 ], [ 0.12365, -0.98744, -0.09834 ], [ -0.01901, 0.09672, -0.99513 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 54 }, "api_seconds": 3.2033471297472715, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Testing a small pitch change to learn reachable orientation direction." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ -0.02964, -0.85525, 0.08374, -2.73964, -0.1007, 2.40277, 0.00068 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41293, 0.00217, 0.95905 ], "tcp_roll_pitch_yaw": [ -0.02746, -0.39524, -0.02221 ], "tcp_rotation_matrix": [ [ 0.86546, 0.05562, 0.49789 ], [ 0.12644, -0.98589, -0.10965 ], [ 0.48477, 0.15785, -0.86028 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 53 }, "api_seconds": 3.203230356797576, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Negative pitch tilts gripper forward; continue tilting." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ -0.02964, -0.85525, 0.08374, -2.73964, -0.1007, 2.40277, 0.00068 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41293, 0.00217, 0.95905 ], "tcp_roll_pitch_yaw": [ -0.02746, -0.39524, -0.02221 ], "tcp_rotation_matrix": [ [ 0.86546, 0.05562, 0.49789 ], [ 0.12644, -0.98589, -0.10965 ], [ 0.48477, 0.15785, -0.86028 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 52 }, "api_seconds": 2.8029590724036098, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.8, "pitch": -0.7 }, "note": "Move forward and lower while tilting more toward horizontal." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ -0.02964, -0.85525, 0.08374, -2.73964, -0.1007, 2.40277, 0.00068 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41293, 0.00217, 0.95905 ], "tcp_roll_pitch_yaw": [ -0.02746, -0.39524, -0.02221 ], "tcp_rotation_matrix": [ [ 0.86546, 0.05562, 0.49789 ], [ 0.12644, -0.98589, -0.10965 ], [ 0.48477, 0.15785, -0.86028 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 51 }, "api_seconds": 2.4025599462911487, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "z": 0.88, "pitch": -0.55 }, "note": "Smaller incremental step forward/down/tilt to avoid joint jump." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ -0.13828, -0.86643, 0.19389, -2.86813, -0.17631, 2.73535, 0.11019 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43734, -0.00284, 0.95574 ], "tcp_roll_pitch_yaw": [ -0.10326, -0.61041, -0.01885 ], "tcp_rotation_matrix": [ [ 0.74832, -0.01886, 0.66307 ], [ 0.13987, -0.97263, -0.18553 ], [ 0.64842, 0.23158, -0.7252 ] ], "simulated_seconds_remaining": 26.4, "calls_remaining_including_this": 50 }, "api_seconds": 5.204960834234953, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "z": 0.85, "pitch": -0.7 }, "note": "Table visible ahead in wrist camera; advance toward it." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ -0.85005, -0.96466, 1.16344, -2.62102, -0.3538, 2.34722, 0.38717 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44347, -0.02212, 0.92338 ], "tcp_roll_pitch_yaw": [ -0.9672, -0.35713, 0.03508 ], "tcp_rotation_matrix": [ [ 0.93106, -0.16059, 0.32763 ], [ 0.21183, -0.49321, -0.84373 ], [ 0.29709, 0.85496, -0.42519 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 49 }, "api_seconds": 6.809845166280866, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43, "y": 0, "z": 0.95, "roll": 0, "pitch": -0.55, "yaw": 0 }, "note": "Arm twisted unexpectedly (roll -0.97) and stalled; restoring clean orientation." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ -0.14294, -0.8867, 0.18182, -2.85021, 0.10427, 2.66881, -0.16618 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43105, -0.00092, 0.95909 ], "tcp_roll_pitch_yaw": [ -0.00547, -0.5674, -0.00143 ], "tcp_rotation_matrix": [ [ 0.76514, 0.05955, 0.6411 ], [ 0.14197, -0.98681, -0.07777 ], [ 0.62802, 0.15052, -0.7635 ] ], "simulated_seconds_remaining": 23.364, "calls_remaining_including_this": 48 }, "api_seconds": 7.806664661504328, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Lower to drawer/knob height to view the table front in wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ -0.14294, -0.8867, 0.18182, -2.85021, 0.10427, 2.66881, -0.16618 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43105, -0.00092, 0.95909 ], "tcp_roll_pitch_yaw": [ -0.00547, -0.5674, -0.00143 ], "tcp_rotation_matrix": [ [ 0.76514, 0.05955, 0.6411 ], [ 0.14197, -0.98681, -0.07777 ], [ 0.62802, 0.15052, -0.7635 ] ], "simulated_seconds_remaining": 23.364, "calls_remaining_including_this": 47 }, "api_seconds": 3.8036752305924892, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9, "x": 0.48 }, "note": "Smaller step down and forward." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ -0.18589, -0.86973, 0.23543, -2.83086, 0.09447, 2.65572, -0.14026 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43449, -0.00169, 0.95778 ], "tcp_roll_pitch_yaw": [ -0.041, -0.55172, -0.00518 ], "tcp_rotation_matrix": [ [ 0.77814, 0.03988, 0.62682 ], [ 0.14315, -0.98298, -0.11517 ], [ 0.61156, 0.17935, -0.77061 ] ], "simulated_seconds_remaining": 22.572, "calls_remaining_including_this": 46 }, "api_seconds": 6.205764438025653, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05, "x": 0.4, "y": -0.1, "pitch": 0 }, "note": "Arm appears stuck against table top; lift and shift -y to learn camera/robot axis mapping." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ -0.28363, -0.57222, 0.07261, -2.17838, -0.02822, 1.44681, -0.35786 ], "gripper_open": 0.9742, "tcp_xyz": [ 0.32146, -0.07625, 1.01946 ], "tcp_roll_pitch_yaw": [ 0.04046, 0.30206, -0.00974 ], "tcp_rotation_matrix": [ [ 0.97657, 0.13118, -0.1706 ], [ 0.12797, -0.99133, -0.02973 ], [ -0.17302, 0.0072, -0.98489 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 45 }, "api_seconds": 5.805688454769552, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.1, "z": 1, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Looking down; advance +x to see how table moves in wrist view." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ -0.28455, -0.40846, 0.09008, -2.02802, -0.04184, 1.20102, -0.31913 ], "gripper_open": 1.0, "tcp_xyz": [ 0.304, -0.06995, 1.02443 ], "tcp_roll_pitch_yaw": [ 0.07066, 0.5576, -0.0315 ], "tcp_rotation_matrix": [ [ 0.9058, 0.09097, -0.41383 ], [ 0.10516, -0.99439, 0.01159 ], [ -0.41045, -0.05402, -0.91028 ] ], "simulated_seconds_remaining": 19.8, "calls_remaining_including_this": 44 }, "api_seconds": 7.606475170701742, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "y": 0.05, "z": 1.05, "pitch": 0 }, "note": "Gripper is above the table top; test +y motion to map directions." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ -0.19699, -0.8142, 0.22181, -2.29612, 0.15945, 1.62233, -0.13388 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32979, 0.04926, 1.04986 ], "tcp_roll_pitch_yaw": [ 0.07044, 0.0038, -0.03125 ], "tcp_rotation_matrix": [ [ 0.98677, 0.10135, 0.12651 ], [ 0.10289, -0.99468, -0.00562 ], [ 0.12527, 0.01856, -0.99195 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 43 }, "api_seconds": 14.41191126499325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.05, "z": 0.9, "pitch": 0 }, "note": "Table appears ahead (+x) around y≈-0.07; lower gripper in front of it before tilting." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ -0.25024, -0.78797, 0.10794, -2.64423, 0.09547, 2.05486, -0.32707 ], "gripper_open": 0.9683, "tcp_xyz": [ 0.36192, -0.04419, 0.92424 ], "tcp_roll_pitch_yaw": [ 0.0494, -0.065, -0.0101 ], "tcp_rotation_matrix": [ [ 0.97365, 0.11943, 0.19427 ], [ 0.12652, -0.99166, -0.02449 ], [ 0.18973, 0.04842, -0.98064 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 42 }, "api_seconds": 14.215434365905821, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.25, "z": 1, "pitch": 0, "roll": 0 }, "note": "Hypothesis: table front faces -y (toward exterior camera). Move out to -y side of table before descending." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ -0.37781, -0.37213, -0.10015, -2.02614, -0.02964, 0.9809, -0.60843 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22366, -0.12746, 1.02727 ], "tcp_roll_pitch_yaw": [ 0.46572, 0.70708, 0.17713 ], "tcp_rotation_matrix": [ [ 0.8314, 0.0287, -0.55493 ], [ 0.22368, -0.93147, 0.28695 ], [ -0.50866, -0.3627, -0.78084 ] ], "simulated_seconds_remaining": 15.312, "calls_remaining_including_this": 41 }, "api_seconds": 9.008579124696553, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.3, "z": 1, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Arm is bumping the table; move clear to the -y side (table front) at safe height." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ -0.42261, -0.5381, -0.23686, -2.16195, -0.02067, 1.32789, -0.77265 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.23748, -0.19325, 1.00728 ], "tcp_roll_pitch_yaw": [ 0.34867, 0.30988, 0.08975 ], "tcp_rotation_matrix": [ [ 0.97251, 0.13428, -0.19026 ], [ 0.18099, -0.94994, 0.25468 ], [ -0.14654, -0.28211, -0.94813 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 40 }, "api_seconds": 7.8072130670771, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.26, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Small step toward -y to test if arm can move freely." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ -0.48938, -0.80036, -0.25608, -2.40081, -0.15813, 1.75935, -0.8029 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2374, -0.2594, 1.00724 ], "tcp_roll_pitch_yaw": [ 0.00317, 0.00296, 0.00018 ], "tcp_rotation_matrix": [ [ 0.98292, 0.13274, 0.12749 ], [ 0.14222, -0.98748, -0.06829 ], [ 0.11683, 0.08525, -0.98949 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 39 }, "api_seconds": 11.411103858612478, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "x": 0.4, "z": 1 }, "note": "Mapping found: exterior camera looks along +x, table is ahead and toward +y. Shift to +y in line with the knob." } } } ] } } ] }, "execution": { "steps": 49, "motion_seconds": 3.234, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the table.", "joint_positions": [ -0.30141, -0.60833, 0.54591, -2.22096, 0.21369, 1.72666, 0.0113 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38195, 0.14235, 0.99291 ], "tcp_roll_pitch_yaw": [ -0.00918, 0.07088, -0.01424 ], "tcp_rotation_matrix": [ [ 0.99042, 0.12484, 0.05894 ], [ 0.12941, -0.98825, -0.08136 ], [ 0.04809, 0.08821, -0.99494 ] ], "simulated_seconds_remaining": 9.438, "calls_remaining_including_this": 38 }, "api_seconds": 5.605156169272959, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.86, "pitch": -0.5 }, "note": "Back off in front of table face and lower to knob height, tilting forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 21, "state": { "instruction": "open the table.", "joint_positions": [ -0.30141, -0.60833, 0.54591, -2.22096, 0.21369, 1.72666, 0.0113 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38195, 0.14235, 0.99291 ], "tcp_roll_pitch_yaw": [ -0.00918, 0.07088, -0.01424 ], "tcp_rotation_matrix": [ [ 0.99042, 0.12484, 0.05894 ], [ 0.12941, -0.98825, -0.08136 ], [ 0.04809, 0.08821, -0.99494 ] ], "simulated_seconds_remaining": 9.438, "calls_remaining_including_this": 37 }, "api_seconds": 2.803046082146466, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "z": 0.9, "pitch": -0.3 }, "note": "Smaller descent step with modest forward tilt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the table.", "joint_positions": [ -0.13867, -1.07821, 0.61612, -2.74219, 0.20752, 2.38237, 0.04357 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38011, 0.14191, 0.98381 ], "tcp_roll_pitch_yaw": [ -0.18568, -0.53925, 0.13478 ], "tcp_rotation_matrix": [ [ 0.76747, 0.10354, 0.63267 ], [ 0.26754, -0.94856, -0.16931 ], [ 0.58259, 0.2992, -0.75569 ] ], "simulated_seconds_remaining": 8.514, "calls_remaining_including_this": 36 }, "api_seconds": 5.6046238066628575, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.28, "z": 0.93, "pitch": -0.6 }, "note": "Gripper is in front of table apron; knob appears further +y. Shift toward knob." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the table.", "joint_positions": [ -0.22537, -0.9694, 1.02348, -2.61571, 0.27386, 2.4857, 0.36122 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3801, 0.27873, 0.93052 ], "tcp_roll_pitch_yaw": [ -0.18602, -0.59946, 0.13512 ], "tcp_rotation_matrix": [ [ 0.73124, 0.08588, 0.67669 ], [ 0.26292, -0.95087, -0.16344 ], [ 0.62941, 0.29743, -0.7179 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 35 }, "api_seconds": 3.0029913848266006, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87, "x": 0.42 }, "note": "In front of table near knob; lower and advance to engage knob." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the table.", "joint_positions": [ -0.40414, -0.84468, 1.20457, -2.63255, 0.27597, 2.69723, 0.40168 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41931, 0.27865, 0.87099 ], "tcp_roll_pitch_yaw": [ -0.18615, -0.59928, 0.13501 ], "tcp_rotation_matrix": [ [ 0.73139, 0.08575, 0.67654 ], [ 0.26287, -0.95085, -0.16366 ], [ 0.62926, 0.29754, -0.71799 ] ], "simulated_seconds_remaining": 6.468, "calls_remaining_including_this": 34 }, "api_seconds": 4.4043294955044985, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "y": 0.34, "x": 0.45 }, "note": "Knob appears slightly above and further +y of the gripper; move onto it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the table.", "joint_positions": [ -0.56149, -0.80844, 1.27119, -2.37817, 0.22669, 2.43169, 0.42877 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43664, 0.31075, 0.89587 ], "tcp_roll_pitch_yaw": [ -0.22826, -0.4995, 0.08156 ], "tcp_rotation_matrix": [ [ 0.80609, 0.04454, 0.59012 ], [ 0.23216, -0.94103, -0.2461 ], [ 0.54436, 0.33538, -0.76889 ] ], "simulated_seconds_remaining": 5.61, "calls_remaining_including_this": 33 }, "api_seconds": 3.003169427625835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper in contact near knob area; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the table.", "joint_positions": [ -0.56491, -0.81071, 1.26382, -2.38375, 0.224, 2.42231, 0.42976 ], "gripper_open": 0.7607, "tcp_xyz": [ 0.43779, 0.30242, 0.8954 ], "tcp_roll_pitch_yaw": [ -0.23271, -0.49422, 0.06647 ], "tcp_rotation_matrix": [ [ 0.81268, 0.03003, 0.58193 ], [ 0.22055, -0.94023, -0.25949 ], [ 0.53935, 0.33923, -0.77073 ] ], "simulated_seconds_remaining": 4.686, "calls_remaining_including_this": 32 }, "api_seconds": 2.204879437573254, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3 }, "note": "Attempt to pull drawer toward robot (-x)." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the table.", "joint_positions": [ -0.12419, -1.04458, 1.10684, -2.57132, 0.30157, 2.20579, 0.51544 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30134, 0.30252, 0.89543 ], "tcp_roll_pitch_yaw": [ -0.2328, -0.49436, 0.06675 ], "tcp_rotation_matrix": [ [ 0.81255, 0.03021, 0.5821 ], [ 0.22079, -0.94019, -0.2594 ], [ 0.53945, 0.3393, -0.77063 ] ], "simulated_seconds_remaining": 3.498, "calls_remaining_including_this": 31 }, "api_seconds": 3.0033776378259063, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not get a grasp on the drawer knob. Reach was limited and collisions/IK failures wasted most of the motion time. The pull came back with nothing, and there is too little simulated time left to try again." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 037 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 37, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 32, "wall_seconds": 227.78, "usage": { "input_tokens": 68, "output_tokens": 12538, "cache_read_input_tokens": 538875, "cache_creation_input_tokens": 29289, "thinking_tokens": 8320, "cost_usd": 0.593119 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LAjtHTYv6KWGcmoVrR2enc", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KpmspBvSUnLDkGmQ2yQvT2", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lowering to get a better view of the drawers below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 488, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 488 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011KnSwZ5U85SVcW5McXahgA", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57 }, "note": "Rotating gripper to point forward to look at the cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 978, "cache_read_input_tokens": 2513, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 978 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01G9cfjEaY5tpGZNQ4Z9CWWH", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8, "z": 0.9 }, "note": "Partial pitch forward to view scene." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 973, "cache_read_input_tokens": 3491, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 973 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N8zoWgqtxacB7B62a6HaN1", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Small pitch test." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1005, "cache_read_input_tokens": 4464, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1005 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Pitching the gripper fails at this low height, so I'm raising the arm and will try tilting it again." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 5469, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DRsYJttDoGtDh11rw9ENeq", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1, "pitch": -0.4 }, "note": "Raise back up where arm is less folded, and try pitching." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 5469, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CaeNtDSuNFNDAGDEgxmVmh", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1 }, "note": "Cabinet with drawer handles visible ahead/below; pitch more forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 718, "cache_read_input_tokens": 6144, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 718 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0129hzJLr8wSqLDpf9tLMSw5", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Move forward toward cabinet to get more reachable workspace." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 749, "cache_read_input_tokens": 6862, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 749 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014cJ3sBPu5CCtbvFkGZwZyN", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "Pitch gripper to point forward at the drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 659, "cache_read_input_tokens": 7611, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 659 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UJeYsiForDRBm8ay9iRWuT", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Incremental pitch." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 737, "cache_read_input_tokens": 8270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 737 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V3w6xNPCqRW2CJX2KzX3w8", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.1, "x": 0.5 }, "note": "Extend forward a bit while pitching further to reduce elbow folding." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 666, "cache_read_input_tokens": 9007, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 666 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper now points mostly forward, but the camera is right up against the cabinet front. I'm backing off to find a handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1134, "cache_read_input_tokens": 9673, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1134 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SQEckJEcUPbapKuzscYbZN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38 }, "note": "Wrist view blacked out by cabinet proximity; back off to see handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1134, "cache_read_input_tokens": 9673, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1134 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Xao5iQWFqAw1NGNJo5rP8T", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 1 }, "note": "Back off and up to view the cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 692, "cache_read_input_tokens": 10807, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 692 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011P1obRYM4bn8TfB56X9p6p", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.93 }, "note": "Search for handle; move back slightly and lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 830, "cache_read_input_tokens": 11499, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 830 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019Pw9ZQeNHw8z5Bp7NwdBxT", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55, "z": 1.02 }, "note": "Test reach further forward to understand where cabinet face is." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1202, "cache_read_input_tokens": 12329, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1202 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HUNsFCVMhCkHVaRgVRGdXz", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 1.05, "pitch": -0.5, "roll": 0, "yaw": 0 }, "note": "Contacted countertop around x~0.5; back off and look down/forward at drawer handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 843, "cache_read_input_tokens": 13531, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 843 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017Ebt9XsPeFrUunugXg5tXg", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47, "z": 1.05, "pitch": 0 }, "note": "Go top-down above the front edge of cabinet to locate the top drawer handle below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1106, "cache_read_input_tokens": 14374, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1106 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm working out where the top drawer handle is from the downward wrist view. It looks like it sits just ahead of the fingers, so I'm moving forward and lower." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1607, "cache_read_input_tokens": 15480, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1607 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XGN8dWCmUf35ghosLDKBEW", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.97 }, "note": "Handle appears near fingertips below; descend carefully to see it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1607, "cache_read_input_tokens": 15480, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1607 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TL1dLKdCrPMX2Jz1pqY5qu", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36, "z": 1.02, "pitch": 0 }, "note": "Hit countertop at z~1.0 near x=0.5; move back in front of the cabinet face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1287, "cache_read_input_tokens": 17087, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1287 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011bgQdNRQA7vsnuijMBwVGc", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Descend in front of cabinet face to find top drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1464, "cache_read_input_tokens": 18374, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1464 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DL9Kk2WKx3aRW4we5dEpBk", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.06 }, "note": "Probing axis direction relative to the cabinet by moving in -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 19838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BVFYw5vR7hkT5XA6Ln8VWS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.44, "y": 0.03 }, "note": "Move forward toward the drawer face at z=0.9 to find its position." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1102, "cache_read_input_tokens": 20471, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1102 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GyjS57YVogSQAK9FR6wJvA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.39, "z": 0.93, "yaw": 1.57, "roll": 0, "pitch": 0 }, "note": "Contact near x~0.44 at z 0.9 (drawer face). Back off and rotate so fingers open along x to straddle the horizontal handle bar from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 976, "cache_read_input_tokens": 21573, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 976 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Around 11 seconds of motion time remain. I've turned the gripper so its fingers open front-to-back, and now I'm lowering it onto the top drawer's handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1252, "cache_read_input_tokens": 22549, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1252 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DCfPc7K4VtqQg7AZm1yom5", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.86 }, "note": "Descend to straddle handle bar near drawer face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1252, "cache_read_input_tokens": 22549, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1252 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QfjkgvvXvuDKRix4QSt4wg", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92, "y": -0.12 }, "note": "Gripper is between two handles; shift in -y toward the middle top-drawer handle, above it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 941, "cache_read_input_tokens": 23801, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 941 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AEVR1JTjvEVooyv2hF6nx3", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85, "pitch": 0 }, "note": "Gripper appears just above the middle top-drawer handle; descend to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 915, "cache_read_input_tokens": 24742, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 915 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ST9gAfKkcmB5FH7kMrCQ95", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 731, "cache_read_input_tokens": 25657, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 731 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013VeEXSiCaTsNRt6CH1UdZs", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.41, "z": 0.82 }, "note": "Missed handle (closed fully). Reopen, move slightly forward and lower toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 643, "cache_read_input_tokens": 26388, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 643 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012rFuJGrfNonXPFyumnF5HU", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at x~0.394, likely at the handle; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 759, "cache_read_input_tokens": 27031, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 759 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "A second grasp also closed on nothing. With about 5.7 seconds left, I'm pulling back anyway in case the closed fingers catch the drawer." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 27790, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 696 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HEyc32uGAPAXkMaBwKYL2z", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3 }, "note": "Attempt pull in case the fingers catch the drawer/handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 27790, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 696 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0199jGXTaEYpdyTmtQYduAgA", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.4, "z": 0.79, "y": -0.09 }, "note": "Drawer didn't move. Final attempt: open, approach slightly lower and further -y toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 28486, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LAHJvEaRU9JjbbHuo2ssAZ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at x~0.375, z 0.80; close to try grasping handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 29263, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grasp missed again and time is nearly exhausted." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 621, "cache_read_input_tokens": 30051, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 621 }, "output_tokens": 41, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Bdx3XTJDqu6mQ6kAMzMc6M", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the drawer handle; repeated grasps closed on nothing and simulated time is nearly exhausted. Drawer not opened." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 621, "cache_read_input_tokens": 30051, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 621 }, "output_tokens": 41, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the drawer. I ended the episode with a give-up because I couldn't grasp the handle and the simulated motion time had nearly run out.\n\n- **Pointing forward failed:** The motion controller rejected most attempts to point the gripper straight at the drawer fronts.\n- **Hard to place the handle:** It took many moves to work out which way the cabinet was from the robot and where its front was. I could only estimate the drawer front at about 0.38–0.44 m ahead, with a countertop at about 1.0 m height.\n- **Three grasps missed:** I switched to pointing the gripper down, with the fingers opening front to back, and lowered it onto the top-row drawer handles. All three times it closed fully on nothing.\n- **Pulling didn't help:** I pulled back once with the fingers closed, but the drawer didn't move.\n\nMost of the time budget went on figuring out the layout and on rejected moves, which left too little for more grasp attempts." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 170, "cache_read_input_tokens": 30672, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 170 }, "output_tokens": 314, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 68, "cache_creation_input_tokens": 29289, "cache_read_input_tokens": 538875, "output_tokens": 12538, "output_tokens_details": { "thinking_tokens": 8320 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 29289, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 314, "cache_read_input_tokens": 30672, "cache_creation_input_tokens": 170, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 170 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 68, "outputTokens": 12538, "cacheReadInputTokens": 538875, "cacheCreationInputTokens": 29289, "webSearchRequests": 0, "costUSD": 0.593119, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 8320, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.593119, "num_turns": 34, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01241, -0.74489, -0.0073, -2.30794, 0.07748, 1.45395, 0.1514 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28905, 0.01528, 1.0176 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98011, -0.16685, -0.10745 ], [ -0.15831, -0.98384, 0.0837 ], [ -0.11968, -0.06502, -0.99068 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.009777975268662, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lowering to get a better view of the drawers below." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01021, -0.69045, 0.00066, -2.83311, 0.09289, 2.03173, 0.10839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28897, 0.01529, 0.8013 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00036, 2e-05 ], "tcp_rotation_matrix": [ [ 0.98007, -0.16686, -0.10781 ], [ -0.15829, -0.98384, 0.08371 ], [ -0.12004, -0.06497, -0.99064 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 56 }, "api_seconds": 6.4066376173868775, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57 }, "note": "Rotating gripper to point forward to look at the cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01021, -0.69045, 0.00066, -2.83311, 0.09289, 2.03173, 0.10839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28897, 0.01529, 0.8013 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00036, 2e-05 ], "tcp_rotation_matrix": [ [ 0.98007, -0.16686, -0.10781 ], [ -0.15829, -0.98384, 0.08371 ], [ -0.12004, -0.06497, -0.99064 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 55 }, "api_seconds": 7.406234108842909, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8, "z": 0.9 }, "note": "Partial pitch forward to view scene." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01021, -0.69045, 0.00066, -2.83311, 0.09289, 2.03173, 0.10839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28897, 0.01529, 0.8013 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00036, 2e-05 ], "tcp_rotation_matrix": [ [ 0.98007, -0.16686, -0.10781 ], [ -0.15829, -0.98384, 0.08371 ], [ -0.12004, -0.06497, -0.99064 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 54 }, "api_seconds": 3.003247749991715, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Small pitch test." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01021, -0.69045, 0.00066, -2.83311, 0.09289, 2.03173, 0.10839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28897, 0.01529, 0.8013 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00036, 2e-05 ], "tcp_rotation_matrix": [ [ 0.98007, -0.16686, -0.10781 ], [ -0.15829, -0.98384, 0.08371 ], [ -0.12004, -0.06497, -0.99064 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 53 }, "api_seconds": 4.004300738684833, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1, "pitch": -0.4 }, "note": "Raise back up where arm is less folded, and try pitching." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01357, -1.12533, -0.00487, -2.64831, 0.08656, 1.81091, 0.12256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28902, 0.01529, 0.99909 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.39821, 1e-05 ], "tcp_rotation_matrix": [ [ 0.94983, -0.12856, 0.28511 ], [ -0.15829, -0.98384, 0.08372 ], [ 0.26974, -0.12465, -0.95483 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 52 }, "api_seconds": 4.004115544259548, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1 }, "note": "Cabinet with drawer handles visible ahead/below; pitch more forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01357, -1.12533, -0.00487, -2.64831, 0.08656, 1.81091, 0.12256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28902, 0.01529, 0.99909 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.39821, 1e-05 ], "tcp_rotation_matrix": [ [ 0.94983, -0.12856, 0.28511 ], [ -0.15829, -0.98384, 0.08372 ], [ 0.26974, -0.12465, -0.95483 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 51 }, "api_seconds": 3.203491629101336, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Move forward toward cabinet to get more reachable workspace." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00178, -0.56658, -0.0015, -2.47171, 0.10328, 2.19229, 0.0961 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44873, 0.01528, 0.95032 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.39799, 1e-05 ], "tcp_rotation_matrix": [ [ 0.94989, -0.12859, 0.2849 ], [ -0.1583, -0.98384, 0.08372 ], [ 0.26953, -0.12463, -0.95489 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 50 }, "api_seconds": 4.20434879232198, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "Pitch gripper to point forward at the drawer front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00178, -0.56658, -0.0015, -2.47171, 0.10328, 2.19229, 0.0961 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44873, 0.01528, 0.95032 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.39799, 1e-05 ], "tcp_rotation_matrix": [ [ 0.94989, -0.12859, 0.2849 ], [ -0.1583, -0.98384, 0.08372 ], [ 0.26953, -0.12463, -0.95489 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 49 }, "api_seconds": 3.403379213064909, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Incremental pitch." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.03393, -0.787, -0.0117, -2.81981, 0.14921, 2.71736, 0.03791 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44869, 0.01533, 0.95016 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.7955, 9e-05 ], "tcp_rotation_matrix": [ [ 0.77151, -0.07019, 0.63233 ], [ -0.15823, -0.98384, 0.08384 ], [ 0.61623, -0.16474, -0.77015 ] ], "simulated_seconds_remaining": 24.354, "calls_remaining_including_this": 48 }, "api_seconds": 8.407838303595781, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.1, "x": 0.5 }, "note": "Extend forward a bit while pitching further to reduce elbow folding." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.20584, -0.59521, -0.14133, -2.90501, 0.19035, 3.30598, -0.04523 ], "gripper_open": 1.0, "tcp_xyz": [ 0.49737, 0.01662, 0.94862 ], "tcp_roll_pitch_yaw": [ 0.00356, -1.09353, -0.00107 ], "tcp_rotation_matrix": [ [ 0.55686, -0.01682, 0.83044 ], [ -0.15847, -0.98358, 0.08634 ], [ 0.81535, -0.17968, -0.55038 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 47 }, "api_seconds": 3.8039770452305675, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38 }, "note": "Wrist view blacked out by cabinet proximity; back off to see handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.20584, -0.59521, -0.14133, -2.90501, 0.19035, 3.30598, -0.04523 ], "gripper_open": 1.0, "tcp_xyz": [ 0.49737, 0.01662, 0.94862 ], "tcp_roll_pitch_yaw": [ 0.00356, -1.09353, -0.00107 ], "tcp_rotation_matrix": [ [ 0.55686, -0.01682, 0.83044 ], [ -0.15847, -0.98358, 0.08634 ], [ 0.81535, -0.17968, -0.55038 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 46 }, "api_seconds": 5.004710932262242, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1 }, "note": "Back off and up to view the cabinet." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.08324, -0.89318, -0.02817, -2.94245, 0.18645, 3.03517, -0.00775 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45086, 0.01662, 0.99926 ], "tcp_roll_pitch_yaw": [ 0.0037, -1.09389, -0.00117 ], "tcp_rotation_matrix": [ [ 0.55656, -0.01674, 0.83064 ], [ -0.15852, -0.98357, 0.08639 ], [ 0.81555, -0.17975, -0.55007 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 45 }, "api_seconds": 10.008956467732787, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.93 }, "note": "Search for handle; move back slightly and lower." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.08324, -0.89318, -0.02817, -2.94245, 0.18645, 3.03517, -0.00775 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45086, 0.01662, 0.99926 ], "tcp_roll_pitch_yaw": [ 0.0037, -1.09389, -0.00117 ], "tcp_rotation_matrix": [ [ 0.55656, -0.01674, 0.83064 ], [ -0.15852, -0.98357, 0.08639 ], [ 0.81555, -0.17975, -0.55007 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 44 }, "api_seconds": 5.604906929656863, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 1.02 }, "note": "Test reach further forward to understand where cabinet face is." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.14629, -0.64569, -0.09338, -2.65782, 0.19294, 2.80294, -0.02933 ], "gripper_open": 1.0, "tcp_xyz": [ 0.50554, 0.03196, 1.00285 ], "tcp_roll_pitch_yaw": [ 0.06034, -0.90181, 0.01453 ], "tcp_rotation_matrix": [ [ 0.71117, 0.00819, 0.70297 ], [ -0.14048, -0.97811, 0.15352 ], [ 0.68884, -0.20793, -0.69446 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 43 }, "api_seconds": 8.607607871294022, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 1.05, "pitch": -0.5, "roll": 0, "yaw": 0 }, "note": "Contacted countertop around x~0.5; back off and look down/forward at drawer handles." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.0267, -0.7964, 0.01075, -2.41541, 0.0867, 2.01578, 0.15652 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40094, 0.03199, 1.0498 ], "tcp_roll_pitch_yaw": [ 0.0005, -0.50365, 0.00024 ], "tcp_rotation_matrix": [ [ 0.91625, -0.11427, 0.38397 ], [ -0.15802, -0.98383, 0.08429 ], [ 0.36813, -0.13791, -0.91949 ] ], "simulated_seconds_remaining": 20.79, "calls_remaining_including_this": 42 }, "api_seconds": 14.412526360712945, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "z": 1.05, "pitch": 0 }, "note": "Go top-down above the front edge of cabinet to locate the top drawer handle below." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02556, -0.17982, -0.00625, -1.75756, 0.08558, 1.4757, 0.18695 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46954, 0.03198, 1.0499 ], "tcp_roll_pitch_yaw": [ 0.00053, -0.00407, 0.00018 ], "tcp_rotation_matrix": [ [ 0.98062, -0.1664, -0.10343 ], [ -0.15807, -0.98383, 0.08421 ], [ -0.11577, -0.06623, -0.99107 ] ], "simulated_seconds_remaining": 19.8, "calls_remaining_including_this": 41 }, "api_seconds": 10.810229483060539, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Handle appears near fingertips below; descend carefully to see it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02699, -0.25466, -0.00198, -1.96819, 0.08426, 1.77847, 0.17338 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49633, 0.03245, 1.01174 ], "tcp_roll_pitch_yaw": [ 0.00117, -0.17102, -0.00629 ], "tcp_rotation_matrix": [ [ 0.9852, -0.15934, 0.06324 ], [ -0.16437, -0.98278, 0.08446 ], [ 0.04869, -0.09361, -0.99442 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 40 }, "api_seconds": 12.010679142549634, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "z": 1.02, "pitch": 0 }, "note": "Hit countertop at z~1.0 near x=0.5; move back in front of the cabinet face." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02749, -0.52428, -0.00193, -2.15127, 0.08748, 1.52337, 0.19572 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36104, 0.03246, 1.02 ], "tcp_roll_pitch_yaw": [ 0.00118, -0.00149, -0.00628 ], "tcp_rotation_matrix": [ [ 0.97927, -0.17293, -0.10544 ], [ -0.16432, -0.98269, 0.08553 ], [ -0.11841, -0.06643, -0.99074 ] ], "simulated_seconds_remaining": 17.754, "calls_remaining_including_this": 39 }, "api_seconds": 3.203150968067348, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Descend in front of cabinet face to find top drawer handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.02748, -0.52553, 0.00311, -2.45538, 0.09335, 1.82506, 0.17208 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36099, 0.03246, 0.90121 ], "tcp_roll_pitch_yaw": [ 0.00117, -0.00118, -0.00627 ], "tcp_rotation_matrix": [ [ 0.97924, -0.17294, -0.10575 ], [ -0.16431, -0.98269, 0.08552 ], [ -0.11871, -0.06637, -0.99071 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 38 }, "api_seconds": 8.607619556598365, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06 }, "note": "Probing axis direction relative to the cabinet by moving in -y." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.04707, -0.50867, -0.11776, -2.43437, 0.00815, 1.80694, 0.00435 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35951, -0.05175, 0.90157 ], "tcp_roll_pitch_yaw": [ -0.00038, 0.00203, 0.01086 ], "tcp_rotation_matrix": [ [ 0.98153, -0.15628, -0.11037 ], [ -0.1477, -0.98562, 0.08213 ], [ -0.12161, -0.06431, -0.99049 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 37 }, "api_seconds": 6.60656807012856, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.03 }, "note": "Move forward toward the drawer face at z=0.9 to find its position." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.0294, -0.28039, -0.01904, -2.23589, 0.08483, 1.84185, 0.85799 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4365, 0.02429, 0.9024 ], "tcp_roll_pitch_yaw": [ -0.09245, 0.03445, -0.70496 ], "tcp_rotation_matrix": [ [ 0.634, -0.76502, -0.11313 ], [ -0.76088, -0.64322, 0.08559 ], [ -0.13825, 0.03181, -0.98989 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 36 }, "api_seconds": 8.809029584750533, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "z": 0.93, "yaw": 1.57, "roll": 0, "pitch": 0 }, "note": "Contact near x~0.44 at z 0.9 (drawer face). Back off and rotate so fingers open along x to straddle the horizontal handle bar from above." } } } ] } } ] }, "execution": { "steps": 50, "motion_seconds": 3.3000000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.33108, -0.45797, -0.17743, -2.31994, -0.1723, 1.76249, -1.18383 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39009, 0.0243, 0.92997 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00024, 1.5653 ], "tcp_rotation_matrix": [ [ 0.1637, 0.98291, -0.08419 ], [ 0.9792, -0.17227, -0.10722 ], [ -0.1199, -0.06489, -0.99066 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 35 }, "api_seconds": 6.606121075339615, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Descend to straddle handle bar near drawer face." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.32734, -0.41705, -0.1924, -2.46314, -0.18352, 1.94583, -1.1697 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39004, 0.02428, 0.86113 ], "tcp_roll_pitch_yaw": [ 0.0002, 0.00032, 1.5653 ], "tcp_rotation_matrix": [ [ 0.16367, 0.98289, -0.08448 ], [ 0.97919, -0.17228, -0.1073 ], [ -0.12002, -0.06516, -0.99063 ] ], "simulated_seconds_remaining": 10.56, "calls_remaining_including_this": 34 }, "api_seconds": 6.606255663558841, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "y": -0.12 }, "note": "Gripper is between two handles; shift in -y toward the middle top-drawer handle, above it." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.21626, -0.45116, -0.36096, -2.33885, -0.07977, 1.81175, -1.44561 ], "gripper_open": 0.9608, "tcp_xyz": [ 0.39082, -0.06241, 0.91187 ], "tcp_roll_pitch_yaw": [ 0.01198, -0.19082, 1.51937 ], "tcp_rotation_matrix": [ [ 0.20731, 0.97401, -0.09121 ], [ 0.97601, -0.19959, 0.08699 ], [ 0.06653, -0.10706, -0.99202 ] ], "simulated_seconds_remaining": 9.24, "calls_remaining_including_this": 33 }, "api_seconds": 4.404171660542488, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "pitch": 0 }, "note": "Gripper appears just above the middle top-drawer handle; descend to straddle it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.20012, -0.40324, -0.27625, -2.4716, -0.23081, 1.97442, -1.3035 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39076, -0.06235, 0.85082 ], "tcp_roll_pitch_yaw": [ 0.01237, -0.00281, 1.51944 ], "tcp_rotation_matrix": [ [ 0.20694, 0.97311, -0.10119 ], [ 0.97111, -0.21687, -0.0996 ], [ -0.11887, -0.07765, -0.98987 ] ], "simulated_seconds_remaining": 8.514, "calls_remaining_including_this": 32 }, "api_seconds": 3.4035409782081842, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle bar." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.20012, -0.40324, -0.27625, -2.4716, -0.23081, 1.97442, -1.3035 ], "gripper_open": 0.0, "tcp_xyz": [ 0.39076, -0.06235, 0.85081 ], "tcp_roll_pitch_yaw": [ 0.01236, -0.00278, 1.51944 ], "tcp_rotation_matrix": [ [ 0.20694, 0.97311, -0.10118 ], [ 0.9711, -0.21688, -0.09964 ], [ -0.11891, -0.07764, -0.98987 ] ], "simulated_seconds_remaining": 7.59, "calls_remaining_including_this": 31 }, "api_seconds": 4.404659025371075, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.41, "z": 0.82 }, "note": "Missed handle (closed fully). Reopen, move slightly forward and lower toward handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.21174, -0.31906, -0.28419, -2.4614, -0.21696, 1.99579, -1.30726 ], "gripper_open": 0.9847, "tcp_xyz": [ 0.39439, -0.05919, 0.82429 ], "tcp_roll_pitch_yaw": [ 0.06421, 0.0013, 1.52112 ], "tcp_rotation_matrix": [ [ 0.19877, 0.96814, -0.15231 ], [ 0.97127, -0.21535, -0.10129 ], [ -0.13087, -0.1278, -0.98313 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 30 }, "api_seconds": 3.0032704416662455, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at x~0.394, likely at the handle; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.21174, -0.31906, -0.28419, -2.4614, -0.21696, 1.99579, -1.30726 ], "gripper_open": 0.0, "tcp_xyz": [ 0.39439, -0.05919, 0.82428 ], "tcp_roll_pitch_yaw": [ 0.06422, 0.0013, 1.52113 ], "tcp_rotation_matrix": [ [ 0.19877, 0.96814, -0.15232 ], [ 0.97127, -0.21535, -0.1013 ], [ -0.13087, -0.12781, -0.98313 ] ], "simulated_seconds_remaining": 5.742, "calls_remaining_including_this": 29 }, "api_seconds": 5.005137138999999, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3 }, "note": "Attempt pull in case the fingers catch the drawer/handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.16186, -0.64108, -0.25562, -2.71655, -0.27577, 1.92522, -1.27581 ], "gripper_open": 0.0, "tcp_xyz": [ 0.30131, -0.0592, 0.82431 ], "tcp_roll_pitch_yaw": [ 0.06419, 0.00125, 1.52111 ], "tcp_rotation_matrix": [ [ 0.19879, 0.96814, -0.15229 ], [ 0.97127, -0.21536, -0.10124 ], [ -0.13082, -0.12779, -0.98314 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 28 }, "api_seconds": 4.204191887751222, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.4, "z": 0.79, "y": -0.09 }, "note": "Drawer didn't move. Final attempt: open, approach slightly lower and further -y toward handle." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.19444, -0.30028, -0.33204, -2.49036, -0.2346, 1.99292, -1.379 ], "gripper_open": 0.9922, "tcp_xyz": [ 0.37507, -0.08376, 0.80391 ], "tcp_roll_pitch_yaw": [ 0.12488, -0.00778, 1.54065 ], "tcp_rotation_matrix": [ [ 0.17168, 0.96265, -0.20936 ], [ 0.97643, -0.19449, -0.09361 ], [ -0.13083, -0.18835, -0.97335 ] ], "simulated_seconds_remaining": 3.762, "calls_remaining_including_this": 27 }, "api_seconds": 2.2023048093542457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at x~0.375, z 0.80; close to try grasping handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.19475, -0.30298, -0.33133, -2.49248, -0.23479, 1.99098, -1.37996 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37401, -0.08322, 0.80401 ], "tcp_roll_pitch_yaw": [ 0.1264, -0.00834, 1.54279 ], "tcp_rotation_matrix": [ [ 0.16938, 0.96278, -0.21061 ], [ 0.97687, -0.1923, -0.09348 ], [ -0.1305, -0.18991, -0.97309 ] ], "simulated_seconds_remaining": 2.838, "calls_remaining_including_this": 26 }, "api_seconds": 2.603077083826065, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the drawer handle; repeated grasps closed on nothing and simulated time is nearly exhausted. Drawer not opened." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 038 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 38, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 13, "wall_seconds": 105.36, "usage": { "input_tokens": 30, "output_tokens": 6035, "cache_read_input_tokens": 100582, "cache_creation_input_tokens": 12979, "thinking_tokens": 4169, "cost_usd": 0.2447684 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Jn9An4sYoeZALMWpyKkugp", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Yaa8C7qxTCHsRL6SZXwhJL", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lowering to get a better view of the cabinet below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VqUT4mrYiPEuKojmXXKj6Z", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57 }, "note": "Rotating gripper to point forward to view the cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 753, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 753 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KXUbQeSCnboQbJxp2t6vGa", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "x": 0.4, "z": 0.8 }, "note": "Tilting gripper forward partially to see the cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 981, "cache_read_input_tokens": 3265, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 981 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KxxxdLfAjKSLVEJG538jNF", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5 }, "note": "Small tilt test to see which orientations are reachable." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 659, "cache_read_input_tokens": 4246, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 659 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Tilting the gripper keeps failing IK at this pose, so I'm testing a few nearby moves to see what the arm can reach." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 4905, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VXQQ6hQ4VLSQLqMdMTTnJN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Testing translation forward to extend arm away from joint limits." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 823, "cache_read_input_tokens": 4905, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 823 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E3H6md7LBKzvBSaDLYiaG3", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Tilting gripper forward to view cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 718, "cache_read_input_tokens": 5728, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 718 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GQgYkKhBF73yXes8tbAme4", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.3 }, "note": "Testing opposite pitch sign for reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 6446, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 714 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016rK8Lv1oKrdtSWXDkDsoGU", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "y": 0.15 }, "note": "Moving +y to understand wrist image axes." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 7160, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C9VyfY8QUTftSXex5aF9Jm", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.2 }, "note": "Cabinet appears to lie toward -y; moving there to see it below." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1120, "cache_read_input_tokens": 7801, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1120 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0147ZMhhEskd8gGpgppzNJp6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "y": 0.1, "z": 1.2, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Blocked near cabinet; rising for an overview." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 989, "cache_read_input_tokens": 8921, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 989 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm moving the arm to see how things shift in the wrist camera, so I can work out where the cabinet and its handle are." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1078, "cache_read_input_tokens": 9910, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1078 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T2eGdP8KD5WWJeYKLqTEyt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Moving +x to calibrate wrist image axes." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1078, "cache_read_input_tokens": 9910, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1078 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01V24VxgJDYF4762XYRfuFPH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.65, "y": -0.2, "z": 1.05 }, "note": "Cabinet seems at -y with front facing +x; moving in front of it to look down at its face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 923, "cache_read_input_tokens": 10988, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 923 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Mdtbd2JxMvwSLnQ82tr3PG", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": 0.05, "z": 1.1, "roll": 0, "pitch": -0.5, "yaw": 0 }, "note": "Trying to tilt gripper forward from a less folded arm configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1300, "cache_read_input_tokens": 11911, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1300 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the cabinet: the episode ended before I could grasp the handle or move the door.\n\n- **Locating the cabinet:** The exterior camera showed the cabinet in front of the robot. It has an orange top and a white front panel with a small handle near the lower left. I had trouble working out its exact position from the wrist camera, and the two cameras seemed to disagree about which side it was on.\n- **Aiming the gripper:** To reach the handle I tried several times to tilt the gripper forward so it would face the cabinet front. Each attempt was rejected as unreachable.\n- **Moving sideways:** Two moves toward −y were stopped partway, most likely by the wall on that side.\n\nThe episode ended during another forward-tilt attempt from a less folded arm position. About 16 seconds of simulated motion remained before that attempt." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1321, "cache_read_input_tokens": 13211, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1321 }, "output_tokens": 271, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 30, "cache_creation_input_tokens": 12979, "cache_read_input_tokens": 100582, "output_tokens": 6035, "output_tokens_details": { "thinking_tokens": 4169 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 12979, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 271, "cache_read_input_tokens": 13211, "cache_creation_input_tokens": 1321, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1321 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 30, "outputTokens": 6035, "cacheReadInputTokens": 100582, "cacheCreationInputTokens": 12979, "webSearchRequests": 0, "costUSD": 0.2447684, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 4169, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.2447684, "num_turns": 15, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02431, -0.77593, 0.02334, -2.26744, 0.06874, 1.58592, -0.07691 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32625, 0.01776, 1.05671 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99276, 0.07429, 0.09434 ], [ 0.06963, -0.99623, 0.05171 ], [ 0.09783, -0.04477, -0.9942 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.8047207947820425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lowering to get a better view of the cabinet below." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01696, -0.79777, 0.03788, -2.80863, 0.09043, 2.10434, -0.10384 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32619, 0.01776, 0.85128 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00034, 1e-05 ], "tcp_rotation_matrix": [ [ 0.9928, 0.07428, 0.094 ], [ 0.06964, -0.99623, 0.05171 ], [ 0.09749, -0.0448, -0.99423 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 6.005749396048486, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57 }, "note": "Rotating gripper to point forward to view the cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01696, -0.79777, 0.03788, -2.80863, 0.09043, 2.10434, -0.10384 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32619, 0.01776, 0.85128 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00034, 1e-05 ], "tcp_rotation_matrix": [ [ 0.9928, 0.07428, 0.094 ], [ 0.06964, -0.99623, 0.05171 ], [ 0.09749, -0.0448, -0.99423 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 55 }, "api_seconds": 2.6029034573584795, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "x": 0.4, "z": 0.8 }, "note": "Tilting gripper forward partially to see the cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01696, -0.79777, 0.03788, -2.80863, 0.09043, 2.10434, -0.10384 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32619, 0.01776, 0.85128 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00034, 1e-05 ], "tcp_rotation_matrix": [ [ 0.9928, 0.07428, 0.094 ], [ 0.06964, -0.99623, 0.05171 ], [ 0.09749, -0.0448, -0.99423 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 54 }, "api_seconds": 3.6034979643300176, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5 }, "note": "Small tilt test to see which orientations are reachable." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01696, -0.79777, 0.03788, -2.80863, 0.09043, 2.10434, -0.10384 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32619, 0.01776, 0.85128 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00034, 1e-05 ], "tcp_rotation_matrix": [ [ 0.9928, 0.07428, 0.094 ], [ 0.06964, -0.99623, 0.05171 ], [ 0.09749, -0.0448, -0.99423 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 53 }, "api_seconds": 3.003068322315812, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Testing translation forward to extend arm away from joint limits." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02843, -0.40006, 0.0403, -2.39851, 0.07677, 2.09228, -0.09792 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44877, 0.01775, 0.89952 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00033, -0.0 ], "tcp_rotation_matrix": [ [ 0.9928, 0.07427, 0.09402 ], [ 0.06963, -0.99623, 0.05172 ], [ 0.0975, -0.04481, -0.99423 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 52 }, "api_seconds": 3.0030289320275187, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Tilting gripper forward to view cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02843, -0.40006, 0.0403, -2.39851, 0.07677, 2.09228, -0.09792 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44877, 0.01775, 0.89952 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00033, -0.0 ], "tcp_rotation_matrix": [ [ 0.9928, 0.07427, 0.09402 ], [ 0.06963, -0.99623, 0.05172 ], [ 0.0975, -0.04481, -0.99423 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 51 }, "api_seconds": 2.4068196937441826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.3 }, "note": "Testing opposite pitch sign for reachability." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.0331, -0.17068, 0.04059, -2.11913, 0.06086, 1.74706, -0.07505 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, 0.01775, 0.89946 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.29603, -3e-05 ], "tcp_rotation_matrix": [ [ 0.97812, 0.05796, -0.19979 ], [ 0.0696, -0.99623, 0.05176 ], [ -0.19604, -0.06453, -0.97847 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 50 }, "api_seconds": 7.606131889857352, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "y": 0.15 }, "note": "Moving +y to understand wrist image axes." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.08011, -0.33848, 0.21273, -2.33721, 0.10923, 2.10661, 0.1612 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44882, 0.1491, 0.89945 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.0023, 0.00028 ], "tcp_rotation_matrix": [ [ 0.99297, 0.07446, 0.09204 ], [ 0.06992, -0.99622, 0.05164 ], [ 0.09554, -0.04484, -0.99441 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 49 }, "api_seconds": 5.805402018129826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.2 }, "note": "Cabinet appears to lie toward -y; moving there to see it below." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.15432, -0.35312, -0.03725, -2.23959, 0.02778, 1.65997, -0.5122 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38013, -0.06578, 0.92226 ], "tcp_roll_pitch_yaw": [ 0.08464, 0.28172, 0.26974 ], "tcp_rotation_matrix": [ [ 0.93056, 0.29778, -0.21306 ], [ 0.32069, -0.94365, 0.08175 ], [ -0.17671, -0.1444, -0.97361 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 48 }, "api_seconds": 6.806469968520105, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.1, "z": 1.2, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Blocked near cabinet; rising for an overview." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10059, -0.36811, 0.21996, -1.56471, 0.12451, 1.30576, 0.07424 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39991, 0.09937, 1.19891 ], "tcp_roll_pitch_yaw": [ 0.00015, 0.00102, 0.00125 ], "tcp_rotation_matrix": [ [ 0.99278, 0.07548, 0.09326 ], [ 0.07085, -0.99613, 0.05198 ], [ 0.09682, -0.045, -0.99428 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 47 }, "api_seconds": 5.605209780856967, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Moving +x to calibrate wrist image axes." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.06904, 0.16564, 0.28301, -0.96911, -0.0153, 1.23023, 0.12869 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54876, 0.09934, 1.19876 ], "tcp_roll_pitch_yaw": [ 0.00012, 0.00136, 0.00123 ], "tcp_rotation_matrix": [ [ 0.99281, 0.07545, 0.09293 ], [ 0.07084, -0.99613, 0.05194 ], [ 0.09649, -0.04499, -0.99432 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 46 }, "api_seconds": 9.808403242379427, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "y": -0.2, "z": 1.05 }, "note": "Cabinet seems at -y with front facing +x; moving in front of it to look down at its face." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.13263, 0.24158, 0.10703, -0.99744, 0.04884, 1.49662, -0.37591 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.64318, -0.01202, 1.17364 ], "tcp_roll_pitch_yaw": [ -0.05957, -0.17461, 0.27947 ], "tcp_rotation_matrix": [ [ 0.90334, 0.34293, 0.25763 ], [ 0.33761, -0.93896, 0.06606 ], [ 0.26456, 0.02731, -0.96398 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 45 }, "api_seconds": 13.813679604791105, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.05, "z": 1.1, "roll": 0, "pitch": -0.5, "yaw": 0 }, "note": "Trying to tilt gripper forward from a less folded arm configuration." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 039 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 39, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 22, "wall_seconds": 152.66, "usage": { "input_tokens": 48, "output_tokens": 9202, "cache_read_input_tokens": 264403, "cache_creation_input_tokens": 20707, "thinking_tokens": 6179, "cost_usd": 0.40276860000000003 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PWRzvLSysS2FjzbQntDcrN", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BEXH3TgLravUs8fpzVHWnZ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist camera to look forward and locate the door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 483 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WVXToP5MAxReiqPFMppw59", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7, "z": 0.8 }, "note": "Tilt forward partially and lower to see ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 808, "cache_read_input_tokens": 2508, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 808 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GDdtoLsXVPv9yo2mV2LJNm", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Test small downward motion." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 3316, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 757 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XUF5pAzSBPq8BMLzx7mj41", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Try tilting forward modestly to look ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 644, "cache_read_input_tokens": 4073, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 644 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still locating the door: I can see a dark panel with what looks like a handle in the wrist camera. Moving forward to get a better view." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 4717, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QDzMLTfN9yiZGsBm9NFU2R", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Dark panel with possible handle visible on right of wrist view; move forward to see better and relieve elbow." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 4717, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EebTYhDXM6SY5wRtVMqWkn", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12 }, "note": "Move +y to calibrate wrist image direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 923, "cache_read_input_tokens": 5545, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 923 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WP5P9ufemL7ypGSgKtS6sY", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.15 }, "note": "Handle-like white bracket on dark panel appears on -y side; move toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 912, "cache_read_input_tokens": 6468, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 912 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QGbQ8bhL37XWswvx9uHyN6", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0, "yaw": 0, "pitch": -0.4, "z": 1.05, "y": -0.05 }, "note": "Pose disturbed, likely contact; reset orientation and raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 746, "cache_read_input_tokens": 7380, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 746 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RzkMvtQRfHNKRaS6gorzKV", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": -0.6 }, "note": "Rotate view toward -y to inspect dark panel with white handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 8126, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 714 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017c1fqEG9XXoBDyuGq1CsS6", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0.9, "y": 0.1 }, "note": "Sink cabinet appears on +y side; rotate view toward +y to inspect its doors." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 853, "cache_read_input_tokens": 8840, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 853 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Found dark cabinet doors with white handles in the wrist view. Moving closer to them." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1189, "cache_read_input_tokens": 9693, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1189 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DdNhUBmPcR7Ex1xVzUQChp", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52, "y": 0.155 }, "note": "Dark doors with white handles visible ahead; approach along view direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1189, "cache_read_input_tokens": 9693, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1189 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WXDQMCnVu7F3LXdM3G7gt6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57, "y": 0.2, "z": 0.93 }, "note": "Advance along gripper axis toward the dark panel with handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1000, "cache_read_input_tokens": 10882, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1000 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EZVH24drdDL4k7iEuXaBaz", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "y": 0.3, "z": 0.95, "yaw": 1.5, "pitch": -0.5 }, "note": "The dark panel was a robot part (fixed in view). Look toward +y where the sink cabinet is." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1052, "cache_read_input_tokens": 11882, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1052 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N5KQWGxfsRHUKhjTZchDf6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0.45, "z": 0.7, "pitch": -0.9 }, "note": "Move toward +y and lower to find sink cabinet doors." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1313, "cache_read_input_tokens": 12934, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1313 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SjTWNuGwcRug8jGycGwAff", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.6, "pitch": -1.2 }, "note": "Gripper points toward sink cabinet (+y); dark door with handle visible at left. Approach and level out." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1297, "cache_read_input_tokens": 14247, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1297 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L3ZjvnYrd9Xx6DHFx6kmMt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.32, "y": 0.72, "z": 0.67 }, "note": "White door with handle ahead in wrist view; approach along gripper axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 934, "cache_read_input_tokens": 15544, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 934 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014CapqQEvMj74o3pSg9ENWp", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.6, "yaw": 0.6, "z": 0.7 }, "note": "The white door is far away; dark cabinet with handles appears to the side. Rotate view toward +x to inspect it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 930, "cache_read_input_tokens": 16478, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 930 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016QqCimRoY9L4R3hKRSjDub", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 1.1, "y": 0.6 }, "note": "Rotate view slightly toward +x to inspect the dark cabinet with handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1193, "cache_read_input_tokens": 17408, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1193 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DmGwNFDcAaSVU6DmoSZdKE", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.55, "x": 0.35 }, "note": "Back off to regain dexterity." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 646, "cache_read_input_tokens": 18601, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 646 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014toEmKuwkH9uHWRA3gDMNz", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.48, "z": 0.6 }, "note": "Dark cabinet with knob appears to +x/lower side; shift toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 19247, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 649 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019bUygB6VzdKZuexkEDdEuu", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58, "z": 0.68 }, "note": "Handle-like white marks at upper-left (+x, up); shift toward them." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1181, "cache_read_input_tokens": 19896, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1181 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018t5oAYiYNqZjKkNRmTvHdJ", "name": "mcp__robot__give_up", "input": { "note": "Could not reliably locate a reachable door handle; the white door seen ahead appears out of reach and simulated time is nearly exhausted (~7 s). Door not opened." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 886, "cache_read_input_tokens": 21077, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 886 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the door; I ended the episode with give_up after 22 of 57 calls, with about 7 of the 30 simulated seconds left.\n\n- **Search:** I spent most of the time trying to find a door I could reach. The white marks that looked like handles on a dark panel turned out to be part of the robot: they stayed in the same place in the wrist camera image as the arm moved. A test move along +y showed me which way the wrist image mapped to the robot's axes.\n- **Door ahead:** When I turned toward +y (toward the sink cabinet), I saw a white door with a handle. It barely got bigger as I moved in, so it's probably too far for the arm to reach.\n- **Cabinet:** The dark cabinet under the sink also looked like a possible target. I didn't find a handle on it I could grasp before time got too short to grasp and pull a door.\n\nEarly on, several tilt and rotation commands were rejected as unreachable. The gripper was also knocked off its orientation once, probably by touching something." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 297, "cache_read_input_tokens": 21963, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 297 }, "output_tokens": 327, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 48, "cache_creation_input_tokens": 20707, "cache_read_input_tokens": 264403, "output_tokens": 9202, "output_tokens_details": { "thinking_tokens": 6179 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 20707, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 327, "cache_read_input_tokens": 21963, "cache_creation_input_tokens": 297, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 297 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 48, "outputTokens": 9202, "cacheReadInputTokens": 264403, "cacheCreationInputTokens": 20707, "webSearchRequests": 0, "costUSD": 0.40276860000000003, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6179, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.40276860000000003, "num_turns": 24, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the door.", "joint_positions": [ -0.01799, -0.82661, 0.0731, -2.43482, -0.05302, 1.71349, -0.00323 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32551, 0.00213, 1.005 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99357, 0.03665, 0.1071 ], [ 0.04769, -0.9936, -0.10241 ], [ 0.10266, 0.10686, -0.98896 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.806366148404777, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist camera to look forward and locate the door." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the door.", "joint_positions": [ -0.01799, -0.82661, 0.0731, -2.43482, -0.05302, 1.71349, -0.00323 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32551, 0.00213, 1.005 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99357, 0.03665, 0.1071 ], [ 0.04769, -0.9936, -0.10241 ], [ 0.10266, 0.10686, -0.98896 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.403081021271646, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7, "z": 0.8 }, "note": "Tilt forward partially and lower to see ahead." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the door.", "joint_positions": [ -0.01799, -0.82661, 0.0731, -2.43482, -0.05302, 1.71349, -0.00323 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32551, 0.00213, 1.005 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99357, 0.03665, 0.1071 ], [ 0.04769, -0.9936, -0.10241 ], [ 0.10266, 0.10686, -0.98896 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.602595804259181, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Test small downward motion." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the door.", "joint_positions": [ -0.01252, -0.84239, 0.08072, -2.70796, -0.05108, 1.96951, 0.01937 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32547, 0.00212, 0.90125 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.0003, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9936, 0.03667, 0.1068 ], [ 0.04768, -0.9936, -0.10243 ], [ 0.10236, 0.10687, -0.98899 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 54 }, "api_seconds": 4.003310954198241, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Try tilting forward modestly to look ahead." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the door.", "joint_positions": [ 0.00272, -1.22756, 0.09217, -3.03066, -0.05737, 2.30075, 0.06177 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32542, 0.00212, 0.9012 ], "tcp_roll_pitch_yaw": [ -9e-05, -0.39584, 0.0 ], "tcp_rotation_matrix": [ [ 0.87716, -0.00742, 0.48014 ], [ 0.0477, -0.99359, -0.10249 ], [ 0.47782, 0.11281, -0.87118 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 53 }, "api_seconds": 5.606973938643932, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Dark panel with possible handle visible on right of wrist view; move forward to see better and relieve elbow." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the door.", "joint_positions": [ -0.06272, -0.70139, 0.10418, -2.66305, -0.08273, 2.46214, 0.06378 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44875, 0.00212, 0.94953 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.39582, -2e-05 ], "tcp_rotation_matrix": [ [ 0.87717, -0.00744, 0.48012 ], [ 0.04768, -0.99359, -0.10249 ], [ 0.47781, 0.1128, -0.87119 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 52 }, "api_seconds": 5.404799823649228, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Move +y to calibrate wrist image direction." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the door.", "joint_positions": [ -0.02159, -0.64632, 0.34333, -2.58599, -0.06026, 2.42172, 0.31824 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44876, 0.11869, 0.94954 ], "tcp_roll_pitch_yaw": [ -0.0002, -0.39585, 0.00024 ], "tcp_rotation_matrix": [ [ 0.87715, -0.00723, 0.48017 ], [ 0.04792, -0.99358, -0.10249 ], [ 0.47783, 0.1129, -0.87117 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 51 }, "api_seconds": 3.804216558113694, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.15 }, "note": "Handle-like white bracket on dark panel appears on -y side; move toward it." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the door.", "joint_positions": [ -0.11278, -0.64918, -0.19247, -2.60217, 0.32759, 2.44359, -0.27049 ], "gripper_open": 0.9988, "tcp_xyz": [ 0.45588, -0.09667, 0.9626 ], "tcp_roll_pitch_yaw": [ 0.43727, -0.39659, -0.31353 ], "tcp_rotation_matrix": [ [ 0.8301, -0.14038, 0.53966 ], [ -0.26942, -0.9483, 0.16776 ], [ 0.48821, -0.28465, -0.825 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 50 }, "api_seconds": 3.003251082263887, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "yaw": 0, "pitch": -0.4, "z": 1.05, "y": -0.05 }, "note": "Pose disturbed, likely contact; reset orientation and raise." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the door.", "joint_positions": [ -0.20341, -0.69752, 0.09056, -2.41214, 0.02037, 2.23251, -0.14647 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45593, -0.05028, 1.0494 ], "tcp_roll_pitch_yaw": [ 0.00353, -0.40072, -0.00224 ], "tcp_rotation_matrix": [ [ 0.87486, -0.00879, 0.4843 ], [ 0.04537, -0.99395, -0.1 ], [ 0.48225, 0.10946, -0.86917 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 49 }, "api_seconds": 4.60664236266166, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.6 }, "note": "Rotate view toward -y to inspect dark panel with white handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the door.", "joint_positions": [ -0.46824, -0.65962, 0.40243, -2.30866, -0.09609, 2.09183, 0.51095 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45595, -0.05024, 1.0494 ], "tcp_roll_pitch_yaw": [ 0.00335, -0.40062, -0.59542 ], "tcp_rotation_matrix": [ [ 0.75082, -0.56295, 0.34549 ], [ -0.45144, -0.81919, -0.35374 ], [ 0.48216, 0.10962, -0.8692 ] ], "simulated_seconds_remaining": 21.714, "calls_remaining_including_this": 48 }, "api_seconds": 8.207647061906755, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.9, "y": 0.1 }, "note": "Sink cabinet appears on +y side; rotate view toward +y to inspect its doors." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the door.", "joint_positions": [ 0.24488, -0.62413, -0.11784, -2.33914, 0.23646, 2.15105, -0.87014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45597, 0.09956, 1.04938 ], "tcp_roll_pitch_yaw": [ 0.00354, -0.40055, 0.89534 ], "tcp_rotation_matrix": [ [ 0.51006, 0.77162, 0.38005 ], [ 0.71233, -0.62659, 0.31618 ], [ 0.48211, 0.10945, -0.86925 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 47 }, "api_seconds": 6.005949119105935, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.155 }, "note": "Dark doors with white handles visible ahead; approach along view direction." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the door.", "joint_positions": [ 0.28228, -0.40621, -0.06477, -2.17056, 0.25768, 2.21355, -0.80782 ], "gripper_open": 0.9939, "tcp_xyz": [ 0.51641, 0.15439, 1.05085 ], "tcp_roll_pitch_yaw": [ 0.00666, -0.40023, 0.89438 ], "tcp_rotation_matrix": [ [ 0.51105, 0.77205, 0.37785 ], [ 0.71171, -0.62656, 0.31762 ], [ 0.48197, 0.10659, -0.86968 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 46 }, "api_seconds": 6.806017101742327, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "y": 0.2, "z": 0.93 }, "note": "Advance along gripper axis toward the dark panel with handles." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the door.", "joint_positions": [ 0.33044, -0.1603, -0.03631, -2.23723, 0.33616, 2.53046, -0.85562 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.56943, 0.19965, 0.93109 ], "tcp_roll_pitch_yaw": [ 0.00677, -0.40011, 0.89451 ], "tcp_rotation_matrix": [ [ 0.511, 0.77217, 0.37766 ], [ 0.71182, -0.62642, 0.31766 ], [ 0.48187, 0.1065, -0.86975 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 45 }, "api_seconds": 10.009144216775894, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.3, "z": 0.95, "yaw": 1.5, "pitch": -0.5 }, "note": "The dark panel was a robot part (fixed in view). Look toward +y where the sink cabinet is." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the door.", "joint_positions": [ 0.568, -0.46582, -0.07024, -2.47152, 0.59446, 2.35292, -1.36813 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40074, 0.29961, 0.94994 ], "tcp_roll_pitch_yaw": [ 0.00689, -0.49954, 1.49728 ], "tcp_rotation_matrix": [ [ 0.01359, 0.99047, 0.13706 ], [ 0.82406, -0.08873, 0.55951 ], [ 0.56634, 0.10535, -0.81741 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 44 }, "api_seconds": 9.809012641198933, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.45, "z": 0.7, "pitch": -0.9 }, "note": "Move toward +y and lower to find sink cabinet doors." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the door.", "joint_positions": [ 0.9803, 0.12423, -0.10645, -2.55735, 2.3647, 2.49913, -2.85979 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3002, 0.44946, 0.70068 ], "tcp_roll_pitch_yaw": [ 0.00745, -0.89836, 1.49711 ], "tcp_rotation_matrix": [ [ -0.00717, 0.98762, 0.15669 ], [ 0.5403, -0.12803, 0.83168 ], [ 0.84144, 0.09062, -0.53269 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 43 }, "api_seconds": 5.6053896229714155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.6, "pitch": -1.2 }, "note": "Gripper points toward sink cabinet (+y); dark door with handle visible at left. Approach and level out." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the door.", "joint_positions": [ 1.03746, 0.43708, -0.03933, -2.26652, 2.646, 2.22476, -2.98839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30012, 0.59905, 0.70064 ], "tcp_roll_pitch_yaw": [ 0.00756, -1.19793, 1.49718 ], "tcp_rotation_matrix": [ [ -0.02722, 0.98586, 0.16533 ], [ 0.26874, -0.15209, 0.95113 ], [ 0.96283, 0.07032, -0.2608 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 42 }, "api_seconds": 5.205199585296214, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32, "y": 0.72, "z": 0.67 }, "note": "White door with handle ahead in wrist view; approach along gripper axis." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the door.", "joint_positions": [ 1.1033, 0.73807, -0.01426, -1.80454, 2.69633, 2.39219, -2.95091 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3197, 0.71874, 0.67031 ], "tcp_roll_pitch_yaw": [ 0.00767, -1.19795, 1.49723 ], "tcp_rotation_matrix": [ [ -0.02722, 0.98589, 0.16518 ], [ 0.26871, -0.15194, 0.95116 ], [ 0.96284, 0.07028, -0.26078 ] ], "simulated_seconds_remaining": 10.89, "calls_remaining_including_this": 41 }, "api_seconds": 8.808266347274184, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.6, "yaw": 0.6, "z": 0.7 }, "note": "The white door is far away; dark cabinet with handles appears to the side. Rotate view toward +x to inspect it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the door.", "joint_positions": [ 1.1033, 0.73807, -0.01426, -1.80454, 2.69633, 2.39219, -2.95091 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3197, 0.71874, 0.67031 ], "tcp_roll_pitch_yaw": [ 0.00767, -1.19795, 1.49723 ], "tcp_rotation_matrix": [ [ -0.02722, 0.98589, 0.16518 ], [ 0.26871, -0.15194, 0.95116 ], [ 0.96284, 0.07028, -0.26078 ] ], "simulated_seconds_remaining": 10.89, "calls_remaining_including_this": 40 }, "api_seconds": 2.2028198689222336, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.1, "y": 0.6 }, "note": "Rotate view slightly toward +x to inspect the dark cabinet with handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "open the door.", "joint_positions": [ 1.1033, 0.73807, -0.01426, -1.80454, 2.69633, 2.39219, -2.95091 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3197, 0.71874, 0.67031 ], "tcp_roll_pitch_yaw": [ 0.00767, -1.19795, 1.49723 ], "tcp_rotation_matrix": [ [ -0.02722, 0.98589, 0.16518 ], [ 0.26871, -0.15194, 0.95116 ], [ 0.96284, 0.07028, -0.26078 ] ], "simulated_seconds_remaining": 10.89, "calls_remaining_including_this": 39 }, "api_seconds": 2.402986256405711, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.55, "x": 0.35 }, "note": "Back off to regain dexterity." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the door.", "joint_positions": [ 0.94677, 0.50156, -0.09937, -2.28168, 2.50872, 2.11058, -2.95596 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34992, 0.5512, 0.67027 ], "tcp_roll_pitch_yaw": [ 0.00756, -1.19781, 1.49705 ], "tcp_rotation_matrix": [ [ -0.02718, 0.98584, 0.16546 ], [ 0.26886, -0.15221, 0.95108 ], [ 0.9628, 0.07033, -0.26091 ] ], "simulated_seconds_remaining": 9.438, "calls_remaining_including_this": 38 }, "api_seconds": 8.810584846884012, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "z": 0.6 }, "note": "Dark cabinet with knob appears to +x/lower side; shift toward it." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the door.", "joint_positions": [ 0.84059, 0.84524, -0.17539, -1.88637, 2.3433, 2.06045, -2.81092 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47887, 0.5511, 0.60059 ], "tcp_roll_pitch_yaw": [ 0.00757, -1.1977, 1.49685 ], "tcp_rotation_matrix": [ [ -0.02711, 0.98581, 0.16563 ], [ 0.26897, -0.15239, 0.95102 ], [ 0.96277, 0.07034, -0.26102 ] ], "simulated_seconds_remaining": 8.184, "calls_remaining_including_this": 37 }, "api_seconds": 4.607177362777293, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "z": 0.68 }, "note": "Handle-like white marks at upper-left (+x, up); shift toward them." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the door.", "joint_positions": [ 0.79544, 0.83616, -0.24813, -1.66967, 2.15573, 2.12494, -2.54728 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57905, 0.55106, 0.67929 ], "tcp_roll_pitch_yaw": [ 0.00688, -1.19784, 1.49737 ], "tcp_rotation_matrix": [ [ -0.02733, 0.98578, 0.16581 ], [ 0.26885, -0.15251, 0.95103 ], [ 0.96279, 0.07057, -0.26086 ] ], "simulated_seconds_remaining": 7.062, "calls_remaining_including_this": 36 }, "api_seconds": 3.603627985343337, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably locate a reachable door handle; the white door seen ahead appears out of reach and simulated time is nearly exhausted (~7 s). Door not opened." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 040 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 40, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 40, "wall_seconds": 231.37, "usage": { "input_tokens": 86, "output_tokens": 10923, "cache_read_input_tokens": 752936, "cache_creation_input_tokens": 32334, "thinking_tokens": 5803, "cost_usd": 0.6280632000000002 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y6njq8p8JN7Q1PembkRbbV", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D6u94CE5UoM1vHhzTmBJ3W", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57 }, "note": "Rotate gripper to point forward to view and approach cabinet handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 489, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 489 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NqJdG9BtAgJaZDSb9oU7zJ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "x": 0.4, "z": 0.95 }, "note": "Try partial pitch forward while moving out." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 985, "cache_read_input_tokens": 2514, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 985 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QYrQiYGFYurEdew9jY5g6v", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5 }, "note": "Small pitch test to determine feasible direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 665, "cache_read_input_tokens": 3499, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 665 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Wv7KGgC2t8S6F8z2Y7G3fb", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1 }, "note": "Continue pitching forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 4164, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 691 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm still tilting the gripper to point forward so it can reach the cabinet handle. The last tilt was rejected as out of reach, so now I'm trying it lower and further forward." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 4855, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0175QpPgvKqUbyxrEW2jPEyA", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "z": 0.8, "x": 0.4 }, "note": "Lower and forward to make forward-pointing pose reachable." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 4855, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011SzVREU4tm1iRLwj8Hmtx6", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85, "x": 0.4 }, "note": "Translate only, lower and forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 5545, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 729 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018mgfJmvbHshkfAm9gH3Wyg", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Pitch more forward now that arm is extended." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 651, "cache_read_input_tokens": 6274, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 651 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AbsmQja6yKEoxg9W8NzEBH", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Smaller pitch increment." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 687, "cache_read_input_tokens": 6925, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 687 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HDy4wjkrTQr9XZVRamqqa2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Extend arm to relieve elbow limit, approach cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 821, "cache_read_input_tokens": 7612, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 821 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01S1CbJzwzTf1hyYGWGdY5uY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "z": 0.7, "roll": 0, "pitch": -0.7, "yaw": 0 }, "note": "Contact detected; back off and go lower to see handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 8433, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm backing the gripper away from the cabinet surface it bumped, so I can get a clearer view of where the handles are." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 931, "cache_read_input_tokens": 9209, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 931 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NrsrLQ6iZRPfdnducQvfxY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "roll": 0, "yaw": 0, "pitch": -0.6 }, "note": "Back off slightly from contact." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 931, "cache_read_input_tokens": 9209, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 931 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TDPZ6AK72cwtmZg767K9Vt", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92, "x": 0.36 }, "note": "Raise to look for handles in wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 10140, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Bb4SyxqYiHFrBW2iT31kpy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 0.86 }, "note": "Handle visible between fingers; approach it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1146, "cache_read_input_tokens": 10959, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1146 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0188o6pf9uhbWzGJ3EXFHfSa", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.44, "z": 0.84 }, "note": "Push slightly further toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 962, "cache_read_input_tokens": 12105, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 962 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T1rSDK7Dydeyp7jLFpp4zB", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp of handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 13067, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019LqpJSg27a3mriDKF5NS7M", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36 }, "note": "Grasped handle (gripper stopped at 0.43); pull back." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 672, "cache_read_input_tokens": 13765, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 672 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper closed on the handle. My first straight pull-back was rejected as out of reach, so I'm pulling back while raising a little, a pose that worked earlier." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 728, "cache_read_input_tokens": 14437, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 728 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011ZatKkw1usAh34YsaLDwAd", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.39, "z": 0.88, "pitch": -0.6, "yaw": 0, "roll": 0 }, "note": "Pull back along reachable path." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 728, "cache_read_input_tokens": 14437, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 728 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UhsYHT2r28BnLihz9QSL1w", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1 }, "note": "Slipped off handle; reopen to regrasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 15165, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 790 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01653yXDrwGH3DF14aqeTghy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.43, "z": 0.825 }, "note": "Handle centered between fingers; advance along gripper axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1280, "cache_read_input_tokens": 15955, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1280 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01P585efy1JcKqKignBXAwDC", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 817, "cache_read_input_tokens": 17235, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 817 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VUsU6hy42vqQHbhfRmjVgU", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 18052, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 636 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VcQbdhF6DY4P4rKSq2Lrfx", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.39, "z": 0.855, "pitch": -0.6, "roll": 0, "yaw": 0 }, "note": "Gripper holding something at 0.83; pull back." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 582, "cache_read_input_tokens": 18688, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 582 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm regrasping the handle. The last pull let go because I didn't send the gripper close command with it, so from now on every pull will include it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 756, "cache_read_input_tokens": 19270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 756 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QXe2nhKXUedJWqW73GprCW", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.435, "z": 0.825, "gripper": 1 }, "note": "Return to grasp pose around handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 756, "cache_read_input_tokens": 19270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 756 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F7DwL7DPBv5sRVBPcWMBQf", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 20026, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019nfNqxjPFQGme5PCr4Z7XS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.39, "z": 0.855, "gripper": 0 }, "note": "Pull back while keeping gripper closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 604, "cache_read_input_tokens": 20854, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 604 }, "output_tokens": 26, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01T8XNAGz9pRG8G3Qurkstow", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.34, "z": 0.9, "gripper": 0 }, "note": "Handle seems held and moving; keep pulling." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 627, "cache_read_input_tokens": 21458, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 627 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BpYg91KpZAkqZFS9xjAQ64", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.86, "gripper": 1 }, "note": "Lost grip; reopen and reposition to regrasp deeper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 782, "cache_read_input_tokens": 22085, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 782 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PxXtNrgy1DCAhqgWzfLMw4", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.447, "z": 0.8, "gripper": 1 }, "note": "Advance deeper along gripper axis around handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1056, "cache_read_input_tokens": 22867, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1056 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've pushed the fingers deeper around the handle, and the door looks slightly ajar. Closing the gripper now." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 23923, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 695 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ujv5B9J5Caa3FBAkx7KLNF", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close deeper on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 23923, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 695 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Loanb3XBKgqtvhKEgvA35P", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.83, "gripper": 0 }, "note": "Pull back with gripper closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 24618, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018d1AwrTAw3Gdp1t4Yh6XgL", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.36, "z": 0.87, "gripper": 0 }, "note": "Seems held; continue pulling." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 25308, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018YXG7L8SBHuS3xWuwrYWNt", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "z": 0.8, "gripper": 1 }, "note": "Slipping off handle top; reopen and go lower on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 730, "cache_read_input_tokens": 25992, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 730 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016N4xE1h7JGyQRfJTGfm1j7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.765, "gripper": 1 }, "note": "Advance to lower part of handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1311, "cache_read_input_tokens": 26722, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1311 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VjLuJpnKgmV7a1z37duR92", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "At lower handle position; close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 675, "cache_read_input_tokens": 28033, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 675 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I have a lower grip on the handle, since my earlier grips slid off its top. Now pulling straight back with the gripper closed." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 663, "cache_read_input_tokens": 28708, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 663 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012z83QX3oKfttfNGTyNdpzN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.765, "gripper": 0 }, "note": "Pull horizontally to avoid sliding off handle top." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 663, "cache_read_input_tokens": 28708, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 663 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015K2wfDTVVdc3N1pSHWrmWb", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.37, "y": 0.07, "z": 0.8, "gripper": 0 }, "note": "Holding handle with drift in +y; follow arc." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 710, "cache_read_input_tokens": 29371, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 710 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JbNyvuLav27pAXqddZ8H8D", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.37, "y": 0.065, "z": 0.83, "roll": 0, "pitch": -0.55, "yaw": 0.05, "gripper": 0 }, "note": "Retry pull with reachable height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 717, "cache_read_input_tokens": 30081, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 717 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017uYzq17YcF1hYS6axVuSK8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": 0.05, "z": 0.755, "roll": 0, "pitch": -0.55, "yaw": 0.05, "gripper": 1 }, "note": "Lost grip; reapproach low on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 712, "cache_read_input_tokens": 30798, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 712 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017SHoNshw8QaVhNVCMdVH82", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on lower handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 909, "cache_read_input_tokens": 31510, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 909 }, "output_tokens": 28, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Lp1zmf9Y2vj1o2i94Aq4Gy", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.39, "y": 0.075, "z": 0.77, "gripper": 0 }, "note": "Grip at 0.38; pull back along arc." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 606, "cache_read_input_tokens": 32419, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 606 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AyWM73srJhDiK178ug67TA", "name": "mcp__robot__give_up", "input": { "note": "Repeated grasps of the vertical cabinet handle slipped off during pulling due to steep downward gripper angle limited by joint limits; motion time nearly exhausted without opening the door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 667, "cache_read_input_tokens": 33025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 667 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I couldn't open the cabinet: the door never opened and I ended the episode as a give-up with about 2.8 seconds of motion time left.\n\nThe gripper closed on one of the vertical door handles about five times, but every pull slipped off within one or two moves. The door may have moved very slightly, but not enough to count as open.\n\n- **Why the grip kept failing:** the arm's joint limits wouldn't let me level the gripper to face the handle. The furthest it would tilt from pointing straight down was about 0.7 rad (roughly 40°). So only the fingertips caught the handle, mostly near its top end, and the upward, backward pulls slid off it.\n- **My error:** one pull opened the gripper and dropped the handle because I left the gripper setting out of the command. From then on I included the close command in every pull.\n- **Last attempts:** gripping lower on the handle and pulling nearly level held briefly, but the next pull further back was either out of reach or slipped off." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 195, "cache_read_input_tokens": 33692, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 195 }, "output_tokens": 313, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 86, "cache_creation_input_tokens": 32334, "cache_read_input_tokens": 752936, "output_tokens": 10923, "output_tokens_details": { "thinking_tokens": 5803 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 32334, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 313, "cache_read_input_tokens": 33692, "cache_creation_input_tokens": 195, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 195 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 86, "outputTokens": 10923, "cacheReadInputTokens": 752936, "cacheCreationInputTokens": 32334, "webSearchRequests": 0, "costUSD": 0.6280632000000002, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5803, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.6280632000000002, "num_turns": 43, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00809, -0.79818, -0.01375, -2.3458, 0.04471, 1.42983, 0.0878 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27004, 0.00638, 1.01387 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98775, -0.10365, -0.11662 ], [ -0.09764, -0.99364, 0.05609 ], [ -0.12169, -0.04402, -0.99159 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.816286195069551, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57 }, "note": "Rotate gripper to point forward to view and approach cabinet handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00809, -0.79818, -0.01375, -2.3458, 0.04471, 1.42983, 0.0878 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27004, 0.00638, 1.01387 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98775, -0.10365, -0.11662 ], [ -0.09764, -0.99364, 0.05609 ], [ -0.12169, -0.04402, -0.99159 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.4034901186823845, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "x": 0.4, "z": 0.95 }, "note": "Try partial pitch forward while moving out." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00809, -0.79818, -0.01375, -2.3458, 0.04471, 1.42983, 0.0878 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27004, 0.00638, 1.01387 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98775, -0.10365, -0.11662 ], [ -0.09764, -0.99364, 0.05609 ], [ -0.12169, -0.04402, -0.99159 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 3.80357626080513, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5 }, "note": "Small pitch test to determine feasible direction." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01234, -1.26423, -0.0135, -2.68889, 0.0516, 1.80211, 0.06606 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26999, 0.00638, 1.01388 ], "tcp_roll_pitch_yaw": [ -0.0, -0.49588, 2e-05 ], "tcp_rotation_matrix": [ [ 0.92668, -0.0702, 0.36924 ], [ -0.09763, -0.99364, 0.05609 ], [ 0.36295, -0.08803, -0.92764 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 54 }, "api_seconds": 3.4033387824892998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1 }, "note": "Continue pitching forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01234, -1.26423, -0.0135, -2.68889, 0.0516, 1.80211, 0.06606 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26999, 0.00638, 1.01388 ], "tcp_roll_pitch_yaw": [ -0.0, -0.49588, 2e-05 ], "tcp_rotation_matrix": [ [ 0.92668, -0.0702, 0.36924 ], [ -0.09763, -0.99364, 0.05609 ], [ 0.36295, -0.08803, -0.92764 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 53 }, "api_seconds": 4.405715144239366, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "z": 0.8, "x": 0.4 }, "note": "Lower and forward to make forward-pointing pose reachable." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01234, -1.26423, -0.0135, -2.68889, 0.0516, 1.80211, 0.06606 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26999, 0.00638, 1.01388 ], "tcp_roll_pitch_yaw": [ -0.0, -0.49588, 2e-05 ], "tcp_rotation_matrix": [ [ 0.92668, -0.0702, 0.36924 ], [ -0.09763, -0.99364, 0.05609 ], [ 0.36295, -0.08803, -0.92764 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 52 }, "api_seconds": 3.203049810603261, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "x": 0.4 }, "note": "Translate only, lower and forward." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01323, -0.7144, -0.01909, -2.87181, 0.07885, 2.53418, 0.02742 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39912, 0.00639, 0.85094 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.49551, 2e-05 ], "tcp_rotation_matrix": [ [ 0.92682, -0.07022, 0.36889 ], [ -0.09762, -0.99364, 0.05612 ], [ 0.3626, -0.08803, -0.92778 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 51 }, "api_seconds": 3.603850085288286, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Pitch more forward now that arm is extended." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01323, -0.7144, -0.01909, -2.87181, 0.07885, 2.53418, 0.02742 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39912, 0.00639, 0.85094 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.49551, 2e-05 ], "tcp_rotation_matrix": [ [ 0.92682, -0.07022, 0.36889 ], [ -0.09762, -0.99364, 0.05612 ], [ 0.3626, -0.08803, -0.92778 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 50 }, "api_seconds": 5.404679193161428, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Smaller pitch increment." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0321, -0.81286, -0.02972, -3.03693, 0.09546, 2.8019, 0.0058 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39906, 0.00641, 0.85081 ], "tcp_roll_pitch_yaw": [ 6e-05, -0.696, 7e-05 ], "tcp_rotation_matrix": [ [ 0.83605, -0.05121, 0.54627 ], [ -0.09758, -0.99364, 0.05618 ], [ 0.53991, -0.10028, -0.83573 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 49 }, "api_seconds": 4.203902151435614, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Extend arm to relieve elbow limit, approach cabinet." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.16689, -0.49353, -0.16344, -2.805, 0.16307, 2.71288, -0.06713 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44479, 0.02168, 0.82378 ], "tcp_roll_pitch_yaw": [ 0.09349, -0.51871, -0.00407 ], "tcp_rotation_matrix": [ [ 0.92205, -0.02631, 0.38618 ], [ -0.08961, -0.98509, 0.14684 ], [ 0.37656, -0.17, -0.91066 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 48 }, "api_seconds": 6.405343418009579, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.7, "roll": 0, "pitch": -0.7, "yaw": 0 }, "note": "Contact detected; back off and go lower to see handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.16689, -0.49353, -0.16344, -2.805, 0.16307, 2.71288, -0.06713 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44479, 0.02168, 0.82378 ], "tcp_roll_pitch_yaw": [ 0.09349, -0.51871, -0.00407 ], "tcp_rotation_matrix": [ [ 0.92205, -0.02631, 0.38618 ], [ -0.08961, -0.98509, 0.14684 ], [ 0.37656, -0.17, -0.91066 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 47 }, "api_seconds": 5.004231136292219, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "roll": 0, "yaw": 0, "pitch": -0.6 }, "note": "Back off slightly from contact." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.05982, -0.69895, -0.01242, -2.99469, 0.07804, 2.77792, 0.06568 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40088, 0.02176, 0.82381 ], "tcp_roll_pitch_yaw": [ 0.00208, -0.59825, -2e-05 ], "tcp_rotation_matrix": [ [ 0.88485, -0.05971, 0.46203 ], [ -0.0974, -0.99355, 0.05815 ], [ 0.45558, -0.09645, -0.88496 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 46 }, "api_seconds": 9.407670547254384, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "x": 0.36 }, "note": "Raise to look for handles in wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.03789, -1.03486, 0.0036, -2.90726, 0.06006, 2.35485, 0.09197 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36061, 0.02176, 0.91892 ], "tcp_roll_pitch_yaw": [ 0.00211, -0.59866, -3e-05 ], "tcp_rotation_matrix": [ [ 0.88467, -0.05967, 0.46239 ], [ -0.09741, -0.99354, 0.05817 ], [ 0.45594, -0.0965, -0.88476 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 45 }, "api_seconds": 6.60542662627995, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.86 }, "note": "Handle visible between fingers; approach it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.05121, -0.69991, -0.00902, -2.89014, 0.07195, 2.67223, 0.07014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41903, 0.02176, 0.86083 ], "tcp_roll_pitch_yaw": [ 0.00213, -0.59831, -3e-05 ], "tcp_rotation_matrix": [ [ 0.88482, -0.05969, 0.46208 ], [ -0.09741, -0.99354, 0.05819 ], [ 0.45563, -0.0965, -0.88492 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 44 }, "api_seconds": 3.8030896661803126, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "z": 0.84 }, "note": "Push slightly further toward handle." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06041, -0.57687, -0.01761, -2.86611, 0.07894, 2.77101, 0.06016 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43905, 0.02176, 0.84083 ], "tcp_roll_pitch_yaw": [ 0.00214, -0.59804, -3e-05 ], "tcp_rotation_matrix": [ [ 0.88495, -0.05971, 0.46184 ], [ -0.09741, -0.99354, 0.0582 ], [ 0.45539, -0.09649, -0.88505 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 43 }, "api_seconds": 3.8080909699201584, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp of handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0727, -0.58284, -0.00495, -2.86377, 0.07766, 2.77035, 0.05869 ], "gripper_open": 0.4353, "tcp_xyz": [ 0.43967, 0.03139, 0.84461 ], "tcp_roll_pitch_yaw": [ -0.00777, -0.60618, 0.03063 ], "tcp_rotation_matrix": [ [ 0.88327, -0.03404, 0.46763 ], [ -0.07157, -0.99546, 0.06273 ], [ 0.46337, -0.08888, -0.88169 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 42 }, "api_seconds": 4.203976990655065, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36 }, "note": "Grasped handle (gripper stopped at 0.43); pull back." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.0727, -0.58284, -0.00495, -2.86377, 0.07766, 2.77035, 0.05869 ], "gripper_open": 0.4353, "tcp_xyz": [ 0.43967, 0.03139, 0.84461 ], "tcp_roll_pitch_yaw": [ -0.00777, -0.60618, 0.03063 ], "tcp_rotation_matrix": [ [ 0.88327, -0.03404, 0.46763 ], [ -0.07157, -0.99546, 0.06273 ], [ 0.46337, -0.08888, -0.88169 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 41 }, "api_seconds": 4.403665250167251, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "z": 0.88, "pitch": -0.6, "yaw": 0, "roll": 0 }, "note": "Pull back along reachable path." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04976, -0.85032, 0.02035, -2.93327, 0.07007, 2.55556, 0.10614 ], "gripper_open": 0.1097, "tcp_xyz": [ 0.38877, 0.02902, 0.87402 ], "tcp_roll_pitch_yaw": [ -0.0006, -0.58807, -0.00362 ], "tcp_rotation_matrix": [ [ 0.88894, -0.06575, 0.45328 ], [ -0.10093, -0.99343, 0.05385 ], [ 0.44676, -0.09362, -0.88974 ] ], "simulated_seconds_remaining": 21.12, "calls_remaining_including_this": 40 }, "api_seconds": 10.808690699748695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1 }, "note": "Slipped off handle; reopen to regrasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.04976, -0.85032, 0.02035, -2.93327, 0.07007, 2.55556, 0.10614 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.38876, 0.02902, 0.87403 ], "tcp_roll_pitch_yaw": [ -0.0006, -0.58807, -0.00363 ], "tcp_rotation_matrix": [ [ 0.88894, -0.06575, 0.45329 ], [ -0.10094, -0.99343, 0.05385 ], [ 0.44677, -0.09362, -0.88974 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 39 }, "api_seconds": 5.004212809726596, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43, "z": 0.825 }, "note": "Handle centered between fingers; advance along gripper axis." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06343, -0.57903, 0.01032, -2.90241, 0.08048, 2.80088, 0.08714 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43026, 0.03095, 0.82813 ], "tcp_roll_pitch_yaw": [ -0.00212, -0.59311, 0.00207 ], "tcp_rotation_matrix": [ [ 0.88715, -0.06046, 0.4575 ], [ -0.09606, -0.99386, 0.05494 ], [ 0.45137, -0.09268, -0.88751 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 38 }, "api_seconds": 3.2039505876600742, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07168, -0.58267, 0.01791, -2.89751, 0.08048, 2.80302, 0.08659 ], "gripper_open": 0.8285, "tcp_xyz": [ 0.43242, 0.03709, 0.83274 ], "tcp_roll_pitch_yaw": [ -0.00678, -0.60405, 0.01972 ], "tcp_rotation_matrix": [ [ 0.88347, -0.04452, 0.46636 ], [ -0.08106, -0.99499, 0.05857 ], [ 0.46142, -0.08955, -0.88265 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 37 }, "api_seconds": 7.206456609070301, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "z": 0.855, "pitch": -0.6, "roll": 0, "yaw": 0 }, "note": "Gripper holding something at 0.83; pull back." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06403, -0.81028, 0.03608, -2.97174, 0.07984, 2.64685, 0.11811 ], "gripper_open": 0.9962, "tcp_xyz": [ 0.39122, 0.0371, 0.85449 ], "tcp_roll_pitch_yaw": [ -0.00017, -0.60038, 0.00057 ], "tcp_rotation_matrix": [ [ 0.88381, -0.06018, 0.46395 ], [ -0.09716, -0.99368, 0.05619 ], [ 0.45764, -0.09474, -0.88408 ] ], "simulated_seconds_remaining": 17.952, "calls_remaining_including_this": 36 }, "api_seconds": 5.004351195879281, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.435, "z": 0.825, "gripper": 1 }, "note": "Return to grasp pose around handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06798, -0.55831, 0.02396, -2.8997, 0.08494, 2.82641, 0.10082 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43395, 0.0371, 0.82563 ], "tcp_roll_pitch_yaw": [ -0.00015, -0.60013, 0.00055 ], "tcp_rotation_matrix": [ [ 0.88392, -0.06022, 0.46374 ], [ -0.09717, -0.99368, 0.05619 ], [ 0.45742, -0.09473, -0.88419 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 35 }, "api_seconds": 2.8025225903838873, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07654, -0.56136, 0.03199, -2.8955, 0.08457, 2.82809, 0.10023 ], "gripper_open": 0.6884, "tcp_xyz": [ 0.4356, 0.04362, 0.8295 ], "tcp_roll_pitch_yaw": [ -0.00526, -0.60936, 0.01959 ], "tcp_rotation_matrix": [ [ 0.88108, -0.04332, 0.47098 ], [ -0.08104, -0.9949, 0.06011 ], [ 0.46597, -0.09113, -0.88009 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 34 }, "api_seconds": 3.0027768686413765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "z": 0.855, "gripper": 0 }, "note": "Pull back while keeping gripper closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06781, -0.80745, 0.038, -2.98531, 0.08008, 2.65678, 0.11822 ], "gripper_open": 0.4012, "tcp_xyz": [ 0.38817, 0.0384, 0.84769 ], "tcp_roll_pitch_yaw": [ -0.00269, -0.59399, 0.00612 ], "tcp_rotation_matrix": [ [ 0.88711, -0.05667, 0.45807 ], [ -0.09254, -0.99412, 0.05623 ], [ 0.45219, -0.09227, -0.88714 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 33 }, "api_seconds": 4.603990976698697, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.34, "z": 0.9, "gripper": 0 }, "note": "Handle seems held and moving; keep pulling." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06779, -1.11509, 0.04472, -2.98614, 0.07261, 2.3505, 0.138 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34076, 0.0384, 0.89934 ], "tcp_roll_pitch_yaw": [ -0.00266, -0.59429, 0.00611 ], "tcp_rotation_matrix": [ [ 0.88697, -0.05664, 0.45834 ], [ -0.09255, -0.99412, 0.05625 ], [ 0.45246, -0.09231, -0.887 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 32 }, "api_seconds": 8.206590912304819, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.86, "gripper": 1 }, "note": "Lost grip; reopen and reposition to regrasp deeper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.06394, -0.78265, 0.03607, -2.93618, 0.07725, 2.63245, 0.11661 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.39875, 0.0384, 0.86075 ], "tcp_roll_pitch_yaw": [ -0.00266, -0.59406, 0.0061 ], "tcp_rotation_matrix": [ [ 0.88708, -0.05667, 0.45813 ], [ -0.09256, -0.99412, 0.05625 ], [ 0.45225, -0.0923, -0.8871 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 31 }, "api_seconds": 3.8034067852422595, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.447, "z": 0.8, "gripper": 1 }, "note": "Advance deeper along gripper axis around handle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07857, -0.45063, 0.01738, -2.89119, 0.08944, 2.91577, 0.08873 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44372, 0.03864, 0.80038 ], "tcp_roll_pitch_yaw": [ -0.00488, -0.59061, 0.01113 ], "tcp_rotation_matrix": [ [ 0.88896, -0.05322, 0.45487 ], [ -0.08835, -0.9945, 0.05631 ], [ 0.44937, -0.09025, -0.88877 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 30 }, "api_seconds": 3.603310627862811, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close deeper on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.08237, -0.45674, 0.02093, -2.89358, 0.08816, 2.91249, 0.08706 ], "gripper_open": 0.7951, "tcp_xyz": [ 0.44248, 0.04156, 0.80122 ], "tcp_roll_pitch_yaw": [ -0.00848, -0.59129, 0.02274 ], "tcp_rotation_matrix": [ [ 0.88944, -0.0436, 0.45497 ], [ -0.07847, -0.99523, 0.05804 ], [ 0.45027, -0.08732, -0.88861 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 29 }, "api_seconds": 4.003561199642718, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.83, "gripper": 0 }, "note": "Pull back with gripper closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07822, -0.69837, 0.03826, -2.98608, 0.08349, 2.7259, 0.1062 ], "gripper_open": 0.4167, "tcp_xyz": [ 0.39232, 0.04212, 0.81794 ], "tcp_roll_pitch_yaw": [ -0.01062, -0.55381, 0.027 ], "tcp_rotation_matrix": [ [ 0.90591, -0.04369, 0.42122 ], [ -0.0745, -0.99559, 0.05695 ], [ 0.41688, -0.08297, -0.90517 ] ], "simulated_seconds_remaining": 10.956, "calls_remaining_including_this": 28 }, "api_seconds": 4.203688415698707, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "z": 0.87, "gripper": 0 }, "note": "Seems held; continue pulling." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07478, -0.94972, 0.04478, -2.97651, 0.07547, 2.4654, 0.12268 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36075, 0.04212, 0.86896 ], "tcp_roll_pitch_yaw": [ -0.0106, -0.55406, 0.027 ], "tcp_rotation_matrix": [ [ 0.9058, -0.04366, 0.42145 ], [ -0.0745, -0.99559, 0.05697 ], [ 0.4171, -0.083, -0.90506 ] ], "simulated_seconds_remaining": 10.032, "calls_remaining_including_this": 27 }, "api_seconds": 11.609450393356383, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.8, "gripper": 1 }, "note": "Slipping off handle top; reopen and go lower on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.07981, -0.53779, 0.02973, -2.93224, 0.08625, 2.83298, 0.09407 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.41921, 0.04225, 0.80109 ], "tcp_roll_pitch_yaw": [ -0.01072, -0.55423, 0.02743 ], "tcp_rotation_matrix": [ [ 0.90575, -0.04329, 0.42159 ], [ -0.07413, -0.99562, 0.05704 ], [ 0.41727, -0.08291, -0.90499 ] ], "simulated_seconds_remaining": 9.108, "calls_remaining_including_this": 26 }, "api_seconds": 3.6031309701502323, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.765, "gripper": 1 }, "note": "Advance to lower part of handle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.09687, -0.32742, 0.00912, -2.88117, 0.09838, 2.9749, 0.07026 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44336, 0.04223, 0.76173 ], "tcp_roll_pitch_yaw": [ -0.01274, -0.53703, 0.03251 ], "tcp_rotation_matrix": [ [ 0.91307, -0.04066, 0.40578 ], [ -0.06954, -0.99597, 0.05667 ], [ 0.40184, -0.07996, -0.91221 ] ], "simulated_seconds_remaining": 8.514, "calls_remaining_including_this": 25 }, "api_seconds": 3.2030358090996742, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At lower handle position; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10207, -0.33331, 0.01454, -2.88348, 0.09657, 2.97216, 0.06884 ], "gripper_open": 0.6568, "tcp_xyz": [ 0.44215, 0.04658, 0.76274 ], "tcp_roll_pitch_yaw": [ -0.01639, -0.53806, 0.04764 ], "tcp_rotation_matrix": [ [ 0.91343, -0.02736, 0.40606 ], [ -0.05619, -0.99666, 0.05924 ], [ 0.40309, -0.07693, -0.91192 ] ], "simulated_seconds_remaining": 7.59, "calls_remaining_including_this": 24 }, "api_seconds": 4.004233635030687, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.765, "gripper": 0 }, "note": "Pull horizontally to avoid sliding off handle top." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10987, -0.49347, 0.03788, -3.00051, 0.0954, 2.9389, 0.08427 ], "gripper_open": 0.258, "tcp_xyz": [ 0.40314, 0.05231, 0.76879 ], "tcp_roll_pitch_yaw": [ -0.02122, -0.54801, 0.06642 ], "tcp_rotation_matrix": [ [ 0.91007, -0.01037, 0.41433 ], [ -0.03989, -0.99724, 0.06267 ], [ 0.41253, -0.07356, -0.90797 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 23 }, "api_seconds": 4.003757947124541, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.37, "y": 0.07, "z": 0.8, "gripper": 0 }, "note": "Holding handle with drift in +y; follow arc." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 36, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.10987, -0.49347, 0.03788, -3.00051, 0.0954, 2.9389, 0.08427 ], "gripper_open": 0.258, "tcp_xyz": [ 0.40314, 0.05231, 0.76879 ], "tcp_roll_pitch_yaw": [ -0.02122, -0.54801, 0.06642 ], "tcp_rotation_matrix": [ [ 0.91007, -0.01037, 0.41433 ], [ -0.03989, -0.99724, 0.06267 ], [ 0.41253, -0.07356, -0.90797 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 22 }, "api_seconds": 4.003452959470451, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.37, "y": 0.065, "z": 0.83, "roll": 0, "pitch": -0.55, "yaw": 0.05, "gripper": 0 }, "note": "Retry pull with reachable height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.12373, -0.81338, 0.06831, -3.01576, 0.10383, 2.63837, 0.13721 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37055, 0.06484, 0.8292 ], "tcp_roll_pitch_yaw": [ -0.00029, -0.55027, 0.05026 ], "tcp_rotation_matrix": [ [ 0.90933, -0.01548, 0.41579 ], [ -0.05206, -0.99569, 0.07679 ], [ 0.41281, -0.09147, -0.90621 ] ], "simulated_seconds_remaining": 5.742, "calls_remaining_including_this": 21 }, "api_seconds": 5.804492073133588, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.05, "z": 0.755, "roll": 0, "pitch": -0.55, "yaw": 0.05, "gripper": 1 }, "note": "Lost grip; reapproach low on handle." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 38, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.15773, -0.29469, -0.03219, -2.88134, 0.13273, 3.00373, 0.02562 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44288, 0.05121, 0.75221 ], "tcp_roll_pitch_yaw": [ -0.00161, -0.53276, 0.05832 ], "tcp_rotation_matrix": [ [ 0.91674, -0.0097, 0.39937 ], [ -0.04447, -0.99597, 0.07791 ], [ 0.39701, -0.08918, -0.91347 ] ], "simulated_seconds_remaining": 4.686, "calls_remaining_including_this": 20 }, "api_seconds": 3.002844917587936, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on lower handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 39, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.1652, -0.30053, -0.02405, -2.88317, 0.13028, 3.0009, 0.02453 ], "gripper_open": 0.3773, "tcp_xyz": [ 0.44156, 0.05776, 0.75347 ], "tcp_roll_pitch_yaw": [ -0.00575, -0.53428, 0.07901 ], "tcp_rotation_matrix": [ [ 0.91669, 0.00896, 0.39949 ], [ -0.02607, -0.99628, 0.08217 ], [ 0.39874, -0.08574, -0.91305 ] ], "simulated_seconds_remaining": 3.762, "calls_remaining_including_this": 19 }, "api_seconds": 3.202978292480111, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "y": 0.075, "z": 0.77, "gripper": 0 }, "note": "Grip at 0.38; pull back along arc." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 40, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.15171, -0.52905, 0.06476, -3.01492, 0.11951, 2.90549, 0.11319 ], "gripper_open": 0.0, "tcp_xyz": [ 0.39112, 0.07465, 0.76966 ], "tcp_roll_pitch_yaw": [ -0.00576, -0.53434, 0.07908 ], "tcp_rotation_matrix": [ [ 0.91667, 0.00903, 0.39954 ], [ -0.02601, -0.99628, 0.0822 ], [ 0.3988, -0.08574, -0.91302 ] ], "simulated_seconds_remaining": 2.838, "calls_remaining_including_this": 18 }, "api_seconds": 3.402908875606954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasps of the vertical cabinet handle slipped off during pulling due to steep downward gripper angle limited by joint limits; motion time nearly exhausted without opening the door." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 041 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 41, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 28, "wall_seconds": 172.51, "usage": { "input_tokens": 60, "output_tokens": 10365, "cache_read_input_tokens": 399944, "cache_creation_input_tokens": 24956, "thinking_tokens": 6569, "cost_usd": 0.48717679999999997 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TJnj4xdaVTijwh3PC2LfbN", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YFPno7QXHafBw3rD8zUDZ5", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.57 }, "note": "Gripper points down; rotate to face forward (+x) to look for the cabinet handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014Hx1A6eFTfydEEtseLEtFe", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "z": 0.95 }, "note": "Partial pitch toward forward while lowering, to see the cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 922, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 922 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VK8NELN6pu43L81UgaH6YQ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Small pitch test to learn the direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 653, "cache_read_input_tokens": 3433, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 653 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NUNMeyR5bb1e6qo5m3h7L1", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9, "z": 0.95 }, "note": "Handle visible ahead in wrist view; continue rotating toward horizontal and lower." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 646, "cache_read_input_tokens": 4086, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 646 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working out how the arm can reach. I'm lowering the gripper before I tilt it further toward the cabinet handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 4732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ri16UY7apZH4CQucJwpM1S", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9, "x": 0.4 }, "note": "Lower and move slightly forward toward the cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 4732, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QibqZXGZWCZNgubzoFQgBV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "pitch": -0.8 }, "note": "Extend forward to unfold arm while pitching toward horizontal." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 5551, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 741 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019BYD6G5dEQ2yqQUzg3eYaV", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56 }, "note": "Handle near center of wrist view; approach forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 732, "cache_read_input_tokens": 6292, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 732 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XRnXyznkipfKNVeSJkQMnA", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Arm extended; try tilting gripper closer to horizontal to face the vertical handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 926, "cache_read_input_tokens": 7024, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 926 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DYjVhUi7fBp3ffHDchwwBq", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62 }, "note": "Gripper horizontal, handle between fingers in wrist view; advance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 726, "cache_read_input_tokens": 7950, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 726 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GqDc7AH237TFpJXXPZjthw", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Motion stopped short, likely at the handle/door; attempt to close on handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 781, "cache_read_input_tokens": 8676, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 781 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm lining the gripper up with the cabinet's vertical handle. It looks like it sits a bit higher than the gripper, so I'm opening the gripper, backing off, and raising it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 787, "cache_read_input_tokens": 9457, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 787 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NKEN4hrkB65xg3CRWFC29n", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.53, "z": 0.98 }, "note": "Exterior shows handle above gripper; reopen, back off and raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 787, "cache_read_input_tokens": 9457, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 787 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011ZpnRSh23KQQD1gRzxS5HP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Handle vertical line near center between fingers; advance to engage." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1064, "cache_read_input_tokens": 10244, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1064 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013F4uRKxcLbzdyWM9R2sJhC", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at x≈0.57 with handle centered; close gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 822, "cache_read_input_tokens": 11308, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 822 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014Ug4u4u9FinS3ukJFBnJHC", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.48 }, "note": "Fingers blocked from closing; back off to re-inspect handle position." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 12130, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015rhybzGjP6qAt1dk4oxAZ6", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "z": 0.95 }, "note": "Re-approach at mid handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1102, "cache_read_input_tokens": 12907, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1102 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VHibmWPstXnHDQ3MPjnRMP", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.66, "z": 0.95, "pitch": -1 }, "note": "Seems joint-limited at horizontal pitch; try less pitch to reach farther toward handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1261, "cache_read_input_tokens": 14009, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1261 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm pressing against the cabinet face, not the handle. Next I'll back off and move sideways to see which way the handle is." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1132, "cache_read_input_tokens": 15270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1132 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017Z1b8qbtaWTaVxdryJbPPb", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.52, "y": 0.08, "pitch": -1.3, "roll": 0, "yaw": 0 }, "note": "Contact with door at x≈0.57, handle not between fingers; back off and shift +y to learn image mapping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1132, "cache_read_input_tokens": 15270, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1132 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ve5moQ1LYrab2sqS5Chfxf", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.06 }, "note": "Lines shifted left when moving +y; check -y side to locate handle relative to fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1017, "cache_read_input_tokens": 16402, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1017 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011TFrYW2AJTXCJjgYaWYc4E", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.025, "x": 0.6 }, "note": "Center the right vertical line (likely handle bar) between fingers and approach until contact." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1408, "cache_read_input_tokens": 17419, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1408 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DYQC72x8c4tErcoJkwBY5e", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Vertical bar now centered between fingers at contact; close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1373, "cache_read_input_tokens": 18827, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1373 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grasped the bar (gripper at 0.10). Pulling back." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 20200, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CMVyBiJ45onqa4qaPwojPe", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Gripper closed on the handle bar; pull back to start opening." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 20200, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XwUb4d7vonk6bVagbU2X7g", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "yaw": 0, "roll": 0, "pitch": -1.3, "y": -0.04 }, "note": "Grasp slipped off (fully closed). Reopen and straighten orientation for a cleaner grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 20884, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 695 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A2DQoCNbNAFd8T6VtQemg5", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.06, "x": 0.6 }, "note": "Align handle bar between fingers (y=-0.06) and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 875, "cache_read_input_tokens": 21579, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 875 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DQK8ZBpiamCcKbxzcycUrJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.64 }, "note": "No contact yet; push deeper so bar sits well between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 763, "cache_read_input_tokens": 22454, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 763 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Contact at x≈0.605 with the bar between the fingers. Closing." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 709, "cache_read_input_tokens": 23217, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 709 }, "output_tokens": 49, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0111PtQDdkxMVnE8aws9sBH6", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Bar centered between fingers at contact; close grip." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 709, "cache_read_input_tokens": 23217, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 709 }, "output_tokens": 49, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015hZQJrpB2yS8WBkobFXeC9", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.585, "gripper": 0 }, "note": "Fingers jammed against door face; back off 2cm so they can close around the bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 640, "cache_read_input_tokens": 23926, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 640 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0183G3Z1fXiymhbWXNkBh3Uo", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.54 }, "note": "Holding bar (0.10); pull back a short distance and check if door follows." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 24566, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 741 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Door is opening. Continuing the arc pull." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 25307, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Qt4HUMuTc65W8QZekFgiJf", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47, "y": -0.13 }, "note": "Door following, handle drifting -y; continue along arc." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 25307, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The episode ended during my last pull, so I can't confirm whether the cabinet counts as opened. I didn't get a final observation and never called done.\n\n1. **Finding a pose:** The first few moves to point the gripper forward at the cabinet were rejected as out of reach. I lowered the gripper and reached forward, then tilted it toward horizontal.\n2. **Lining up with the handle:** For a while the gripper hit the cabinet front instead of the handle. Twice the fingers jammed partway closed. Moving sideways showed me which direction the camera image corresponds to, and I lined the handle bar up between the fingers.\n3. **Grasping:** The first grip slipped off as I pulled back. On the second try I backed off about 2 cm from the cabinet so the fingers could close fully around the bar.\n4. **Opening:** Pulling back about 5 cm opened the door, and the wrist camera showed the gap. The gripper was being pulled sideways, which suggested the door was swinging on its hinge. My last command followed that arc (pull back and move sideways), and the episode ended on that move." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 504, "cache_read_input_tokens": 26005, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 504 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 60, "cache_creation_input_tokens": 24956, "cache_read_input_tokens": 399944, "output_tokens": 10365, "output_tokens_details": { "thinking_tokens": 6569 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 24956, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 379, "cache_read_input_tokens": 26005, "cache_creation_input_tokens": 504, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 504 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 60, "outputTokens": 10365, "cacheReadInputTokens": 399944, "cacheCreationInputTokens": 24956, "webSearchRequests": 0, "costUSD": 0.48717679999999997, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6569, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.48717679999999997, "num_turns": 30, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01107, -0.8325, 0.0186, -2.30044, 0.00616, 1.65505, 0.00981 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33034, 0.01148, 1.06707 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98243, 0.01458, 0.18606 ], [ 0.01541, -0.99988, -0.00299 ], [ 0.18599, 0.00581, -0.98253 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.208191824145615, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.57 }, "note": "Gripper points down; rotate to face forward (+x) to look for the cabinet handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01107, -0.8325, 0.0186, -2.30044, 0.00616, 1.65505, 0.00981 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33034, 0.01148, 1.06707 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98243, 0.01458, 0.18606 ], [ 0.01541, -0.99988, -0.00299 ], [ 0.18599, 0.00581, -0.98253 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.6029232600703835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "z": 0.95 }, "note": "Partial pitch toward forward while lowering, to see the cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01107, -0.8325, 0.0186, -2.30044, 0.00616, 1.65505, 0.00981 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33034, 0.01148, 1.06707 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98243, 0.01458, 0.18606 ], [ 0.01541, -0.99988, -0.00299 ], [ 0.18599, 0.00581, -0.98253 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.202707923948765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Small pitch test to learn the direction." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01325, -1.17263, 0.0239, -2.62888, 0.00334, 2.03918, 0.01399 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33029, 0.01148, 1.06704 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.39586, 1e-05 ], "tcp_rotation_matrix": [ [ 0.83474, 0.01122, 0.55054 ], [ 0.01542, -0.99988, -0.00301 ], [ 0.55043, 0.011, -0.83481 ] ], "simulated_seconds_remaining": 29.172, "calls_remaining_including_this": 54 }, "api_seconds": 3.6035866513848305, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9, "z": 0.95 }, "note": "Handle visible ahead in wrist view; continue rotating toward horizontal and lower." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01325, -1.17263, 0.0239, -2.62888, 0.00334, 2.03918, 0.01399 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33029, 0.01148, 1.06704 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.39586, 1e-05 ], "tcp_rotation_matrix": [ [ 0.83474, 0.01122, 0.55054 ], [ 0.01542, -0.99988, -0.00301 ], [ 0.55043, 0.011, -0.83481 ] ], "simulated_seconds_remaining": 29.172, "calls_remaining_including_this": 53 }, "api_seconds": 3.4037043852731586, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9, "x": 0.4 }, "note": "Lower and move slightly forward toward the cabinet front." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.00878, -0.90434, 0.03245, -2.94848, 0.00489, 2.62662, 0.01843 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39945, 0.01148, 0.90109 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.39545, 1e-05 ], "tcp_rotation_matrix": [ [ 0.83496, 0.01121, 0.55019 ], [ 0.01542, -0.99988, -0.00303 ], [ 0.55009, 0.01101, -0.83503 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 52 }, "api_seconds": 3.203190019354224, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "pitch": -0.8 }, "note": "Extend forward to unfold arm while pitching toward horizontal." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.06148, -0.44548, 0.09583, -2.95224, 0.00321, 3.49095, 0.02972 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49919, 0.01145, 0.90085 ], "tcp_roll_pitch_yaw": [ -0.00019, -0.7958, 4e-05 ], "tcp_rotation_matrix": [ [ 0.55455, 0.00596, 0.83213 ], [ 0.01546, -0.99988, -0.00315 ], [ 0.83201, 0.01461, -0.55457 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 51 }, "api_seconds": 5.605418058112264, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56 }, "note": "Handle near center of wrist view; approach forward." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10282, -0.24608, 0.136, -2.77239, 0.02515, 3.51077, 0.00474 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5588, 0.01144, 0.90085 ], "tcp_roll_pitch_yaw": [ -0.0002, -0.79577, 2e-05 ], "tcp_rotation_matrix": [ [ 0.55457, 0.00594, 0.83212 ], [ 0.01546, -0.99988, -0.00317 ], [ 0.83199, 0.01462, -0.55459 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 50 }, "api_seconds": 3.2031370475888252, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Arm extended; try tilting gripper closer to horizontal to face the vertical handle." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11501, 0.11198, 0.16613, -2.79894, 0.06105, 4.293, -0.04909 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55891, 0.01145, 0.90055 ], "tcp_roll_pitch_yaw": [ -0.00011, -1.19496, 2e-05 ], "tcp_rotation_matrix": [ [ 0.18759, -0.00012, 0.98225 ], [ 0.01543, -0.99988, -0.00307 ], [ 0.98213, 0.01573, -0.18757 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 49 }, "api_seconds": 4.003807270899415, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Gripper horizontal, handle between fingers in wrist view; advance." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11173, 0.22444, 0.1626, -2.73615, 0.0575, 4.42572, -0.0719 ], "gripper_open": 1.0, "tcp_xyz": [ 0.57054, 0.01131, 0.9007 ], "tcp_roll_pitch_yaw": [ -0.03255, -1.27842, 0.03036 ], "tcp_rotation_matrix": [ [ 0.10495, -0.00217, 0.99448 ], [ 0.02465, -0.99968, -0.00479 ], [ 0.99417, 0.02501, -0.10486 ] ], "simulated_seconds_remaining": 24.354, "calls_remaining_including_this": 48 }, "api_seconds": 3.8033789359033108, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Motion stopped short, likely at the handle/door; attempt to close on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10994, 0.22378, 0.16489, -2.74816, 0.05441, 4.4452, -0.07206 ], "gripper_open": 0.8821, "tcp_xyz": [ 0.56569, 0.01421, 0.90138 ], "tcp_roll_pitch_yaw": [ -0.03704, -1.28673, 0.04126 ], "tcp_rotation_matrix": [ [ 0.09647, 0.00421, 0.99533 ], [ 0.02628, -0.99965, 0.00168 ], [ 0.99499, 0.026, -0.09654 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 47 }, "api_seconds": 6.806378990411758, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.53, "z": 0.98 }, "note": "Exterior shows handle above gripper; reopen, back off and raise." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11337, -0.14851, 0.16622, -2.88608, 0.05321, 4.21329, -0.02248 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53057, 0.01423, 0.97891 ], "tcp_roll_pitch_yaw": [ -0.03716, -1.28703, 0.04141 ], "tcp_rotation_matrix": [ [ 0.09617, 0.00425, 0.99536 ], [ 0.02631, -0.99965, 0.00172 ], [ 0.99502, 0.02602, -0.09624 ] ], "simulated_seconds_remaining": 22.572, "calls_remaining_including_this": 46 }, "api_seconds": 4.40433051623404, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Handle vertical line near center between fingers; advance to engage." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11667, 0.0235, 0.16783, -2.74661, 0.0524, 4.3162, -0.05515 ], "gripper_open": 1.0, "tcp_xyz": [ 0.56989, 0.01443, 0.9806 ], "tcp_roll_pitch_yaw": [ -0.07914, -1.35788, 0.08363 ], "tcp_rotation_matrix": [ [ 0.02497, 0.00366, 0.99968 ], [ 0.03226, -0.99948, 0.00286 ], [ 0.99917, 0.03218, -0.02507 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 45 }, "api_seconds": 3.6037035221233964, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at x≈0.57 with handle centered; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11527, 0.02177, 0.16963, -2.75785, 0.04974, 4.33384, -0.05532 ], "gripper_open": 0.9013, "tcp_xyz": [ 0.5655, 0.01676, 0.98088 ], "tcp_roll_pitch_yaw": [ -0.09138, -1.36592, 0.10094 ], "tcp_rotation_matrix": [ [ 0.01655, 0.00873, 0.99982 ], [ 0.03415, -0.99938, 0.00816 ], [ 0.99928, 0.03401, -0.01684 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 44 }, "api_seconds": 7.209210501983762, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.48 }, "note": "Fingers blocked from closing; back off to re-inspect handle position." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.10643, -0.18426, 0.17288, -3.01758, 0.05782, 4.38871, -0.01995 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48131, 0.01678, 0.98089 ], "tcp_roll_pitch_yaw": [ -0.09147, -1.36592, 0.10107 ], "tcp_rotation_matrix": [ [ 0.01655, 0.00877, 0.99982 ], [ 0.03417, -0.99938, 0.0082 ], [ 0.99928, 0.03403, -0.01684 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 43 }, "api_seconds": 9.608746874146163, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.95 }, "note": "Re-approach at mid handle height." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.11155, 0.18539, 0.16903, -2.70406, 0.04093, 4.52205, -0.07859 ], "gripper_open": 1.0, "tcp_xyz": [ 0.57059, 0.01845, 0.96216 ], "tcp_roll_pitch_yaw": [ -0.17522, -1.44459, 0.18786 ], "tcp_rotation_matrix": [ [ -0.06327, 0.01004, 0.99795 ], [ 0.03642, -0.99926, 0.01236 ], [ 0.99733, 0.03712, 0.06286 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 42 }, "api_seconds": 7.005507065914571, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "z": 0.95, "pitch": -1 }, "note": "Seems joint-limited at horizontal pitch; try less pitch to reach farther toward handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.09814, 0.03272, 0.17511, -2.75442, 0.10343, 4.31499, -0.1993 ], "gripper_open": 1.0, "tcp_xyz": [ 0.5681, 0.01488, 0.97092 ], "tcp_roll_pitch_yaw": [ -0.55485, -1.29885, 0.52934 ], "tcp_rotation_matrix": [ [ 0.04699, -0.01106, 0.99883 ], [ 0.15618, -0.98756, -0.01829 ], [ 0.98661, 0.15686, -0.04468 ] ], "simulated_seconds_remaining": 17.952, "calls_remaining_including_this": 41 }, "api_seconds": 6.2057236367836595, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.08, "pitch": -1.3, "roll": 0, "yaw": 0 }, "note": "Contact with door at x≈0.57, handle not between fingers; back off and shift +y to learn image mapping." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.03444, -0.09364, 0.3082, -2.8675, 0.37671, 4.27906, -0.12223 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52057, 0.07939, 0.97095 ], "tcp_roll_pitch_yaw": [ -0.00645, -1.30052, 0.00646 ], "tcp_rotation_matrix": [ [ 0.08306, -0.00146, 0.99654 ], [ 0.01714, -0.99985, -0.00289 ], [ 0.9964, 0.01732, -0.08303 ] ], "simulated_seconds_remaining": 17.094, "calls_remaining_including_this": 40 }, "api_seconds": 11.209737045690417, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06 }, "note": "Lines shifted left when moving +y; check -y side to locate handle relative to fingers." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.22736, -0.10597, -0.02973, -2.88861, -0.27844, 4.28197, 0.07668 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52059, -0.05885, 0.97097 ], "tcp_roll_pitch_yaw": [ -0.00616, -1.30058, 0.00577 ], "tcp_rotation_matrix": [ [ 0.08301, -0.00187, 0.99655 ], [ 0.01703, -0.99985, -0.00329 ], [ 0.9964, 0.01724, -0.08297 ] ], "simulated_seconds_remaining": 15.84, "calls_remaining_including_this": 39 }, "api_seconds": 10.409358320757747, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.025, "x": 0.6 }, "note": "Center the right vertical line (likely handle bar) between fingers and approach until contact." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.06459, 0.06343, 0.14317, -2.70872, 0.32742, 4.31506, -0.07059 ], "gripper_open": 1.0, "tcp_xyz": [ 0.57385, -0.04442, 0.96977 ], "tcp_roll_pitch_yaw": [ 0.29371, -1.32598, -0.50844 ], "tcp_rotation_matrix": [ [ 0.03431, -0.22304, 0.97421 ], [ -0.06388, -0.97328, -0.22057 ], [ 0.99737, -0.05467, -0.04765 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 38 }, "api_seconds": 4.003911321982741, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Vertical bar now centered between fingers at contact; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.06373, 0.06311, 0.14425, -2.7091, 0.32648, 4.31553, -0.07109 ], "gripper_open": 0.1031, "tcp_xyz": [ 0.57384, -0.04306, 0.96993 ], "tcp_roll_pitch_yaw": [ 0.29107, -1.32672, -0.50312 ], "tcp_rotation_matrix": [ [ 0.03415, -0.22033, 0.97483 ], [ -0.06288, -0.97394, -0.21793 ], [ 0.99744, -0.05385, -0.04712 ] ], "simulated_seconds_remaining": 13.86, "calls_remaining_including_this": 37 }, "api_seconds": 3.005147537216544, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Gripper closed on the handle bar; pull back to start opening." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.05716, -0.10371, 0.14972, -2.93706, 0.33051, 4.36885, -0.02975 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50128, -0.04305, 0.96994 ], "tcp_roll_pitch_yaw": [ 0.29102, -1.32673, -0.50305 ], "tcp_rotation_matrix": [ [ 0.03415, -0.22031, 0.97483 ], [ -0.06286, -0.97394, -0.21791 ], [ 0.99744, -0.05383, -0.04711 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 36 }, "api_seconds": 4.804613170213997, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "yaw": 0, "roll": 0, "pitch": -1.3, "y": -0.04 }, "note": "Grasp slipped off (fully closed). Reopen and straighten orientation for a cleaner grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.17182, -0.1623, -0.01641, -2.96126, -0.19901, 4.29229, 0.04926 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.50131, -0.04017, 0.96998 ], "tcp_roll_pitch_yaw": [ 0.00314, -1.30057, -0.00578 ], "tcp_rotation_matrix": [ [ 0.08306, -0.00446, 0.99653 ], [ 0.01434, -0.99988, -0.00567 ], [ 0.99644, 0.01476, -0.08298 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 35 }, "api_seconds": 3.603615403175354, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06, "x": 0.6 }, "note": "Align handle bar between fingers (y=-0.06) and approach." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.17525, 0.07456, -0.02182, -2.64982, -0.2175, 4.2208, 0.07459 ], "gripper_open": 0.9989, "tcp_xyz": [ 0.59871, -0.05944, 0.96995 ], "tcp_roll_pitch_yaw": [ 0.00292, -1.30055, -0.00495 ], "tcp_rotation_matrix": [ [ 0.08307, -0.00384, 0.99654 ], [ 0.01445, -0.99988, -0.00505 ], [ 0.99644, 0.01482, -0.083 ] ], "simulated_seconds_remaining": 11.154, "calls_remaining_including_this": 34 }, "api_seconds": 3.603583733551204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.64 }, "note": "No contact yet; push deeper so bar sits well between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.17006, 0.1636, -0.0188, -2.60671, -0.20106, 4.34231, 0.07379 ], "gripper_open": 1.0, "tcp_xyz": [ 0.6054, -0.05925, 0.96958 ], "tcp_roll_pitch_yaw": [ 0.07107, -1.37702, -0.06818 ], "tcp_rotation_matrix": [ [ 0.00619, -0.00133, 0.99998 ], [ 0.00174, -1.0, -0.00134 ], [ 0.99998, 0.00175, -0.00619 ] ], "simulated_seconds_remaining": 10.56, "calls_remaining_including_this": 33 }, "api_seconds": 2.202678675763309, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Bar centered between fingers at contact; close grip." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.16983, 0.16228, -0.01847, -2.61663, -0.20482, 4.35811, 0.07372 ], "gripper_open": 0.9123, "tcp_xyz": [ 0.60162, -0.05712, 0.96977 ], "tcp_roll_pitch_yaw": [ 0.07531, -1.38408, -0.06712 ], "tcp_rotation_matrix": [ [ -0.00092, 0.00388, 0.99999 ], [ 0.00143, -0.99999, 0.00388 ], [ 1.0, 0.00144, 0.00091 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 32 }, "api_seconds": 3.603848955594003, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.585, "gripper": 0 }, "note": "Fingers jammed against door face; back off 2cm so they can close around the bar." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.17136, 0.13082, -0.01913, -2.66787, -0.21594, 4.37817, 0.07293 ], "gripper_open": 0.0998, "tcp_xyz": [ 0.58567, -0.05238, 0.96961 ], "tcp_roll_pitch_yaw": [ 0.07427, -1.384, -0.05647 ], "tcp_rotation_matrix": [ [ -0.00084, 0.01351, 0.99991 ], [ 0.00161, -0.99991, 0.01351 ], [ 1.0, 0.00162, 0.00081 ] ], "simulated_seconds_remaining": 8.712, "calls_remaining_including_this": 31 }, "api_seconds": 3.203388039022684, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54 }, "note": "Holding bar (0.10); pull back a short distance and check if door follows." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.1905, 0.0445, -0.03951, -2.80145, -0.15035, 4.42372, 0.0689 ], "gripper_open": 0.1018, "tcp_xyz": [ 0.54077, -0.084, 0.97058 ], "tcp_roll_pitch_yaw": [ 0.21017, -1.38334, -0.28933 ], "tcp_rotation_matrix": [ [ -0.0056, -0.08565, 0.99631 ], [ -0.0231, -0.99605, -0.08576 ], [ 0.99972, -0.02349, 0.0036 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 30 }, "api_seconds": 6.005911462008953, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": -0.13 }, "note": "Door following, handle drifting -y; continue along arc." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 042 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 42, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 17, "wall_seconds": 109.99, "usage": { "input_tokens": 38, "output_tokens": 5716, "cache_read_input_tokens": 161609, "cache_creation_input_tokens": 14752, "thinking_tokens": 3551, "cost_usd": 0.26480980000000004 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SbuNFW1LPB7eEhQiAkRKV2", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WErrWFLTwiLcTqBNDu1XbZ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "z": 0.9 }, "note": "Tilt gripper forward to view cabinet ahead with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 488, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 488 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01R6UWwcXdkVSJyS2ZeMbqFK", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Try smaller forward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1131, "cache_read_input_tokens": 2513, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1131 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KQNqDSN2XunKi5uwonAeL8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.8, "pitch": -1 }, "note": "Move forward/down and tilt more to view cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 3644, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RGtBR1ZQXqUUqDQxcsPd9t", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.85 }, "note": "Move forward and down keeping orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 869, "cache_read_input_tokens": 4334, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 869 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Arm is next to the cabinet front. I'm tilting the gripper forward so it faces the door handles." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 5203, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Hz9a38aPn8g6k2auTHJYKQ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.95 }, "note": "Tilt more toward horizontal to face cabinet door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 5203, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 705 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0145gHMEbDYUSdPWBQpvspMj", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.75, "z": 0.8 }, "note": "Incremental tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 972, "cache_read_input_tokens": 5908, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 972 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VmAGDtwwqKF5pnd9EmeKgz", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 0.95, "pitch": -0.85 }, "note": "Back up and try greater tilt to view cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 6880, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A8hGiy1Gr1ve96ZLSBjnMA", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Small tilt increment test." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 896, "cache_read_input_tokens": 7570, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 896 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VwpXdjyEaPZQzeCmLri3Wp", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 0.8, "pitch": -0.9 }, "note": "Elbow near limit; extend outward so more tilt is feasible." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 810, "cache_read_input_tokens": 8466, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 810 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kw8c2JXeGRQmeNuoGYcYyD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Raise to get wider view of door and find handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 745, "cache_read_input_tokens": 9276, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 745 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Found two vertical door handles right in front of the gripper. Moving forward to reach one." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 911, "cache_read_input_tokens": 10021, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 911 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SHAmCVfiTy8sxHdtU8qfXe", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Handles visible just ahead of fingertips; approach forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 911, "cache_read_input_tokens": 10021, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 911 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XMKuuhkj68mTM1X7SNRoKf", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56 }, "note": "Continue approach toward handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1065, "cache_read_input_tokens": 10932, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1065 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019Hg22X8HU8DTnYEYFBKN74", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Handle between fingers; move closer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 727, "cache_read_input_tokens": 11997, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 727 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019xbYnyYVtCBHJ9xHy1WxrD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.625 }, "note": "Handle at fingertips; push slightly further to surround it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 720, "cache_read_input_tokens": 12724, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 720 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SNimB2Ffqk3enDCBh367o2", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 862, "cache_read_input_tokens": 13444, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 862 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Grasped a handle. Pulling back to open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 720, "cache_read_input_tokens": 14306, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 720 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kc8EQ6MG57X2uqHQHHfysA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Gripper closed on handle (0.49). Pull back to start opening door." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 720, "cache_read_input_tokens": 14306, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 720 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RDWKZ9VTxHTnyZXBnR8RVs", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.48, "y": 0.11 }, "note": "Door starting to open, drifting to +y (hinge on +y side). Follow arc back and left." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 761, "cache_read_input_tokens": 15026, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 761 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The episode ended before I could confirm the cabinet was open, so this attempt may not have succeeded.\n\nThe gripper had to point forward to reach the door, and several tilt commands were rejected as unreachable before one worked. Once it could see the door, the wrist camera showed a pair of vertical handles. I moved forward, closed the gripper on one handle and pulled back about 7 cm. The last camera views showed the handle still between the fingers. There was also a small gap at the edge of the door, and the gripper drifted left, which suggested the door was starting to swing open.\n\nMy next move would have kept pulling back and to the left along the door's swing. The episode ended right after I sent that command, and I got no confirmation of whether the door opened fully." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 518, "cache_read_input_tokens": 15787, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 518 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 38, "cache_creation_input_tokens": 14752, "cache_read_input_tokens": 161609, "output_tokens": 5716, "output_tokens_details": { "thinking_tokens": 3551 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 14752, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 246, "cache_read_input_tokens": 15787, "cache_creation_input_tokens": 518, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 518 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 38, "outputTokens": 5716, "cacheReadInputTokens": 161609, "cacheCreationInputTokens": 14752, "webSearchRequests": 0, "costUSD": 0.26480980000000004, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 3551, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.26480980000000004, "num_turns": 19, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00067, -0.79937, 0.0636, -2.34976, 0.09685, 1.42561, 0.14109 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26639, 0.0425, 1.01155 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98733, -0.09427, -0.12763 ], [ -0.08918, -0.995, 0.04505 ], [ -0.13124, -0.0331, -0.9908 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.809676435776055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "z": 0.9 }, "note": "Tilt gripper forward to view cabinet ahead with wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00067, -0.79937, 0.0636, -2.34976, 0.09685, 1.42561, 0.14109 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.26639, 0.0425, 1.01155 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98733, -0.09427, -0.12763 ], [ -0.08918, -0.995, 0.04505 ], [ -0.13124, -0.0331, -0.9908 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.60301860794425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Try smaller forward tilt." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01805, -1.36751, 0.08651, -2.76114, 0.10921, 1.86421, 0.12785 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26633, 0.04252, 1.01155 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.5958, 6e-05 ], "tcp_rotation_matrix": [ [ 0.89086, -0.05942, 0.45037 ], [ -0.08913, -0.995, 0.04503 ], [ 0.44544, -0.08025, -0.89171 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 55 }, "api_seconds": 4.804632537998259, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.8, "pitch": -1 }, "note": "Move forward/down and tilt more to view cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01805, -1.36751, 0.08651, -2.76114, 0.10921, 1.86421, 0.12785 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26633, 0.04252, 1.01155 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.5958, 6e-05 ], "tcp_rotation_matrix": [ [ 0.89086, -0.05942, 0.45037 ], [ -0.08913, -0.995, 0.04503 ], [ 0.44544, -0.08025, -0.89171 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 54 }, "api_seconds": 2.602827602997422, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.85 }, "note": "Move forward and down keeping orientation." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01149, -0.75864, 0.12314, -2.94079, 0.15946, 2.6514, 0.07695 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39909, 0.04251, 0.85093 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.59541, 5e-05 ], "tcp_rotation_matrix": [ [ 0.89104, -0.05946, 0.45002 ], [ -0.08914, -0.995, 0.04503 ], [ 0.44509, -0.08023, -0.89188 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 53 }, "api_seconds": 6.405837820842862, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.95 }, "note": "Tilt more toward horizontal to face cabinet door." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01149, -0.75864, 0.12314, -2.94079, 0.15946, 2.6514, 0.07695 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39909, 0.04251, 0.85093 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.59541, 5e-05 ], "tcp_rotation_matrix": [ [ 0.89104, -0.05946, 0.45002 ], [ -0.08914, -0.995, 0.04503 ], [ 0.44509, -0.08023, -0.89188 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 52 }, "api_seconds": 2.802940968424082, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.75, "z": 0.8 }, "note": "Incremental tilt." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01149, -0.75864, 0.12314, -2.94079, 0.15946, 2.6514, 0.07695 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39909, 0.04251, 0.85093 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.59541, 5e-05 ], "tcp_rotation_matrix": [ [ 0.89104, -0.05946, 0.45002 ], [ -0.08914, -0.995, 0.04503 ], [ 0.44509, -0.08023, -0.89188 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 51 }, "api_seconds": 4.604604636318982, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 0.95, "pitch": -0.85 }, "note": "Back up and try greater tilt to view cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.01149, -0.75864, 0.12314, -2.94079, 0.15946, 2.6514, 0.07695 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39909, 0.04251, 0.85093 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.59541, 5e-05 ], "tcp_rotation_matrix": [ [ 0.89104, -0.05946, 0.45002 ], [ -0.08914, -0.995, 0.04503 ], [ 0.44509, -0.08023, -0.89188 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 50 }, "api_seconds": 4.404497207142413, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Small tilt increment test." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.02807, -0.8016, 0.12796, -3.02273, 0.17287, 2.7916, 0.07513 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39905, 0.04252, 0.85083 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.69691, 0.0001 ], "tcp_rotation_matrix": [ [ 0.84136, -0.05099, 0.53807 ], [ -0.0891, -0.995, 0.04503 ], [ 0.53308, -0.08583, -0.8417 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 49 }, "api_seconds": 3.603741241618991, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.8, "pitch": -0.9 }, "note": "Elbow near limit; extend outward so more tilt is feasible." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ 0.1233, -0.20245, 0.01015, -2.90248, 0.14259, 3.47262, 0.05155 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49907, 0.04252, 0.80035 ], "tcp_roll_pitch_yaw": [ 0.0001, -0.89773, -7e-05 ], "tcp_rotation_matrix": [ [ 0.71811, -0.03287, 0.69515 ], [ -0.08921, -0.99499, 0.0451 ], [ 0.69018, -0.0944, -0.71745 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 48 }, "api_seconds": 5.405185942538083, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Raise to get wider view of door and find handles." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00084, -0.7988, 0.13043, -2.87919, 0.17301, 2.85252, 0.0534 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45051, 0.04254, 0.94887 ], "tcp_roll_pitch_yaw": [ 0.00016, -0.89817, -9e-05 ], "tcp_rotation_matrix": [ [ 0.71781, -0.03281, 0.69547 ], [ -0.08922, -0.99499, 0.04514 ], [ 0.6905, -0.09445, -0.71714 ] ], "simulated_seconds_remaining": 24.354, "calls_remaining_including_this": 47 }, "api_seconds": 6.805948500521481, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Handles visible just ahead of fingertips; approach forward." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01672, -0.60263, 0.12908, -2.75762, 0.16516, 2.92736, 0.04336 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49863, 0.04253, 0.94885 ], "tcp_roll_pitch_yaw": [ 0.00018, -0.89807, -0.00014 ], "tcp_rotation_matrix": [ [ 0.71788, -0.03285, 0.6954 ], [ -0.08925, -0.99499, 0.04513 ], [ 0.69043, -0.09447, -0.71721 ] ], "simulated_seconds_remaining": 23.76, "calls_remaining_including_this": 46 }, "api_seconds": 3.603073365986347, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56 }, "note": "Continue approach toward handles." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.04374, -0.39123, 0.13779, -2.59211, 0.14621, 2.9735, 0.04194 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55878, 0.04251, 0.94883 ], "tcp_roll_pitch_yaw": [ 0.0002, -0.89799, -0.00018 ], "tcp_rotation_matrix": [ [ 0.71793, -0.03289, 0.69534 ], [ -0.08928, -0.99498, 0.04512 ], [ 0.69037, -0.09447, -0.71727 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 45 }, "api_seconds": 3.004098527133465, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Handle between fingers; move closer." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.069, -0.26419, 0.15191, -2.47395, 0.12232, 2.98245, 0.05205 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59887, 0.0425, 0.9488 ], "tcp_roll_pitch_yaw": [ 0.00021, -0.89791, -0.00022 ], "tcp_rotation_matrix": [ [ 0.71798, -0.03293, 0.69529 ], [ -0.08931, -0.99498, 0.0451 ], [ 0.69031, -0.09448, -0.71732 ] ], "simulated_seconds_remaining": 22.44, "calls_remaining_including_this": 44 }, "api_seconds": 5.004896989092231, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.625 }, "note": "Handle at fingertips; push slightly further to surround it." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.08694, -0.18853, 0.16315, -2.39694, 0.0992, 2.98096, 0.0655 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62387, 0.04248, 0.94877 ], "tcp_roll_pitch_yaw": [ 0.00022, -0.89785, -0.00027 ], "tcp_rotation_matrix": [ [ 0.71802, -0.03297, 0.69524 ], [ -0.08934, -0.99498, 0.04508 ], [ 0.69027, -0.09449, -0.71736 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 43 }, "api_seconds": 3.203473369590938, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.07528, -0.1932, 0.17781, -2.39381, 0.09698, 2.9821, 0.06491 ], "gripper_open": 0.4897, "tcp_xyz": [ 0.62343, 0.05908, 0.95355 ], "tcp_roll_pitch_yaw": [ -0.00814, -0.90659, 0.03414 ], "tcp_rotation_matrix": [ [ 0.71406, -0.00444, 0.70007 ], [ -0.06591, -0.99596, 0.06091 ], [ 0.69698, -0.08963, -0.71147 ] ], "simulated_seconds_remaining": 21.054, "calls_remaining_including_this": 42 }, "api_seconds": 3.8041132045909762, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Gripper closed on handle (0.49). Pull back to start opening door." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.01456, -0.42019, 0.16656, -2.60481, 0.14666, 2.97088, 0.04315 ], "gripper_open": 0.2879, "tcp_xyz": [ 0.5506, 0.07301, 0.95568 ], "tcp_roll_pitch_yaw": [ -0.02068, -0.91083, 0.07011 ], "tcp_rotation_matrix": [ [ 0.71223, 0.02194, 0.70161 ], [ -0.04208, -0.99638, 0.07388 ], [ 0.70069, -0.08215, -0.70872 ] ], "simulated_seconds_remaining": 20.262, "calls_remaining_including_this": 41 }, "api_seconds": 6.405992738902569, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "y": 0.11 }, "note": "Door starting to open, drifting to +y (hinge on +y side). Follow arc back and left." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 043 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 43, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 20, "wall_seconds": 136.39, "usage": { "input_tokens": 44, "output_tokens": 7761, "cache_read_input_tokens": 219247, "cache_creation_input_tokens": 18305, "thinking_tokens": 5051, "cost_usd": 0.3456854000000001 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HxUveYEDYygkU6gWR2vCEe", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CLFCDLuRBeJwy4Wr296USB", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "z": 1, "x": 0.3 }, "note": "Scene unclear; orient gripper forward to view the fridge with the wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YbNAWRgaNoadupULRSLMLB", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Tilt gripper toward forward to see the fridge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 963, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 963 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BB4dwBYhS2iAxRVwAGMxkD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.2, "pitch": -1.1 }, "note": "Back up and point more forward to get a wider wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 3475, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 828 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0142UhTK11jVUTbpctXwcDEK", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85, "pitch": -1.2 }, "note": "Lower and point forward for better reach and view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 802, "cache_read_input_tokens": 4303, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 802 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working out where the fridge is. Forward-pointing orientations keep failing IK, so I'm trying smaller moves." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 5105, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EeNudnC5ypgTcFqnQgoo9X", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.9 }, "note": "Lower slightly to see scene/check reachability." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 5105, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C5j3GeF77Uo6h9yK9ieuq6", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5, "x": 0.45 }, "note": "Current config near joint limits; ease pitch and move forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 731, "cache_read_input_tokens": 5789, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 731 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DXTY28NTcLSHsMzQqhF8n7", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "z": 1.2 }, "note": "Retreat and rise to get overview in wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 672, "cache_read_input_tokens": 6520, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 672 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F6twMB4Ea9L4Psmxcn2oye", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0.6 }, "note": "Scan left with wrist camera for handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 846, "cache_read_input_tokens": 7192, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 846 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RWDfu1Rgun8FaR7cN8QySg", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": -0.6 }, "note": "Scan right for handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 899, "cache_read_input_tokens": 8038, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 899 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Pxi3BgTSaKWPDmYSAENki6", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0, "pitch": 0, "z": 1.3, "x": 0.35 }, "note": "Look straight down from higher to locate wooden handle-like object." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1244, "cache_read_input_tokens": 8937, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1244 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still hunting for the fridge handle; I'll look straight down from the maximum height allowed." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1160, "cache_read_input_tokens": 10181, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1160 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Q2ewMrBCLWsCQ7H7ibbVDT", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0, "pitch": 0, "z": 1.19, "x": 0.35 }, "note": "Look down from max height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1160, "cache_read_input_tokens": 10181, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1160 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FM8pTc69ngFjHRAdoQjVNg", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.25, "z": 1 }, "note": "Move left and down to identify gripper in exterior view and scene layout." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 689, "cache_read_input_tokens": 11341, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 689 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y6wXkXJeFuSgoChcN6xKZL", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.05, "z": 1.05, "roll": 0, "pitch": -0.5, "yaw": 0 }, "note": "Contact on left; reset orientation and look forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1019, "cache_read_input_tokens": 12030, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1019 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Xky7vxeYHKTpMbiKCqUovD", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.43 }, "note": "Grey bar (likely handle) appears between fingers; advance to enclose it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1075, "cache_read_input_tokens": 13049, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1075 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VwBA4wPx7MU8pmYrUUnTYN", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked at x~0.41 with bar between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1039, "cache_read_input_tokens": 14124, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1039 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QEjXCPjinwNHVcpkzAvqZv", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.36, "z": 0.85 }, "note": "Missed; open, back off and lower to search for handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 659, "cache_read_input_tokens": 15163, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 659 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The grasp missed, so I'm reopening the gripper and searching lower for the handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 15822, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 847 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Un8qQ6nkdTnS24E4HBRdHz", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.4, "z": 0.95, "pitch": 0 }, "note": "Open and lower with downward orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 15822, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 847 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QDqikvvthBY1gvKQsTzEPK", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.25, "z": 1.05 }, "note": "Blocked below at z~0.98; scan right side to locate fridge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 16669, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 740 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PJSfzkNT9GDgGhxZseL5Kk", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.08, "z": 1.1 }, "note": "Wrist now faces +y and shows grey panel with possible vertical handle; approach it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 999, "cache_read_input_tokens": 17409, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 999 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PCXFoinxszgAobDTnrsCUJ", "name": "mcp__robot__give_up", "input": { "note": "Could not locate the refrigerator handle: views are ambiguous, the arm is cramped (frequent IK failures and collisions), and simulated time is nearly exhausted. Stopping rather than flailing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1194, "cache_read_input_tokens": 18408, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1194 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the refrigerator; I gave up with about 12 seconds of simulated time left.\n\n- **Couldn't find the handle:** Both camera views were mostly dark, glossy surfaces, and I couldn't work out where the fridge was relative to the robot. I closed the gripper once on a grey bar that looked like a handle, but it closed fully on nothing.\n- **Very little room to move:** Many moves failed because no arm position could reach the target (inverse kinematics failures). This was especially true when pointing the gripper forward or going lower.\n- **Things in the way:** Something blocked the gripper in every direction I tried. It stopped at x ≈ 0.41 m going forward, at y ≈ 0.14 m going left and at z ≈ 0.98 m going down. Moving right twisted the gripper badly.\n\nWith the scene layout still unclear and time nearly gone, I ended the episode rather than keep making blind moves." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 256, "cache_read_input_tokens": 19602, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 256 }, "output_tokens": 306, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 44, "cache_creation_input_tokens": 18305, "cache_read_input_tokens": 219247, "output_tokens": 7761, "output_tokens_details": { "thinking_tokens": 5051 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 18305, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 306, "cache_read_input_tokens": 19602, "cache_creation_input_tokens": 256, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 256 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 44, "outputTokens": 7761, "cacheReadInputTokens": 219247, "cacheCreationInputTokens": 18305, "webSearchRequests": 0, "costUSD": 0.3456854000000001, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5051, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.3456854000000001, "num_turns": 22, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.01698, -0.80185, 0.05322, -2.29624, -0.03671, 1.66009, 0.02056 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33667, 0.01452, 1.05988 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98531, 0.03081, 0.16796 ], [ 0.0423, -0.99697, -0.06524 ], [ 0.16544, 0.07139, -0.98363 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.607459533959627, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "z": 1, "x": 0.3 }, "note": "Scene unclear; orient gripper forward to view the fridge with the wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.01698, -0.80185, 0.05322, -2.29624, -0.03671, 1.66009, 0.02056 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.33667, 0.01452, 1.05988 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98531, 0.03081, 0.16796 ], [ 0.0423, -0.99697, -0.06524 ], [ 0.16544, 0.07139, -0.98363 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.803788172081113, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Tilt gripper toward forward to see the fridge." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.01954, -1.46329, 0.07982, -2.96373, -0.06823, 2.45878, 0.09184 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33665, 0.01451, 1.05978 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.79546, -2e-05 ], "tcp_rotation_matrix": [ [ 0.57152, -0.02949, 0.82006 ], [ 0.0423, -0.99697, -0.06533 ], [ 0.8195, 0.07202, -0.56854 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 55 }, "api_seconds": 4.0069744903594255, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "pitch": -1.1 }, "note": "Back up and point more forward to get a wider wrist view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.01954, -1.46329, 0.07982, -2.96373, -0.06823, 2.45878, 0.09184 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33665, 0.01451, 1.05978 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.79546, -2e-05 ], "tcp_rotation_matrix": [ [ 0.57152, -0.02949, 0.82006 ], [ 0.0423, -0.99697, -0.06533 ], [ 0.8195, 0.07202, -0.56854 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 54 }, "api_seconds": 2.402700526639819, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "pitch": -1.2 }, "note": "Lower and point forward for better reach and view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.01954, -1.46329, 0.07982, -2.96373, -0.06823, 2.45878, 0.09184 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33665, 0.01451, 1.05978 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.79546, -2e-05 ], "tcp_rotation_matrix": [ [ 0.57152, -0.02949, 0.82006 ], [ 0.0423, -0.99697, -0.06533 ], [ 0.8195, 0.07202, -0.56854 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 53 }, "api_seconds": 3.0032431203871965, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lower slightly to see scene/check reachability." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.01954, -1.46329, 0.07982, -2.96373, -0.06823, 2.45878, 0.09184 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33665, 0.01451, 1.05978 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.79546, -2e-05 ], "tcp_rotation_matrix": [ [ 0.57152, -0.02949, 0.82006 ], [ 0.0423, -0.99697, -0.06533 ], [ 0.8195, 0.07202, -0.56854 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 52 }, "api_seconds": 2.402866007760167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5, "x": 0.45 }, "note": "Current config near joint limits; ease pitch and move forward." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the refrigerator.", "joint_positions": [ -0.00716, -0.87349, 0.08058, -2.53375, -0.06241, 2.24893, 0.07019 ], "gripper_open": 1.0, "tcp_xyz": [ 0.4191, 0.01839, 1.05791 ], "tcp_roll_pitch_yaw": [ -0.00768, -0.42496, -0.00378 ], "tcp_rotation_matrix": [ [ 0.82976, -0.00828, 0.55806 ], [ 0.04043, -0.99637, -0.07491 ], [ 0.55665, 0.08472, -0.82641 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 51 }, "api_seconds": 5.004900936037302, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.2 }, "note": "Retreat and rise to get overview in wrist camera." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.0092, -1.06465, 0.0695, -2.22323, -0.04921, 1.74808, 0.03776 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30088, 0.0184, 1.19908 ], "tcp_roll_pitch_yaw": [ -0.00767, -0.42531, -0.00376 ], "tcp_rotation_matrix": [ [ 0.82957, -0.00829, 0.55835 ], [ 0.04045, -0.99637, -0.07488 ], [ 0.55694, 0.0847, -0.82622 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 50 }, "api_seconds": 5.204771786928177, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.6 }, "note": "Scan left with wrist camera for handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.30192, -1.06241, -0.18586, -2.20023, 0.00736, 1.72163, -0.45346 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30088, 0.01836, 1.19909 ], "tcp_roll_pitch_yaw": [ -0.00743, -0.4253, 0.59552 ], "tcp_rotation_matrix": [ [ 0.66222, 0.55525, 0.50316 ], [ 0.50128, -0.82738, 0.25329 ], [ 0.55694, 0.08449, -0.82624 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 49 }, "api_seconds": 9.608682484366, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.6 }, "note": "Scan right for handle." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the refrigerator.", "joint_positions": [ -0.28384, -1.00146, 0.31528, -2.11866, -0.09829, 1.62065, 0.51053 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30089, 0.01838, 1.19907 ], "tcp_roll_pitch_yaw": [ -0.00765, -0.42522, -0.59541 ], "tcp_rotation_matrix": [ [ 0.71115, -0.56258, 0.42163 ], [ -0.42913, -0.8224, -0.37351 ], [ 0.55687, 0.08468, -0.82627 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 48 }, "api_seconds": 7.006096424534917, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0, "pitch": 0, "z": 1.3, "x": 0.35 }, "note": "Look straight down from higher to locate wooden handle-like object." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 11, "state": { "instruction": "open the refrigerator.", "joint_positions": [ -0.28384, -1.00146, 0.31528, -2.11866, -0.09829, 1.62065, 0.51053 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30089, 0.01838, 1.19907 ], "tcp_roll_pitch_yaw": [ -0.00765, -0.42522, -0.59541 ], "tcp_rotation_matrix": [ [ 0.71115, -0.56258, 0.42163 ], [ -0.42913, -0.8224, -0.37351 ], [ 0.55687, 0.08468, -0.82627 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 47 }, "api_seconds": 2.4023941848427057, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0, "pitch": 0, "z": 1.19, "x": 0.35 }, "note": "Look down from max height." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the refrigerator.", "joint_positions": [ -0.09421, -0.60525, 0.11995, -1.80935, -0.00792, 1.37785, -0.02552 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34976, 0.01833, 1.18999 ], "tcp_roll_pitch_yaw": [ -0.00835, -0.00228, -0.00381 ], "tcp_rotation_matrix": [ [ 0.98509, 0.02683, 0.16992 ], [ 0.03992, -0.99645, -0.0741 ], [ 0.16733, 0.07978, -0.98267 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 46 }, "api_seconds": 6.2057366371154785, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 1 }, "note": "Move left and down to identify gripper in exterior view and scene layout." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the refrigerator.", "joint_positions": [ -0.00582, -0.79584, 0.54813, -2.19496, -0.39253, 1.74565, 0.41854 ], "gripper_open": 0.997, "tcp_xyz": [ 0.35656, 0.13681, 1.13232 ], "tcp_roll_pitch_yaw": [ -0.55029, -0.37763, 0.08818 ], "tcp_rotation_matrix": [ [ 0.85787, -0.11375, 0.50113 ], [ 0.19889, -0.82569, -0.5279 ], [ 0.47382, 0.55254, -0.68571 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 45 }, "api_seconds": 7.006460654549301, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "z": 1.05, "roll": 0, "pitch": -0.5, "yaw": 0 }, "note": "Contact on left; reset orientation and look forward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.19363, -1.12912, 0.04826, -2.6984, -0.20455, 2.20014, 0.27567 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35655, 0.05045, 1.05055 ], "tcp_roll_pitch_yaw": [ -0.00395, -0.4991, 0.00065 ], "tcp_rotation_matrix": [ [ 0.78598, -0.00835, 0.61819 ], [ 0.04346, -0.99669, -0.06872 ], [ 0.61672, 0.08088, -0.78302 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 44 }, "api_seconds": 6.605969504453242, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43 }, "note": "Grey bar (likely handle) appears between fingers; advance to enclose it." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.16614, -0.89599, 0.02834, -2.57397, -0.22721, 2.23889, 0.26911 ], "gripper_open": 1.0, "tcp_xyz": [ 0.40853, 0.04432, 1.04527 ], "tcp_roll_pitch_yaw": [ -0.02491, -0.42941, -0.00788 ], "tcp_rotation_matrix": [ [ 0.82778, -0.01988, 0.56071 ], [ 0.03988, -0.99476, -0.09414 ], [ 0.55964, 0.10029, -0.82265 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 43 }, "api_seconds": 2.6025992101058364, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked at x~0.41 with bar between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.16614, -0.896, 0.02835, -2.57397, -0.22721, 2.23889, 0.26911 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40854, 0.0443, 1.04525 ], "tcp_roll_pitch_yaw": [ -0.02493, -0.42932, -0.00792 ], "tcp_rotation_matrix": [ [ 0.82783, -0.01991, 0.56062 ], [ 0.03986, -0.99476, -0.09418 ], [ 0.55956, 0.10031, -0.8227 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 42 }, "api_seconds": 4.2038384238258, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.36, "z": 0.85 }, "note": "Missed; open, back off and lower to search for handle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.16614, -0.896, 0.02835, -2.57397, -0.22721, 2.23889, 0.26911 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40854, 0.0443, 1.04525 ], "tcp_roll_pitch_yaw": [ -0.02493, -0.42932, -0.00792 ], "tcp_rotation_matrix": [ [ 0.82783, -0.01991, 0.56062 ], [ 0.03986, -0.99476, -0.09418 ], [ 0.55956, 0.10031, -0.8227 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 41 }, "api_seconds": 3.0041811345145106, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.4, "z": 0.95, "pitch": 0 }, "note": "Open and lower with downward orientation." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.19961, -0.68851, -0.01871, -2.4456, -0.14163, 1.98773, 0.19721 ], "gripper_open": 1.0, "tcp_xyz": [ 0.40011, 0.04477, 0.98606 ], "tcp_roll_pitch_yaw": [ -0.00672, -0.08244, -0.00545 ], "tcp_rotation_matrix": [ [ 0.96859, 0.01884, 0.24796 ], [ 0.03813, -0.99659, -0.0732 ], [ 0.24573, 0.08036, -0.966 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 40 }, "api_seconds": 6.80510928761214, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.25, "z": 1.05 }, "note": "Blocked below at z~0.98; scan right side to locate fridge." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.08822, -0.55796, -0.5087, -2.11916, 0.51638, 1.07152, -0.37617 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.26441, 0.00212, 1.09113 ], "tcp_roll_pitch_yaw": [ 1.0189, 0.22173, 0.39882 ], "tcp_rotation_matrix": [ [ 0.95673, 0.08982, -0.27677 ], [ 0.27435, -0.59534, 0.75518 ], [ -0.09694, -0.79843, -0.59423 ] ], "simulated_seconds_remaining": 13.398, "calls_remaining_including_this": 39 }, "api_seconds": 9.00783068407327, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08, "z": 1.1 }, "note": "Wrist now faces +y and shows grey panel with possible vertical handle; approach it." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the refrigerator.", "joint_positions": [ 0.10027, -0.63993, -0.35923, -2.2122, 0.63635, 1.16816, -0.24565 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.26441, 0.07833, 1.09943 ], "tcp_roll_pitch_yaw": [ 1.01695, 0.22263, 0.39846 ], "tcp_rotation_matrix": [ [ 0.9567, 0.0898, -0.27687 ], [ 0.27422, -0.59701, 0.75391 ], [ -0.0976, -0.79719, -0.59579 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 38 }, "api_seconds": 3.4034773260354996, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not locate the refrigerator handle: views are ambiguous, the arm is cramped (frequent IK failures and collisions), and simulated time is nearly exhausted. Stopping rather than flailing." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 044 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 44, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "wall_seconds": 162.11, "usage": { "input_tokens": 66, "output_tokens": 9375, "cache_read_input_tokens": 461187, "cache_creation_input_tokens": 25572, "thinking_tokens": 5413, "cost_usd": 0.48457739999999994 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Wq2Cz6V7o5YSueDTH6MLAZ", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012nKKDUkqbRHvi3D1r7dxpA", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower to see cabinet/drawer better." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 484, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 484 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TKHzNUiMjF2qfrLwa5eEE9", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15 }, "note": "Probe: cabinet appears to the robot's left; move +y to see how view changes." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 782, "cache_read_input_tokens": 2509, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 782 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LLtSiq5LSs1hYGr9WiP2BW", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3 }, "note": "Cabinet getting closer in wrist view when moving +y; continue." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 877, "cache_read_input_tokens": 3291, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 877 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HLXE4NrxSezp5PCQdE71zS", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7 }, "note": "Gripper near cabinet front; lower to find drawer handle height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 808, "cache_read_input_tokens": 4168, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 808 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still working on it: I've found the cabinet to the robot's left (+y). Next I'll turn the gripper to face the drawer fronts." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 751, "cache_read_input_tokens": 4976, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 751 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Tz99uhVQuSdKorhMBiXoCR", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15, "z": 0.75, "roll": 1.57 }, "note": "Rotate gripper to point toward +y (cabinet front) to view drawers horizontally." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 751, "cache_read_input_tokens": 4976, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 751 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N9KyG24u3vUT6szSxud11B", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15, "z": 0.75, "roll": 0.8 }, "note": "Split rotation: partial roll toward +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1142, "cache_read_input_tokens": 5727, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1142 }, "output_tokens": 25, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01U5NSD6fB9LBBwobT1X4SA9", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1, "z": 0.8, "x": 0.4 }, "note": "Move back to a more central pose before rotating." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 626, "cache_read_input_tokens": 6869, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 626 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ck7J96WW1biK37RDDmw38e", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 0.5 }, "note": "Small roll to test direction toward cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 7495, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 696 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01U9BV4KC8ejekUaECKLB5Wg", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1 }, "note": "Continue rolling to face cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 611, "cache_read_input_tokens": 8191, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 611 }, "output_tokens": 9, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TRpXp4jzNQPuLCBuzUJyL6", "name": "mcp__robot__move_to", "input": { "targets": { "roll": 1.5 }, "note": "Finish rolling to point gripper along +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 8802, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Now facing the cabinet with the gripper. Next I'll search along the drawer fronts for a handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 642, "cache_read_input_tokens": 9443, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 642 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RAnQbxngb1pPim1k4q3xjF", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.65 }, "note": "Facing cabinet front; lower to search for drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 642, "cache_read_input_tokens": 9443, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 642 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015rFZPiXZCb4ZFtPa1hLmNR", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2 }, "note": "Approach cabinet front for closer look at handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 811, "cache_read_input_tokens": 10085, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 811 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QzCGkHPQwAcycDNvLs3wuQ", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7, "x": 0.45 }, "note": "Test image mapping: move up and forward to see how handle lines shift." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 10896, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Cagr4e76u2kamwrgk9odrd", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.32, "z": 0.65 }, "note": "Handles appear toward -x; move back to center them." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1016, "cache_read_input_tokens": 11672, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1016 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Hw2y9V8pRTLNQCdAUtonqd", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.28 }, "note": "Approach drawer front to see handle clearly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1178, "cache_read_input_tokens": 12688, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1178 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Jsrv2ScqGnjwqmEYxYSFKM", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.24 }, "note": "Dark object at image top (≈ -x); shift -x to center it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 911, "cache_read_input_tokens": 13866, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 911 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still searching: I can see what looks like a bar handle at the edge of the wrist view. I'm checking which way is up in that image so I can line up on it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 878, "cache_read_input_tokens": 14777, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 878 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FLAe33HPtYe7NFpg6BgmQ7", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.72, "x": 0.28 }, "note": "Possible bar handle at top-right of wrist image; move up to test image-right direction." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 878, "cache_read_input_tokens": 14777, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 878 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CbySob31BAFbX5jZJ2FQVQ", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Image-right = world up; handle is upper-right, move up." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 918, "cache_read_input_tokens": 15655, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 918 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01B6GGM7jTm36BVagb2k4Fnu", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.78, "x": 0.34 }, "note": "Reachability: go up with slightly larger x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 734, "cache_read_input_tokens": 16573, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 734 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LvtdRxfWi6DeBbTBN6bB4g", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.25, "z": 0.76, "y": 0.26, "yaw": 0.3 }, "note": "Handle seen near x~0.2, z~0.75; try reaching with yaw to aid IK." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 657, "cache_read_input_tokens": 17307, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 657 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011G7wPaM7VdknMHErimVZgd", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.22, "z": 0.77, "y": 0.3 }, "note": "Bar handle visible above gripper in image (toward -x, slightly up); approach it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1148, "cache_read_input_tokens": 17964, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1148 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F6uPuyBg9rKGtJTCqH4Aow", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.195, "y": 0.34 }, "note": "Handle just above gripper in image; move -x and forward toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 936, "cache_read_input_tokens": 19112, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 936 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I can see the drawer's bar handle just ahead of the gripper and am moving toward it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 862, "cache_read_input_tokens": 20048, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 862 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PAqZVHRBQWxfFB2Ewww6Uk", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.42, "x": 0.18 }, "note": "Handle still distant; advance toward drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 862, "cache_read_input_tokens": 20048, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 862 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GJX5nLir3Z2mfeXyz6pTFU", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.5, "x": 0.17 }, "note": "Handle approaching fingertips; continue forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 727, "cache_read_input_tokens": 20910, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 727 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XEwPQWdBCKjoDY318z8MBC", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.56 }, "note": "Handle between fingers in image; push forward to envelop it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 706, "cache_read_input_tokens": 21637, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 706 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01E9AQ4FWQDZCr8ppMcT4FzE", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.6, "z": 0.775 }, "note": "Handle bar near right finger; nudge up and forward to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 807, "cache_read_input_tokens": 22343, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 807 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RMkoW26cX8MWfJwX6L9TWn", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.65 }, "note": "Handle at fingertips; advance a bit more before closing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 924, "cache_read_input_tokens": 23150, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 924 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UXnsce3ngaQwjbKJbGBCTT", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.79, "y": 0.67 }, "note": "Bar is image-right (world up) of finger center; shift up to center it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 24074, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 702 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The handle looks to be between the fingers, so I'm closing the gripper on it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 24776, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 757 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TNd1i1M1eg2Z2QfxSduX8f", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 24776, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 757 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PTHMcVN1hLzEaNNzDjPJa2", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.42 }, "note": "Gripper closed on handle (0.15 open); pull drawer out along -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 661, "cache_read_input_tokens": 25533, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 661 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kdhw9f69qLZwmaGWognAgp", "name": "mcp__robot__give_up", "input": { "note": "Grasp on the drawer handle slipped during the pull (gripper fully closed, handle still in place); only ~2.6 s of simulated time left, insufficient to re-approach, regrasp, and pull." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 684, "cache_read_input_tokens": 26194, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 684 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't get the drawer open, so I ended the episode with give_up.\n\n1. **Finding the drawer:** The cabinet was to the robot's left (+y). I rotated the gripper to face the drawer fronts. It then took a lot of trial and error to work out which way the wrist camera was oriented before I could spot the bar handle.\n2. **Grasping:** The handle was near the edge of the robot's reach, around x≈0.17 m, y≈0.66 m, z≈0.78 m. I lined the fingers up over it and closed the gripper. The gripper stopped at about 15% open, which looked like a real grasp on the handle.\n3. **Pulling:** I pulled back along -y, but the handle slipped out of the fingers. The gripper ended fully closed on nothing, and the wrist view showed the handle still in place.\n\nBy then only about 2.6 seconds of motion time were left out of 30, not enough to approach, grasp and pull again. Most of the time went on searching for the handle and working out the camera orientation, so there was no time left for a second try." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 247, "cache_read_input_tokens": 26878, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 247 }, "output_tokens": 345, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 66, "cache_creation_input_tokens": 25572, "cache_read_input_tokens": 461187, "output_tokens": 9375, "output_tokens_details": { "thinking_tokens": 5413 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 25572, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 345, "cache_read_input_tokens": 26878, "cache_creation_input_tokens": 247, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 247 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 66, "outputTokens": 9375, "cacheReadInputTokens": 461187, "cacheCreationInputTokens": 25572, "webSearchRequests": 0, "costUSD": 0.48457739999999994, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5413, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.48457739999999994, "num_turns": 33, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.01861, -0.82204, -0.03806, -2.29899, -0.05045, 1.64091, -0.14415 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32873, -0.01944, 1.06233 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97811, 0.12984, 0.16259 ], [ 0.13548, -0.99049, -0.024 ], [ 0.15792, 0.0455, -0.9864 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.206220392137766, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower to see cabinet/drawer better." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.00733, -0.85159, -0.05616, -2.8587, -0.07374, 2.17056, -0.13045 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32868, -0.01944, 0.85125 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00033, 0.0 ], "tcp_rotation_matrix": [ [ 0.97817, 0.12986, 0.16226 ], [ 0.13548, -0.99049, -0.02401 ], [ 0.1576, 0.04547, -0.98646 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 56 }, "api_seconds": 5.004795757122338, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Probe: cabinet appears to the robot's left; move +y to see how view changes." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.20717, -0.71743, 0.26374, -2.76088, 0.10384, 2.19865, 0.2306 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32869, 0.1487, 0.85126 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00031, 0.00016 ], "tcp_rotation_matrix": [ [ 0.97814, 0.13001, 0.16229 ], [ 0.13564, -0.99047, -0.02406 ], [ 0.15761, 0.04555, -0.98645 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 55 }, "api_seconds": 4.204351087100804, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Cabinet getting closer in wrist view when moving +y; continue." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.23542, -0.43399, 0.53493, -2.50658, 0.11196, 2.22979, 0.54174 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32868, 0.29871, 0.85126 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00029, 0.00033 ], "tcp_rotation_matrix": [ [ 0.97811, 0.13018, 0.16231 ], [ 0.13582, -0.99044, -0.0241 ], [ 0.15762, 0.04561, -0.98645 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 54 }, "api_seconds": 3.002988954074681, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7 }, "note": "Gripper near cabinet front; lower to find drawer handle height." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.10144, -0.10107, 0.6824, -2.66081, -0.15285, 2.67585, 0.78372 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32866, 0.29859, 0.70123 ], "tcp_roll_pitch_yaw": [ -0.0004, 0.00056, 0.00016 ], "tcp_rotation_matrix": [ [ 0.97818, 0.13003, 0.16204 ], [ 0.13569, -0.99045, -0.02437 ], [ 0.15733, 0.04583, -0.98648 ] ], "simulated_seconds_remaining": 24.222, "calls_remaining_including_this": 53 }, "api_seconds": 7.407024106942117, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "z": 0.75, "roll": 1.57 }, "note": "Rotate gripper to point toward +y (cabinet front) to view drawers horizontally." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.10144, -0.10107, 0.6824, -2.66081, -0.15285, 2.67585, 0.78372 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32866, 0.29859, 0.70123 ], "tcp_roll_pitch_yaw": [ -0.0004, 0.00056, 0.00016 ], "tcp_rotation_matrix": [ [ 0.97818, 0.13003, 0.16204 ], [ 0.13569, -0.99045, -0.02437 ], [ 0.15733, 0.04583, -0.98648 ] ], "simulated_seconds_remaining": 24.222, "calls_remaining_including_this": 52 }, "api_seconds": 2.002930687740445, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "z": 0.75, "roll": 0.8 }, "note": "Split rotation: partial roll toward +y." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.10144, -0.10107, 0.6824, -2.66081, -0.15285, 2.67585, 0.78372 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32866, 0.29859, 0.70123 ], "tcp_roll_pitch_yaw": [ -0.0004, 0.00056, 0.00016 ], "tcp_rotation_matrix": [ [ 0.97818, 0.13003, 0.16204 ], [ 0.13569, -0.99045, -0.02437 ], [ 0.15733, 0.04583, -0.98648 ] ], "simulated_seconds_remaining": 24.222, "calls_remaining_including_this": 51 }, "api_seconds": 2.803616647608578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "z": 0.8, "x": 0.4 }, "note": "Move back to a more central pose before rotating." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.05336, -0.44538, 0.2312, -2.71987, 0.04947, 2.43518, 0.10101 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39964, 0.10112, 0.79946 ], "tcp_roll_pitch_yaw": [ -0.00033, 0.00045, -7e-05 ], "tcp_rotation_matrix": [ [ 0.97819, 0.12979, 0.16214 ], [ 0.13546, -0.99048, -0.02433 ], [ 0.15744, 0.04577, -0.98647 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 50 }, "api_seconds": 2.002348185516894, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.5 }, "note": "Small roll to test direction toward cabinet." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.27146, -0.45207, -0.20167, -2.77004, 0.59041, 2.4541, -0.45008 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39962, 0.10104, 0.79942 ], "tcp_roll_pitch_yaw": [ 0.49577, 0.00081, -0.00024 ], "tcp_rotation_matrix": [ [ 0.97829, 0.12928, 0.16198 ], [ 0.0438, -0.89292, 0.44809 ], [ 0.20256, -0.43127, -0.87919 ] ], "simulated_seconds_remaining": 21.384, "calls_remaining_including_this": 49 }, "api_seconds": 2.2023015711456537, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1 }, "note": "Continue rolling to face cabinet." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.38852, -0.30812, -0.58904, -2.71465, 1.04081, 2.14427, -0.96236 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39955, 0.10098, 0.79926 ], "tcp_roll_pitch_yaw": [ 0.99568, 0.00145, -0.00028 ], "tcp_rotation_matrix": [ [ 0.97839, 0.12851, 0.16201 ], [ -0.0591, -0.57698, 0.81462 ], [ 0.19816, -0.80658, -0.55692 ] ], "simulated_seconds_remaining": 20.394, "calls_remaining_including_this": 48 }, "api_seconds": 2.002111652866006, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 1.5 }, "note": "Finish rolling to point gripper along +y." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.35739, 0.15307, -0.7756, -2.59332, 1.3484, 1.46224, -1.3162 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39948, 0.10099, 0.79903 ], "tcp_roll_pitch_yaw": [ 1.49533, 0.00205, -0.00014 ], "tcp_rotation_matrix": [ [ 0.97839, 0.1278, 0.16252 ], [ -0.1474, -0.12007, 0.98176 ], [ 0.14499, -0.9845, -0.09864 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 47 }, "api_seconds": 4.004034269601107, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.65 }, "note": "Facing cabinet front; lower to search for drawer handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.23052, 0.69731, -0.59149, -2.41584, 1.5199, 1.29675, -1.62452 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39943, 0.10101, 0.65124 ], "tcp_roll_pitch_yaw": [ 1.49528, 0.0023, -7e-05 ], "tcp_rotation_matrix": [ [ 0.97844, 0.12757, 0.16243 ], [ -0.14732, -0.12011, 0.98177 ], [ 0.14476, -0.98453, -0.09873 ] ], "simulated_seconds_remaining": 18.084, "calls_remaining_including_this": 46 }, "api_seconds": 3.8040895564481616, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Approach cabinet front for closer look at handles." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.37163, 0.61928, -0.47162, -2.50205, 1.72549, 1.41629, -1.60512 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39938, 0.19874, 0.65127 ], "tcp_roll_pitch_yaw": [ 1.49542, 0.00228, 0.00026 ], "tcp_rotation_matrix": [ [ 0.97848, 0.12763, 0.16211 ], [ -0.14702, -0.11993, 0.98184 ], [ 0.14475, -0.98454, -0.09859 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 45 }, "api_seconds": 6.005879385396838, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7, "x": 0.45 }, "note": "Test image mapping: move up and forward to see how handle lines shift." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.39106, 0.51575, -0.50232, -2.43744, 1.71058, 1.46149, -1.44799 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44919, 0.19875, 0.69922 ], "tcp_roll_pitch_yaw": [ 1.49545, 0.002, 0.00027 ], "tcp_rotation_matrix": [ [ 0.97845, 0.1279, 0.16213 ], [ -0.14702, -0.1199, 0.98184 ], [ 0.14502, -0.98451, -0.09851 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 44 }, "api_seconds": 8.208083298057318, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32, "z": 0.65 }, "note": "Handles appear toward -x; move back to center them." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.38061, 0.57032, -0.48842, -2.69132, 1.68496, 1.4076, -1.75059 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32122, 0.19874, 0.65043 ], "tcp_roll_pitch_yaw": [ 1.49543, 0.00229, 0.00028 ], "tcp_rotation_matrix": [ [ 0.97849, 0.12762, 0.16209 ], [ -0.147, -0.11992, 0.98184 ], [ 0.14474, -0.98455, -0.09858 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 43 }, "api_seconds": 5.205131490714848, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.28 }, "note": "Approach drawer front to see handle clearly." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.49365, 0.52714, -0.34002, -2.70668, 1.9254, 1.48819, -1.72041 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32116, 0.27883, 0.65045 ], "tcp_roll_pitch_yaw": [ 1.49553, 0.00226, 0.0006 ], "tcp_rotation_matrix": [ [ 0.97853, 0.12769, 0.16178 ], [ -0.1467, -0.11977, 0.9819 ], [ 0.14475, -0.98456, -0.09847 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 42 }, "api_seconds": 4.404470699839294, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.24 }, "note": "Dark object at image top (≈ -x); shift -x to center it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.50844, 0.50258, -0.31496, -2.87401, 2.00137, 1.44076, -1.87254 ], "gripper_open": 0.9808, "tcp_xyz": [ 0.26156, 0.27684, 0.65175 ], "tcp_roll_pitch_yaw": [ 1.49362, -0.02391, -0.05208 ], "tcp_rotation_matrix": [ [ 0.96534, 0.14679, 0.21581 ], [ -0.19753, -0.12955, 0.9717 ], [ 0.17059, -0.98065, -0.09607 ] ], "simulated_seconds_remaining": 13.464, "calls_remaining_including_this": 41 }, "api_seconds": 6.205611385405064, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72, "x": 0.28 }, "note": "Possible bar handle at top-right of wrist image; move up to test image-right direction." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.53336, 0.16346, -0.37472, -2.96052, 1.94981, 1.62218, -1.69428 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27975, 0.27686, 0.71888 ], "tcp_roll_pitch_yaw": [ 1.49375, -0.02416, -0.05208 ], "tcp_rotation_matrix": [ [ 0.9653, 0.14703, 0.21583 ], [ -0.19755, -0.12943, 0.97171 ], [ 0.17081, -0.98063, -0.0959 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 40 }, "api_seconds": 3.4037084244191647, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Image-right = world up; handle is upper-right, move up." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.53336, 0.16346, -0.37472, -2.96052, 1.94981, 1.62218, -1.69428 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27975, 0.27686, 0.71888 ], "tcp_roll_pitch_yaw": [ 1.49375, -0.02416, -0.05208 ], "tcp_rotation_matrix": [ [ 0.9653, 0.14703, 0.21583 ], [ -0.19755, -0.12943, 0.97171 ], [ 0.17081, -0.98063, -0.0959 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 39 }, "api_seconds": 2.402180685661733, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78, "x": 0.34 }, "note": "Reachability: go up with slightly larger x." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.52728, -0.03585, -0.39364, -2.87822, 1.87895, 1.77647, -1.46443 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33914, 0.27688, 0.77912 ], "tcp_roll_pitch_yaw": [ 1.49387, -0.02444, -0.05208 ], "tcp_rotation_matrix": [ [ 0.96525, 0.14731, 0.21585 ], [ -0.19756, -0.12933, 0.97172 ], [ 0.17107, -0.9806, -0.09573 ] ], "simulated_seconds_remaining": 11.814, "calls_remaining_including_this": 38 }, "api_seconds": 7.606518253684044, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 0.76, "y": 0.26, "yaw": 0.3 }, "note": "Handle seen near x~0.2, z~0.75; try reaching with yaw to aid IK." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.47531, 0.04564, -0.44546, -2.8687, 1.4562, 1.62226, -1.51464 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25084, 0.26019, 0.76015 ], "tcp_roll_pitch_yaw": [ 1.49383, -0.02443, 0.29666 ], "tcp_rotation_matrix": [ [ 0.97465, 0.18265, -0.12919 ], [ 0.14417, -0.07125, 0.98698 ], [ 0.17107, -0.98059, -0.09578 ] ], "simulated_seconds_remaining": 10.89, "calls_remaining_including_this": 37 }, "api_seconds": 6.005461591295898, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "z": 0.77, "y": 0.3 }, "note": "Bar handle visible above gripper in image (toward -x, slightly up); approach it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.5562, -0.05844, -0.36477, -2.95466, 1.60275, 1.69884, -1.50173 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22066, 0.29912, 0.76979 ], "tcp_roll_pitch_yaw": [ 1.49387, -0.02446, 0.29689 ], "tcp_rotation_matrix": [ [ 0.97462, 0.18268, -0.12941 ], [ 0.14439, -0.07115, 0.98696 ], [ 0.17109, -0.98059, -0.09572 ] ], "simulated_seconds_remaining": 10.23, "calls_remaining_including_this": 36 }, "api_seconds": 4.604152430780232, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.195, "y": 0.34 }, "note": "Handle just above gripper in image; move -x and forward toward it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.65478, -0.08378, -0.26899, -2.98814, 1.7939, 1.74407, -1.51928 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.19562, 0.33891, 0.76979 ], "tcp_roll_pitch_yaw": [ 1.49388, -0.02448, 0.29724 ], "tcp_rotation_matrix": [ [ 0.97456, 0.18272, -0.12976 ], [ 0.14474, -0.07108, 0.98691 ], [ 0.1711, -0.98059, -0.09572 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 35 }, "api_seconds": 3.003089951351285, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.42, "x": 0.18 }, "note": "Handle still distant; advance toward drawer front." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.81823, -0.01722, -0.1112, -2.89957, 2.10979, 1.80595, -1.52187 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.18019, 0.41877, 0.7698 ], "tcp_roll_pitch_yaw": [ 1.49386, -0.02456, 0.29755 ], "tcp_rotation_matrix": [ [ 0.97451, 0.18282, -0.13005 ], [ 0.14503, -0.07101, 0.98688 ], [ 0.17119, -0.98058, -0.09572 ] ], "simulated_seconds_remaining": 8.778, "calls_remaining_including_this": 34 }, "api_seconds": 3.20311941485852, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.5, "x": 0.17 }, "note": "Handle approaching fingertips; continue forward." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.92936, 0.08931, 7e-05, -2.74035, 2.32215, 1.8858, -1.51646 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.17011, 0.49878, 0.76982 ], "tcp_roll_pitch_yaw": [ 1.4939, -0.02465, 0.29777 ], "tcp_rotation_matrix": [ [ 0.97446, 0.18292, -0.13027 ], [ 0.14524, -0.07092, 0.98685 ], [ 0.17127, -0.98057, -0.09567 ] ], "simulated_seconds_remaining": 7.92, "calls_remaining_including_this": 33 }, "api_seconds": 4.2043861439451575, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.56 }, "note": "Handle between fingers in image; push forward to envelop it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.98268, 0.18798, 0.04965, -2.5831, 2.41141, 1.95731, -1.50572 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.17007, 0.55882, 0.76986 ], "tcp_roll_pitch_yaw": [ 1.49396, -0.02472, 0.29792 ], "tcp_rotation_matrix": [ [ 0.97443, 0.18297, -0.13042 ], [ 0.14537, -0.07081, 0.98684 ], [ 0.17133, -0.98056, -0.0956 ] ], "simulated_seconds_remaining": 7.194, "calls_remaining_including_this": 32 }, "api_seconds": 5.204857619479299, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.6, "z": 0.775 }, "note": "Handle bar near right finger; nudge up and forward to straddle it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.0139, 0.24304, 0.07466, -2.47175, 2.45224, 2.01874, -1.49019 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.17002, 0.59891, 0.7749 ], "tcp_roll_pitch_yaw": [ 1.49405, -0.02479, 0.29806 ], "tcp_rotation_matrix": [ [ 0.9744, 0.18302, -0.13055 ], [ 0.14549, -0.07068, 0.98683 ], [ 0.17139, -0.98056, -0.0955 ] ], "simulated_seconds_remaining": 6.6, "calls_remaining_including_this": 31 }, "api_seconds": 3.203003720380366, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.65 }, "note": "Handle at fingertips; advance a bit more before closing." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.04936, 0.33448, 0.09664, -2.31933, 2.49, 2.08852, -1.47994 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.16996, 0.64886, 0.77493 ], "tcp_roll_pitch_yaw": [ 1.49413, -0.02483, 0.29819 ], "tcp_rotation_matrix": [ [ 0.97438, 0.18305, -0.13068 ], [ 0.1456, -0.07057, 0.98682 ], [ 0.17141, -0.98057, -0.09542 ] ], "simulated_seconds_remaining": 5.94, "calls_remaining_including_this": 30 }, "api_seconds": 3.6033171424642205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79, "y": 0.67 }, "note": "Bar is image-right (world up) of finger center; shift up to center it." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.06429, 0.33862, 0.10586, -2.2598, 2.49565, 2.14091, -1.45482 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.16992, 0.66914, 0.78944 ], "tcp_roll_pitch_yaw": [ 1.49429, -0.02494, 0.2983 ], "tcp_rotation_matrix": [ [ 0.97435, 0.18311, -0.13078 ], [ 0.14568, -0.07037, 0.98683 ], [ 0.1715, -0.98057, -0.09524 ] ], "simulated_seconds_remaining": 5.478, "calls_remaining_including_this": 29 }, "api_seconds": 2.6026451028883457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the drawer.", "joint_positions": [ 1.06505, 0.34671, 0.10599, -2.26745, 2.49416, 2.16886, -1.45463 ], "gripper_open": 0.1524, "tcp_xyz": [ 0.16969, 0.66257, 0.77352 ], "tcp_roll_pitch_yaw": [ 1.45582, -0.01102, 0.29358 ], "tcp_rotation_matrix": [ [ 0.9755, 0.18057, -0.1257 ], [ 0.14725, -0.11134, 0.98281 ], [ 0.16347, -0.97724, -0.1352 ] ], "simulated_seconds_remaining": 4.554, "calls_remaining_including_this": 28 }, "api_seconds": 2.8028376577422023, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.42 }, "note": "Gripper closed on handle (0.15 open); pull drawer out along -y." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.84661, -0.08659, -0.08187, -2.92319, 2.15072, 1.88753, -1.48448 ], "gripper_open": 0.0, "tcp_xyz": [ 0.16978, 0.42131, 0.7735 ], "tcp_roll_pitch_yaw": [ 1.45575, -0.01099, 0.29335 ], "tcp_rotation_matrix": [ [ 0.97553, 0.18053, -0.12547 ], [ 0.14703, -0.11146, 0.98283 ], [ 0.16344, -0.97723, -0.13528 ] ], "simulated_seconds_remaining": 2.64, "calls_remaining_including_this": 27 }, "api_seconds": 3.2033058926463127, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Grasp on the drawer handle slipped during the pull (gripper fully closed, handle still in place); only ~2.6 s of simulated time left, insufficient to re-approach, regrasp, and pull." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 045 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 45, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "wall_seconds": 176.11, "usage": { "input_tokens": 64, "output_tokens": 10047, "cache_read_input_tokens": 457471, "cache_creation_input_tokens": 25712, "thinking_tokens": 6195, "cost_usd": 0.49838620000000006 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Hassah3RTZ1JP1r4W5cJtd", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AUagTkKGmsVPg9sEtCsHEA", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.9 }, "note": "Tilt gripper forward to see the cabinet ahead with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0144TgVNZ8ek6NSZ2PQbutnj", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5, "z": 0.85 }, "note": "Smaller forward tilt and slight lowering to look ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 962, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 962 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011Kqx4u4Ha7TA3WSHyVNaUd", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Test simple lowering." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 655, "cache_read_input_tokens": 3473, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 655 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017jS6G6CyBg1SfnvEyFCUXz", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.4 }, "note": "Try tilting the other way to look ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 4128, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 633 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Tilting forward was rejected, so I'm moving the gripper sideways to work out which way the cabinet lies from the base." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 888, "cache_read_input_tokens": 4761, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 888 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YF2qSn3BwHJHCpj3AjkB1F", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "y": 0.15 }, "note": "Reset pitch and shift +y to learn camera-frame orientation." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 888, "cache_read_input_tokens": 4761, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 888 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018oaWNtztpmWLdtkBLCR34H", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "y": 0.05 }, "note": "Move forward toward the white cabinet to calibrate distance." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 864, "cache_read_input_tokens": 5649, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 864 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TXEVsNvcXyMnE9Wa5muBgk", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Continue forward to approach cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 880, "cache_read_input_tokens": 6513, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 880 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011oCGmv1RZGtrJbKKjah1rr", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "z": 0.78, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Contact with cabinet; back off and lower to see drawer front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 868, "cache_read_input_tokens": 7393, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 868 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CYsNcoMZKrhQxriKBSu51v", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Tilt gripper forward to view cabinet front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1053, "cache_read_input_tokens": 8261, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1053 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0146SWonqD4naCntdhS4VrSv", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.3 }, "note": "Smaller forward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 725, "cache_read_input_tokens": 9314, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 725 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Tilting forward keeps hitting reach limits, so I'm lowering the gripper to find the drawer front and handle height." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 660, "cache_read_input_tokens": 10039, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 660 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N69qvm1T2X5xeVLnH2A7gf", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "z": 0.7, "x": 0.5 }, "note": "Probe below handle to locate drawer front depth." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 660, "cache_read_input_tokens": 10039, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 660 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kc93mTr2AAxQPupvmU4iQQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.62 }, "note": "Continue forward at low height to find cabinet face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1135, "cache_read_input_tokens": 10699, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1135 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LQWqbzRD1Sqt4bGS3YeC6M", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "z": 0.65, "pitch": -0.6, "roll": 0, "yaw": 0 }, "note": "Blocked at x~0.48 (cabinet face ~0.52). Back off lower and tilt forward to view face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 11834, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 882 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Kz6ACrVg1JbBb7fRYfxYPH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.4, "z": 0.65, "pitch": -0.3, "roll": 0, "yaw": 0 }, "note": "Split motion: back off, lower, partial forward tilt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1468, "cache_read_input_tokens": 12716, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1468 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012LKEjA6hnfSwYv8ofd8sQ5", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3, "pitch": 0, "z": 0.7 }, "note": "Probe +y direction toward left furniture with visible drawer." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 14184, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 649 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012ZYfzU8qu4RJZbWHqUGN54", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42, "y": 0.05, "z": 1.05, "yaw": 1.57 }, "note": "Go up above cabinet top-front region with fingers opening along x to pinch a horizontal handle from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1057, "cache_read_input_tokens": 14833, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1057 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm above the cabinet with the fingers turned to straddle the horizontal handle. Next I'll move forward over the handle and look down." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1223, "cache_read_input_tokens": 15890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1223 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ARdV6cQ3RoD8uE1A1YmpmA", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.53 }, "note": "Move forward over the presumed handle position." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1223, "cache_read_input_tokens": 15890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1223 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L3ai3i2G3JWoiLYSzxUpN7", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.97 }, "note": "Handle bar visible in wrist cam below; descend toward it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 863, "cache_read_input_tokens": 17113, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 863 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RruNhF25qSNu7r8xh9MheJ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.47 }, "note": "Handle appears offset toward robot (-x); shift back to center over it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 743, "cache_read_input_tokens": 17976, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 743 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RPK721tiXPKoYFsY46q44Z", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Bar moved further left when moving -x, so handle is at +x; move forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 918, "cache_read_input_tokens": 18719, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 918 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019JYhiuj5RLAFhNRXY3fnRR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.53, "z": 0.92, "roll": 0, "pitch": 0 }, "note": "Blocked at 0.543; descend so open fingers straddle the handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 648, "cache_read_input_tokens": 19637, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 648 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BtRaF9H4GV8zfGYNBEeCjY", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Fingers are around/on the handle area; close to try grasping." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 831, "cache_read_input_tokens": 20285, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 831 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GYULAMJVkswWo8wSLrELp2", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "x": 0.47, "z": 0.88, "roll": 0, "pitch": 0 }, "note": "Missed; open and try lower in front of face where handle may sit below counter edge." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 21116, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 698 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017gjsQsq8cgt3vdYf9LdGkH", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.55 }, "note": "Advance at lower height to straddle handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1118, "cache_read_input_tokens": 21814, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1118 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EwLrZA18DzYCtBrKSPp7A4", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.58 }, "note": "Handle bar very close on left side; shift slightly +x to center it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 668, "cache_read_input_tokens": 22932, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 668 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TML1pR9ee6iPYEHnDezc2W", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.558 }, "note": "Bar switched to right side; center between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 717, "cache_read_input_tokens": 23600, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 717 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Handle is between the fingers; closing." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 704, "cache_read_input_tokens": 24317, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 704 }, "output_tokens": 42, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014bxLyEGm9uWSbScT1tQX3a", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle bar between fingers; close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 704, "cache_read_input_tokens": 24317, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 704 }, "output_tokens": 42, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Dap9Hmx62r3g5G2tr8N6iu", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.84 }, "note": "Closed on nothing; handle likely lower. Open and descend." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 622, "cache_read_input_tokens": 25021, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 622 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019tekne48SHZnnADUnq61gF", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Blocked descending; close and hope to pinch handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 774, "cache_read_input_tokens": 25643, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 774 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YCgZReMWBMWVCej1Cmsep8", "name": "mcp__robot__give_up", "input": { "note": "Could not grasp the drawer handle before the motion time ran out; the drawer is still closed." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 688, "cache_read_input_tokens": 26417, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 688 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The drawer is still closed. I never got a grip on the handle, and with about 2.4 seconds of motion time left I ended the episode by giving up.\n\n- **Positioning:** I found the cabinet front at about x ≈ 0.50 m and saw a horizontal handle bar in the wrist camera. I couldn't tilt the gripper to face forward because those orientations were out of reach. Instead I turned it 90° so the fingers could pinch the bar from above.\n- **Grasping:** I tried to grasp three times, near heights of 0.96 m, 0.88 m and 0.86 m. Each time the gripper closed fully on nothing.\n- **Why it went wrong:** Things I bumped kept stopping the gripper from reaching the height I asked for. The wrist camera's viewpoint also made it hard to judge where the handle sat relative to the fingertips.\n- **Time:** I spent too much of the 30-second limit at the start working out camera directions and testing positions. That left no time to keep adjusting the grasp or to pull the drawer." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 160, "cache_read_input_tokens": 27105, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 160 }, "output_tokens": 343, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 64, "cache_creation_input_tokens": 25712, "cache_read_input_tokens": 457471, "output_tokens": 10047, "output_tokens_details": { "thinking_tokens": 6195 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 25712, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 343, "cache_read_input_tokens": 27105, "cache_creation_input_tokens": 160, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 160 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 64, "outputTokens": 10047, "cacheReadInputTokens": 457471, "cacheCreationInputTokens": 25712, "webSearchRequests": 0, "costUSD": 0.49838620000000006, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6195, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.49838620000000006, "num_turns": 32, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.00845, -0.74674, 0.05214, -2.42329, -0.00896, 1.52175, -0.08169 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28277, 0.01286, 0.96989 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97996, 0.12801, -0.15263 ], [ 0.12153, -0.99127, -0.0511 ], [ -0.15784, 0.03153, -0.98696 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.806803232990205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9 }, "note": "Tilt gripper forward to see the cabinet ahead with wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.00845, -0.74674, 0.05214, -2.42329, -0.00896, 1.52175, -0.08169 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28277, 0.01286, 0.96989 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97996, 0.12801, -0.15263 ], [ 0.12153, -0.99127, -0.0511 ], [ -0.15784, 0.03153, -0.98696 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.4028037637472153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5, "z": 0.85 }, "note": "Smaller forward tilt and slight lowering to look ahead." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.00845, -0.74674, 0.05214, -2.42329, -0.00896, 1.52175, -0.08169 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28277, 0.01286, 0.96989 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.97996, 0.12801, -0.15263 ], [ 0.12153, -0.99127, -0.0511 ], [ -0.15784, 0.03153, -0.98696 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.202698296867311, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Test simple lowering." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.01205, -0.72506, 0.05976, -2.71361, -0.00335, 1.83323, -0.0711 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28271, 0.01285, 0.85122 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.0003, -0.0 ], "tcp_rotation_matrix": [ [ 0.97991, 0.12802, -0.15293 ], [ 0.12152, -0.99127, -0.05112 ], [ -0.15814, 0.03151, -0.98691 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 54 }, "api_seconds": 4.204590846784413, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.4 }, "note": "Try tilting the other way to look ahead." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.00203, -0.34619, 0.05648, -2.43286, -0.00595, 1.53608, -0.08516 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28272, 0.01285, 0.85116 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.39602, -2e-05 ], "tcp_rotation_matrix": [ [ 0.84323, 0.13024, -0.52154 ], [ 0.1215, -0.99127, -0.0511 ], [ -0.52364, -0.02028, -0.8517 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 53 }, "api_seconds": 4.805126156657934, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "y": 0.15 }, "note": "Reset pitch and shift +y to learn camera-frame orientation." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.16104, -0.60638, 0.278, -2.61487, 0.17392, 1.85618, 0.18883 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2827, 0.14902, 0.85118 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00298, 0.00028 ], "tcp_rotation_matrix": [ [ 0.97945, 0.12838, -0.15555 ], [ 0.12177, -0.99123, -0.05131 ], [ -0.16077, 0.03131, -0.98649 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 52 }, "api_seconds": 5.0054204650223255, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.05 }, "note": "Move forward toward the white cabinet to calibrate distance." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.01254, -0.16129, 0.13506, -2.23752, -0.01145, 1.91629, -0.0023 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44884, 0.05064, 0.85116 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00303, 0.0001 ], "tcp_rotation_matrix": [ [ 0.97946, 0.1282, -0.15562 ], [ 0.12161, -0.99126, -0.05124 ], [ -0.16082, 0.03126, -0.98649 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 51 }, "api_seconds": 4.604882724583149, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Continue forward to approach cabinet front." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00473, 0.19175, 0.13714, -1.66126, -0.06911, 1.28348, 0.00911 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46456, 0.04147, 0.91263 ], "tcp_roll_pitch_yaw": [ -0.07294, 0.40265, -0.01787 ], "tcp_rotation_matrix": [ [ 0.83826, 0.14075, -0.5268 ], [ 0.09474, -0.98901, -0.1135 ], [ -0.53698, 0.04523, -0.84238 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 50 }, "api_seconds": 6.8064059978351, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "z": 0.78, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Contact with cabinet; back off and lower to see drawer front." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00472, -0.28223, 0.12954, -2.55554, 0.00322, 2.13015, -0.01136 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38486, 0.04211, 0.78168 ], "tcp_roll_pitch_yaw": [ 0.00133, -0.0131, 0.0009 ], "tcp_rotation_matrix": [ [ 0.98183, 0.12849, -0.13964 ], [ 0.12262, -0.9912, -0.04992 ], [ -0.14483, 0.03189, -0.98894 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 49 }, "api_seconds": 3.003418513573706, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Tilt gripper forward to view cabinet front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.00472, -0.28223, 0.12954, -2.55554, 0.00322, 2.13015, -0.01136 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38486, 0.04211, 0.78168 ], "tcp_roll_pitch_yaw": [ 0.00133, -0.0131, 0.0009 ], "tcp_rotation_matrix": [ [ 0.98183, 0.12849, -0.13964 ], [ 0.12262, -0.9912, -0.04992 ], [ -0.14483, 0.03189, -0.98894 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 48 }, "api_seconds": 2.2025851104408503, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.3 }, "note": "Smaller forward tilt." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.00411, -0.48149, 0.14461, -2.80102, -0.00298, 2.45785, 0.01958 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38477, 0.04211, 0.78161 ], "tcp_roll_pitch_yaw": [ 0.00121, -0.29539, 0.00095 ], "tcp_rotation_matrix": [ [ 0.98331, 0.11457, 0.14137 ], [ 0.12265, -0.9912, -0.04977 ], [ 0.13442, 0.06628, -0.98871 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 47 }, "api_seconds": 7.609068075194955, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "z": 0.7, "x": 0.5 }, "note": "Probe below handle to locate drawer front depth." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.03966, 0.18947, 0.13816, -2.23625, -0.07948, 2.26675, 0.02701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49919, 0.0421, 0.70055 ], "tcp_roll_pitch_yaw": [ 0.00124, -0.00201, 0.00088 ], "tcp_rotation_matrix": [ [ 0.98017, 0.12882, -0.1506 ], [ 0.12258, -0.9912, -0.05001 ], [ -0.15572, 0.03056, -0.98733 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 46 }, "api_seconds": 4.615489897318184, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Continue forward at low height to find cabinet face." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.021, 0.20044, 0.12647, -2.15396, -0.10539, 2.04852, 0.02307 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47912, 0.03409, 0.71837 ], "tcp_roll_pitch_yaw": [ -0.04415, 0.14076, 0.01727 ], "tcp_rotation_matrix": [ [ 0.94527, 0.15436, -0.28746 ], [ 0.13079, -0.9864, -0.09959 ], [ -0.29892, 0.05655, -0.9526 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 45 }, "api_seconds": 11.210173689760268, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "z": 0.65, "pitch": -0.6, "roll": 0, "yaw": 0 }, "note": "Blocked at x~0.48 (cabinet face ~0.52). Back off lower and tilt forward to view face." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 14, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.021, 0.20044, 0.12647, -2.15396, -0.10539, 2.04852, 0.02307 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47912, 0.03409, 0.71837 ], "tcp_roll_pitch_yaw": [ -0.04415, 0.14076, 0.01727 ], "tcp_rotation_matrix": [ [ 0.94527, 0.15436, -0.28746 ], [ 0.13079, -0.9864, -0.09959 ], [ -0.29892, 0.05655, -0.9526 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 44 }, "api_seconds": 2.4032127717509866, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.65, "pitch": -0.3, "roll": 0, "yaw": 0 }, "note": "Split motion: back off, lower, partial forward tilt." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the drawer.", "joint_positions": [ -0.05076, -0.03221, 0.11841, -2.82387, -0.26968, 2.92252, 0.20911 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40046, 0.03384, 0.6503 ], "tcp_roll_pitch_yaw": [ -0.00119, -0.29552, 0.00018 ], "tcp_rotation_matrix": [ [ 0.98347, 0.11312, 0.14142 ], [ 0.12152, -0.99121, -0.05225 ], [ 0.13427, 0.06857, -0.98857 ] ], "simulated_seconds_remaining": 18.612, "calls_remaining_including_this": 43 }, "api_seconds": 6.806115346960723, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3, "pitch": 0, "z": 0.7 }, "note": "Probe +y direction toward left furniture with visible drawer." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.24225, 0.19913, 0.38445, -2.24373, -0.03689, 2.27437, 0.52542 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40046, 0.29876, 0.69977 ], "tcp_roll_pitch_yaw": [ -0.00108, -0.00159, 0.00036 ], "tcp_rotation_matrix": [ [ 0.98016, 0.12831, -0.15104 ], [ 0.12171, -0.99119, -0.05222 ], [ -0.15641, 0.0328, -0.98715 ] ], "simulated_seconds_remaining": 16.5, "calls_remaining_including_this": 42 }, "api_seconds": 8.407612149603665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.05, "z": 1.05, "yaw": 1.57 }, "note": "Go up above cabinet top-front region with fingers opening along x to pinch a horizontal handle from above." } } } ] } } ] }, "execution": { "steps": 48, "motion_seconds": 3.168, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.18062, -0.43356, 0.02756, -2.03158, -0.14782, 1.6177, -1.48098 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42, 0.05046, 1.04939 ], "tcp_roll_pitch_yaw": [ -0.00136, -0.0017, 1.56639 ], "tcp_rotation_matrix": [ [ -0.11699, 0.99178, 0.05178 ], [ 0.98075, 0.12359, -0.15117 ], [ -0.15633, 0.0331, -0.98715 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 41 }, "api_seconds": 4.404712902382016, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53 }, "note": "Move forward over the presumed handle position." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.16345, -0.10612, 0.00751, -1.70972, -0.1579, 1.62831, -1.51405 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52873, 0.05044, 1.0493 ], "tcp_roll_pitch_yaw": [ -0.00117, -0.00168, 1.56634 ], "tcp_rotation_matrix": [ [ -0.11697, 0.99179, 0.05159 ], [ 0.98075, 0.12354, -0.1512 ], [ -0.15633, 0.03291, -0.98716 ] ], "simulated_seconds_remaining": 12.276, "calls_remaining_including_this": 40 }, "api_seconds": 3.803856556303799, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Handle bar visible in wrist cam below; descend toward it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.16164, -0.12492, 0.00418, -1.92969, -0.16318, 1.82741, -1.48663 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5287, 0.05043, 0.97112 ], "tcp_roll_pitch_yaw": [ -0.00087, -0.00161, 1.56633 ], "tcp_rotation_matrix": [ [ -0.11701, 0.99181, 0.05128 ], [ 0.98074, 0.12352, -0.15127 ], [ -0.15636, 0.03259, -0.98716 ] ], "simulated_seconds_remaining": 11.418, "calls_remaining_including_this": 39 }, "api_seconds": 5.805698682554066, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47 }, "note": "Handle appears offset toward robot (-x); shift back to center over it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.17034, -0.29798, 0.01404, -2.10818, -0.16004, 1.83021, -1.46879 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47135, 0.05046, 0.9712 ], "tcp_roll_pitch_yaw": [ -0.00099, -0.00163, 1.56638 ], "tcp_rotation_matrix": [ [ -0.11704, 0.9918, 0.05141 ], [ 0.98074, 0.12358, -0.15125 ], [ -0.15636, 0.03272, -0.98716 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 38 }, "api_seconds": 2.6028601452708244, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Bar moved further left when moving -x, so handle is at +x; move forward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.16126, 0.05507, 0.00592, -1.65823, -0.15504, 1.57969, -1.51301 ], "gripper_open": 0.985, "tcp_xyz": [ 0.54348, 0.05078, 0.98281 ], "tcp_roll_pitch_yaw": [ 0.1544, 0.02321, 1.55538 ], "tcp_rotation_matrix": [ [ -0.12929, 0.98614, -0.10398 ], [ 0.97862, 0.10997, -0.17382 ], [ -0.15997, -0.12423, -0.97927 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 37 }, "api_seconds": 4.404408064670861, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "z": 0.92, "roll": 0, "pitch": 0 }, "note": "Blocked at 0.543; descend so open fingers straddle the handle." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.15925, -0.14088, 0.00428, -2.01393, -0.17331, 2.00022, -1.45581 ], "gripper_open": 1.0, "tcp_xyz": [ 0.5482, 0.05522, 0.9561 ], "tcp_roll_pitch_yaw": [ -0.10618, -0.01992, 1.56542 ], "tcp_rotation_matrix": [ [ -0.09883, 0.98301, 0.15469 ], [ 0.98369, 0.11998, -0.13399 ], [ -0.15027, 0.13893, -0.97883 ] ], "simulated_seconds_remaining": 8.91, "calls_remaining_including_this": 36 }, "api_seconds": 2.6028059842064977, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Fingers are around/on the handle area; close to try grasping." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.15925, -0.14088, 0.00428, -2.01393, -0.17331, 2.00022, -1.45581 ], "gripper_open": 0.0, "tcp_xyz": [ 0.5482, 0.05523, 0.95609 ], "tcp_roll_pitch_yaw": [ -0.10624, -0.01993, 1.56543 ], "tcp_rotation_matrix": [ [ -0.09883, 0.983, 0.15476 ], [ 0.98369, 0.11999, -0.13397 ], [ -0.15027, 0.13899, -0.97883 ] ], "simulated_seconds_remaining": 7.986, "calls_remaining_including_this": 35 }, "api_seconds": 8.007304473780096, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.47, "z": 0.88, "roll": 0, "pitch": 0 }, "note": "Missed; open and try lower in front of face where handle may sit below counter edge." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.17033, -0.25572, 0.01787, -2.29811, -0.17651, 2.05817, -1.42202 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47089, 0.05524, 0.88083 ], "tcp_roll_pitch_yaw": [ -0.0011, -0.0002, 1.56545 ], "tcp_rotation_matrix": [ [ -0.11612, 0.99191, 0.05138 ], [ 0.98062, 0.12271, -0.15271 ], [ -0.15778, 0.03265, -0.98694 ] ], "simulated_seconds_remaining": 6.93, "calls_remaining_including_this": 34 }, "api_seconds": 3.203367540612817, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Advance at lower height to straddle handle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.158, -0.02613, 0.00497, -2.04716, -0.17915, 2.04064, -1.44855 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54862, 0.05522, 0.88079 ], "tcp_roll_pitch_yaw": [ -0.00101, -0.00019, 1.5654 ], "tcp_rotation_matrix": [ [ -0.11608, 0.99192, 0.05128 ], [ 0.98063, 0.12265, -0.15271 ], [ -0.15777, 0.03256, -0.98694 ] ], "simulated_seconds_remaining": 6.138, "calls_remaining_including_this": 33 }, "api_seconds": 3.203487504273653, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58 }, "note": "Handle bar very close on left side; shift slightly +x to center it." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.15586, 0.05518, 0.0034, -1.93712, -0.17628, 1.99371, -1.45998 ], "gripper_open": 0.9779, "tcp_xyz": [ 0.57198, 0.05586, 0.88313 ], "tcp_roll_pitch_yaw": [ 0.01784, 0.00377, 1.56428 ], "tcp_rotation_matrix": [ [ -0.11794, 0.99249, 0.03247 ], [ 0.98015, 0.12159, -0.15656 ], [ -0.15934, 0.01336, -0.98713 ] ], "simulated_seconds_remaining": 5.61, "calls_remaining_including_this": 32 }, "api_seconds": 3.4033671841025352, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.558 }, "note": "Bar switched to right side; center between fingers." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.15755, 0.0177, 0.00503, -1.98355, -0.17688, 2.00207, -1.45504 ], "gripper_open": 0.9963, "tcp_xyz": [ 0.55934, 0.05587, 0.88315 ], "tcp_roll_pitch_yaw": [ 0.0178, 0.00376, 1.5643 ], "tcp_rotation_matrix": [ [ -0.11796, 0.99249, 0.03251 ], [ 0.98015, 0.12162, -0.15656 ], [ -0.15934, 0.0134, -0.98713 ] ], "simulated_seconds_remaining": 5.214, "calls_remaining_including_this": 31 }, "api_seconds": 2.2022434948012233, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle bar between fingers; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.15755, 0.0177, 0.00503, -1.98355, -0.17688, 2.00207, -1.45504 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55933, 0.05587, 0.88315 ], "tcp_roll_pitch_yaw": [ 0.0178, 0.00376, 1.5643 ], "tcp_rotation_matrix": [ [ -0.11796, 0.99249, 0.03251 ], [ 0.98015, 0.12162, -0.15656 ], [ -0.15934, 0.0134, -0.98713 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 30 }, "api_seconds": 4.20459757745266, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.84 }, "note": "Closed on nothing; handle likely lower. Open and descend." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.15632, 0.02686, 0.00362, -2.04464, -0.18693, 2.0968, -1.43588 ], "gripper_open": 0.9756, "tcp_xyz": [ 0.56175, 0.05628, 0.8578 ], "tcp_roll_pitch_yaw": [ -0.00795, 0.00029, 1.56251 ], "tcp_rotation_matrix": [ [ -0.11215, 0.99202, 0.05768 ], [ 0.98087, 0.1198, -0.1534 ], [ -0.15909, 0.03937, -0.98648 ] ], "simulated_seconds_remaining": 3.366, "calls_remaining_including_this": 29 }, "api_seconds": 3.0031047416850924, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Blocked descending; close and hope to pinch handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "open the drawer.", "joint_positions": [ 0.15632, 0.02686, 0.00362, -2.04464, -0.18693, 2.09681, -1.43588 ], "gripper_open": 0.0, "tcp_xyz": [ 0.56175, 0.05629, 0.8578 ], "tcp_roll_pitch_yaw": [ -0.00797, 0.00029, 1.56251 ], "tcp_rotation_matrix": [ [ -0.11214, 0.99202, 0.0577 ], [ 0.98088, 0.11981, -0.1534 ], [ -0.15908, 0.0394, -0.98648 ] ], "simulated_seconds_remaining": 2.442, "calls_remaining_including_this": 28 }, "api_seconds": 2.4028612887486815, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not grasp the drawer handle before the motion time ran out; the drawer is still closed." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 046 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 46, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 27, "wall_seconds": 194.28, "usage": { "input_tokens": 58, "output_tokens": 12064, "cache_read_input_tokens": 407517, "cache_creation_input_tokens": 26275, "thinking_tokens": 8506, "cost_usd": 0.5332154 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XkeXDGYLVq5qrKJrnMsyPh", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SXgGLpX1j3bb6PCcBdtPfN", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.25, "x": 0.2 }, "note": "Raise to get wider view of dresser." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 487, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 487 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016FY4gGcbkE41jhbqxQEBAG", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.15, "x": 0.2 }, "note": "Raise slightly and back for wider view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 880, "cache_read_input_tokens": 2512, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 880 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011ja18eKNXzFzLE77VivYnL", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Probe forward to understand dresser layout." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 662, "cache_read_input_tokens": 3392, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 662 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013a3XbeMa5qu1xMVRrsQhQB", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.15, "z": 0.9 }, "note": "Move back and down to find the dresser's near edge/front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1077, "cache_read_input_tokens": 4054, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1077 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still locating the dresser front. I'm moving the gripper to find the top edge before I turn it toward the drawer face." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1043, "cache_read_input_tokens": 5131, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1043 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012HtQQjBeRDF15mgJuQFeay", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "z": 0.95 }, "note": "Wrist shows dresser top below; lowering carefully to gauge its height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1043, "cache_read_input_tokens": 5131, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1043 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_016VFD1Se8z5aud5SwnZ5KfU", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.15 }, "note": "Calibrating: move +y to see how views shift." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1258, "cache_read_input_tokens": 6174, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1258 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014DGDhDvNKioQCdcYKMfigR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.1, "y": 0, "z": 0.75 }, "note": "Back off in front of the -x-facing dresser face and descend to look at it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1254, "cache_read_input_tokens": 7432, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1254 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018Bet1nt8R8jDfrD67fy6tn", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.15, "y": 0, "z": 0.9, "pitch": -1.2 }, "note": "Tilt gripper to look forward (+x) toward dresser front face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1201, "cache_read_input_tokens": 8686, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1201 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UuH7TZMuQZ3mh4oFtFvFhQ", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7, "y": 0 }, "note": "Partially tilt forward to view ahead." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 973, "cache_read_input_tokens": 9887, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 973 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MjRygpgktwvLusN7d2JhDp", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.45, "x": 0.3 }, "note": "Point gripper horizontally toward dresser to see the face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 781, "cache_read_input_tokens": 10860, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 781 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm tilting the gripper toward the dresser face so I can find a handle." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 889, "cache_read_input_tokens": 11641, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 889 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_0138XdY7ucYLW23NA1XuutJN", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.45, "x": 0.42, "z": 0.9 }, "note": "Try horizontal orientation farther out to avoid joint limit." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 889, "cache_read_input_tokens": 11641, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 889 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KiDhjEuZEorxuKFsxQQuS5", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "x": 0.4, "z": 0.92 }, "note": "Incremental tilt forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 716, "cache_read_input_tokens": 12530, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 716 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ER48bCj2qd53HV3dE7D711", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.85 }, "note": "Extend forward/down to get a more comfortable arm configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 664, "cache_read_input_tokens": 13246, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 664 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GhUMWhzXnqxwZwgpewkXCY", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.33, "y": 0.2, "z": 1, "pitch": -1.3, "roll": 0, "yaw": 0 }, "note": "Contacted front face at x~0.5. Back off, go horizontal, shift +y toward the dark handle seen near top center of face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 13910, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 776 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FtX86biDonitpC6aoYGuJb", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.38, "y": 0.1, "z": 0.95, "pitch": -0.9, "roll": 0, "yaw": 0 }, "note": "Back off from face, small step toward +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1123, "cache_read_input_tokens": 14686, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1123 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FoujgjyF2EDsT96Zspo3Mv", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75 }, "note": "Lower to scan the face for handles and relax elbow." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 744, "cache_read_input_tokens": 15809, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 744 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Lowering in small steps now, because the controller rejects big jumps from this folded arm pose." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 862, "cache_read_input_tokens": 16553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 862 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YaBxCCUNvTFHStdNWNbMJf", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.87, "x": 0.4 }, "note": "Smaller step down." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 862, "cache_read_input_tokens": 16553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 862 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011wBgUABuc5Pu1veWmDeMwT", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "x": 0.35, "z": 0.95, "y": 0.1 }, "note": "Reset to vertical orientation to escape folded configuration." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 842, "cache_read_input_tokens": 17415, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 842 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019cc65ek3U8mPGEyaAHuuZD", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Descend vertically to probe where the dresser face/top is." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 899, "cache_read_input_tokens": 18257, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 899 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01N5GLcZrS5GQyvnRGKWtPUf", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92, "x": 0.2, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Hit dresser top at z~0.85. Back up toward robot to get in front of the near face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 836, "cache_read_input_tokens": 19156, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 836 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018Jyc8TQPYdM4LeNdTwWUVp", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.4 }, "note": "Move along the near edge toward the dark oval feature seen at top center of face in exterior." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1428, "cache_read_input_tokens": 19992, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1428 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DqFDV4CwR7LrJSmS4nZN6S", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.72 }, "note": "Gripper appears in front of dresser face; descend to face mid-height." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1360, "cache_read_input_tokens": 21420, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1360 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm still searching for the handle. I'll tilt the gripper forward to look straight at the face." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 942, "cache_read_input_tokens": 22780, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 942 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GQzgEaztHBKUWPE4jnXc28", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3 }, "note": "Point camera forward (+x) to see dresser face and handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 942, "cache_read_input_tokens": 22780, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 942 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019YybcfCN3N1UMf4APR3PbL", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.3, "x": 0.33 }, "note": "Drawer knobs visible to the left (-y) in wrist view; shift toward knob and approach face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 832, "cache_read_input_tokens": 23722, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 832 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XVFm1a2SZ2eWvHwueQ5Eti", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.2, "x": 0.38 }, "note": "Continue toward knob on left and closer to face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1330, "cache_read_input_tokens": 24554, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1330 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MNKkwf3e53wGVrFxnW8fPn", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.5, "x": 0.4, "z": 0.7 }, "note": "Knobs shifted left when moving -y, so they are at +y; move toward y~0.5." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 759, "cache_read_input_tokens": 25884, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 759 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015tTN5HWey363UHrWFFkdpj", "name": "mcp__robot__give_up", "input": { "note": "Found the dresser's drawer face and knobs too late. Only about 2 s of motion time is left and no knob is centered, so grasping and pulling a drawer is not feasible." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 970, "cache_read_input_tokens": 26643, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 970 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the dresser; I ended the episode with only about 2 seconds of the 30-second motion budget left.\n\nMost of the time went into figuring out where things were. The scene was dark, so it was hard to judge depth from the outside camera. Many moves were rejected because the arm couldn't reach those positions. Along the way the gripper bumped the top of the dresser, which is about 0.85 m high.\n\nOnce I tilted the gripper to face forward, the wrist camera showed the drawer fronts with round knobs. I then misread which way the camera image is flipped, so my first step went away from the knobs, to the right. Correcting that used up most of the time left, and at the end no knob was in view. Closing the gripper alone takes 0.6 seconds, so there wasn't time to grab a drawer and pull it open." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 215, "cache_read_input_tokens": 27613, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 215 }, "output_tokens": 263, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 58, "cache_creation_input_tokens": 26275, "cache_read_input_tokens": 407517, "output_tokens": 12064, "output_tokens_details": { "thinking_tokens": 8506 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 26275, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 263, "cache_read_input_tokens": 27613, "cache_creation_input_tokens": 215, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 215 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 58, "outputTokens": 12064, "cacheReadInputTokens": 407517, "cacheCreationInputTokens": 26275, "webSearchRequests": 0, "costUSD": 0.5332154, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 8506, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.5332154, "num_turns": 29, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.00728, -0.79866, 0.05646, -2.2947, -0.12096, 1.4299, 0.09355 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27937, -0.01469, 1.03926 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99662, -0.05618, -0.05991 ], [ -0.06526, -0.98457, -0.1624 ], [ -0.04986, 0.16576, -0.98491 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.606681365519762, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.25, "x": 0.2 }, "note": "Raise to get wider view of dresser." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.00728, -0.79866, 0.05646, -2.2947, -0.12096, 1.4299, 0.09355 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.27937, -0.01469, 1.03926 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99662, -0.05618, -0.05991 ], [ -0.06526, -0.98457, -0.1624 ], [ -0.04986, 0.16576, -0.98491 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.4025935269892216, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15, "x": 0.2 }, "note": "Raise slightly and back for wider view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.00377, -0.86659, 0.06238, -2.01612, -0.1276, 1.08667, 0.04796 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20081, -0.01468, 1.14897 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00031, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99664, -0.05621, -0.0596 ], [ -0.06524, -0.98457, -0.1624 ], [ -0.04955, 0.16574, -0.98492 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 55 }, "api_seconds": 7.406128826551139, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Probe forward to understand dresser layout." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.02174, -0.17849, 0.07722, -1.50207, -0.15342, 1.25821, 0.07256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44869, -0.0147, 1.14887 ], "tcp_roll_pitch_yaw": [ -0.0, -6e-05, 0.0 ], "tcp_rotation_matrix": [ [ 0.99662, -0.05618, -0.05986 ], [ -0.06526, -0.98456, -0.1624 ], [ -0.04981, 0.16576, -0.98491 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 54 }, "api_seconds": 6.805674372240901, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "z": 0.9 }, "note": "Move back and down to find the dresser's near edge/front face." } } } ] } } ] }, "execution": { "steps": 44, "motion_seconds": 2.904, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.05546, -1.38704, 0.07241, -2.87555, -0.08874, 1.42092, 0.11701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.15171, -0.01466, 0.90105 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00262, 0.00042 ], "tcp_rotation_matrix": [ [ 0.99678, -0.0562, -0.05726 ], [ -0.06484, -0.98459, -0.16242 ], [ -0.04725, 0.16561, -0.98506 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 53 }, "api_seconds": 9.007009788416326, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.95 }, "note": "Wrist shows dresser top below; lowering carefully to gauge its height." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.00548, -0.61916, 0.06016, -2.41192, -0.12718, 1.72747, 0.12746 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34867, -0.01466, 0.94967 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00256, 0.0004 ], "tcp_rotation_matrix": [ [ 0.99677, -0.0562, -0.05733 ], [ -0.06486, -0.98459, -0.16241 ], [ -0.04731, 0.1656, -0.98506 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 52 }, "api_seconds": 9.008766682818532, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Calibrating: move +y to see how views shift." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.10649, -0.49562, 0.30842, -2.28577, 0.01401, 1.69641, 0.42975 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34867, 0.1487, 0.94966 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.00256, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99679, -0.056, -0.05729 ], [ -0.06465, -0.98459, -0.16247 ], [ -0.04731, 0.16565, -0.98505 ] ], "simulated_seconds_remaining": 20.922, "calls_remaining_including_this": 51 }, "api_seconds": 8.406633189879358, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.1, "y": 0, "z": 0.75 }, "note": "Back off in front of the -x-facing dresser face and descend to look at it." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.10649, -0.49562, 0.30842, -2.28577, 0.01401, 1.69641, 0.42975 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34867, 0.1487, 0.94966 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.00256, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99679, -0.056, -0.05729 ], [ -0.06465, -0.98459, -0.16247 ], [ -0.04731, 0.16565, -0.98505 ] ], "simulated_seconds_remaining": 20.922, "calls_remaining_including_this": 50 }, "api_seconds": 5.604518606327474, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.15, "y": 0, "z": 0.9, "pitch": -1.2 }, "note": "Tilt gripper to look forward (+x) toward dresser front face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.10649, -0.49562, 0.30842, -2.28577, 0.01401, 1.69641, 0.42975 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34867, 0.1487, 0.94966 ], "tcp_roll_pitch_yaw": [ -4e-05, -0.00256, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99679, -0.056, -0.05729 ], [ -0.06465, -0.98459, -0.16247 ], [ -0.04731, 0.16565, -0.98505 ] ], "simulated_seconds_remaining": 20.922, "calls_remaining_including_this": 49 }, "api_seconds": 4.003570508211851, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7, "y": 0 }, "note": "Partially tilt forward to view ahead." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.02273, -1.21504, 0.09174, -2.97226, -0.18016, 2.36952, 0.29144 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34865, 0.00072, 0.94961 ], "tcp_roll_pitch_yaw": [ 0.0001, -0.69585, 0.00029 ], "tcp_rotation_matrix": [ [ 0.79691, -0.14902, 0.58543 ], [ -0.06502, -0.98463, -0.16213 ], [ 0.60059, 0.09113, -0.79434 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 48 }, "api_seconds": 4.40382160898298, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.45, "x": 0.3 }, "note": "Point gripper horizontally toward dresser to see the face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.02273, -1.21504, 0.09174, -2.97226, -0.18016, 2.36952, 0.29144 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34865, 0.00072, 0.94961 ], "tcp_roll_pitch_yaw": [ 0.0001, -0.69585, 0.00029 ], "tcp_rotation_matrix": [ [ 0.79691, -0.14902, 0.58543 ], [ -0.06502, -0.98463, -0.16213 ], [ 0.60059, 0.09113, -0.79434 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 47 }, "api_seconds": 3.002911925315857, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.45, "x": 0.42, "z": 0.9 }, "note": "Try horizontal orientation farther out to avoid joint limit." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.02273, -1.21504, 0.09174, -2.97226, -0.18016, 2.36952, 0.29144 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34865, 0.00072, 0.94961 ], "tcp_roll_pitch_yaw": [ 0.0001, -0.69585, 0.00029 ], "tcp_rotation_matrix": [ [ 0.79691, -0.14902, 0.58543 ], [ -0.06502, -0.98463, -0.16213 ], [ 0.60059, 0.09113, -0.79434 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 46 }, "api_seconds": 2.602153405547142, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "x": 0.4, "z": 0.92 }, "note": "Incremental tilt forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.02273, -1.21504, 0.09174, -2.97226, -0.18016, 2.36952, 0.29144 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34865, 0.00072, 0.94961 ], "tcp_roll_pitch_yaw": [ 0.0001, -0.69585, 0.00029 ], "tcp_rotation_matrix": [ [ 0.79691, -0.14902, 0.58543 ], [ -0.06502, -0.98463, -0.16213 ], [ 0.60059, 0.09113, -0.79434 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 45 }, "api_seconds": 3.8110743882134557, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.85 }, "note": "Extend forward/down to get a more comfortable arm configuration." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.21078, -0.8307, 0.22396, -2.91602, -0.28588, 2.95135, 0.42564 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45393, -0.00853, 0.95779 ], "tcp_roll_pitch_yaw": [ -0.05679, -0.92613, 0.01983 ], "tcp_rotation_matrix": [ [ 0.63696, -0.19136, 0.74677 ], [ -0.05537, -0.97756, -0.20327 ], [ 0.76891, 0.08813, -0.63326 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 44 }, "api_seconds": 8.20666360296309, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "y": 0.2, "z": 1, "pitch": -1.3, "roll": 0, "yaw": 0 }, "note": "Contacted front face at x~0.5. Back off, go horizontal, shift +y toward the dark handle seen near top center of face." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.21078, -0.8307, 0.22396, -2.91602, -0.28588, 2.95135, 0.42564 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45393, -0.00853, 0.95779 ], "tcp_roll_pitch_yaw": [ -0.05679, -0.92613, 0.01983 ], "tcp_rotation_matrix": [ [ 0.63696, -0.19136, 0.74677 ], [ -0.05537, -0.97756, -0.20327 ], [ 0.76891, 0.08813, -0.63326 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 43 }, "api_seconds": 3.20283857639879, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": 0.1, "z": 0.95, "pitch": -0.9, "roll": 0, "yaw": 0 }, "note": "Back off from face, small step toward +y." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04473, -1.10518, 0.4102, -2.98809, -0.16078, 2.6574, 0.6345 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38074, 0.09896, 0.9501 ], "tcp_roll_pitch_yaw": [ -0.00073, -0.90028, 0.00044 ], "tcp_rotation_matrix": [ [ 0.65835, -0.1649, 0.73443 ], [ -0.065, -0.98452, -0.16279 ], [ 0.7499, 0.05943, -0.65888 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 42 }, "api_seconds": 4.604424476623535, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Lower to scan the face for handles and relax elbow." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04473, -1.10518, 0.4102, -2.98809, -0.16078, 2.6574, 0.6345 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38074, 0.09896, 0.9501 ], "tcp_roll_pitch_yaw": [ -0.00073, -0.90028, 0.00044 ], "tcp_rotation_matrix": [ [ 0.65835, -0.1649, 0.73443 ], [ -0.065, -0.98452, -0.16279 ], [ 0.7499, 0.05943, -0.65888 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 41 }, "api_seconds": 5.004502583295107, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87, "x": 0.4 }, "note": "Smaller step down." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.04473, -1.10518, 0.4102, -2.98809, -0.16078, 2.6574, 0.6345 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38074, 0.09896, 0.9501 ], "tcp_roll_pitch_yaw": [ -0.00073, -0.90028, 0.00044 ], "tcp_rotation_matrix": [ [ 0.65835, -0.1649, 0.73443 ], [ -0.065, -0.98452, -0.16279 ], [ 0.7499, 0.05943, -0.65888 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 40 }, "api_seconds": 5.004466180689633, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "x": 0.35, "z": 0.95, "y": 0.1 }, "note": "Reset to vertical orientation to escape folded configuration." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.08962, -0.54623, 0.22612, -2.33792, -0.02555, 1.7038, 0.34381 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35022, 0.09999, 0.94995 ], "tcp_roll_pitch_yaw": [ -0.00069, -0.00439, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99685, -0.05656, -0.05553 ], [ -0.06494, -0.98447, -0.16309 ], [ -0.04544, 0.16618, -0.98505 ] ], "simulated_seconds_remaining": 15.642, "calls_remaining_including_this": 39 }, "api_seconds": 4.203708794899285, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descend vertically to probe where the dresser face/top is." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.08145, -0.5398, 0.25488, -2.61754, -0.03547, 2.19241, 0.40711 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38659, 0.1065, 0.8575 ], "tcp_roll_pitch_yaw": [ 0.04344, -0.2054, -0.00777 ], "tcp_rotation_matrix": [ [ 0.98589, -0.08775, 0.14255 ], [ -0.0707, -0.99018, -0.12058 ], [ 0.15173, 0.1088, -0.98242 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 38 }, "api_seconds": 11.008759410120547, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "x": 0.2, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Hit dresser top at z~0.85. Back up toward robot to get in front of the near face." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.24307, -1.01609, 0.25494, -2.67857, 0.08534, 1.56256, 0.4242 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20136, 0.10654, 0.91961 ], "tcp_roll_pitch_yaw": [ 0.00038, -0.00173, 5e-05 ], "tcp_rotation_matrix": [ [ 0.99671, -0.05642, -0.0582 ], [ -0.0652, -0.98463, -0.16203 ], [ -0.04816, 0.16529, -0.98507 ] ], "simulated_seconds_remaining": 12.738, "calls_remaining_including_this": 37 }, "api_seconds": 11.009602540172637, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4 }, "note": "Move along the near edge toward the dark oval feature seen at top center of face in exterior." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.17968, -0.32799, 0.83425, -2.1066, 0.19856, 1.70772, 0.98302 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20135, 0.39864, 0.91959 ], "tcp_roll_pitch_yaw": [ 0.0003, -0.0017, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99672, -0.05629, -0.05821 ], [ -0.06507, -0.98463, -0.16211 ], [ -0.04819, 0.16536, -0.98505 ] ], "simulated_seconds_remaining": 10.494, "calls_remaining_including_this": 36 }, "api_seconds": 5.404948678798974, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Gripper appears in front of dresser face; descend to face mid-height." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.12757, 0.03452, 0.98392, -2.39795, -0.0613, 2.24368, 1.21738 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20135, 0.39853, 0.72126 ], "tcp_roll_pitch_yaw": [ 5e-05, -0.00146, 3e-05 ], "tcp_rotation_matrix": [ [ 0.9967, -0.05639, -0.05847 ], [ -0.06523, -0.98458, -0.16234 ], [ -0.04841, 0.16562, -0.985 ] ], "simulated_seconds_remaining": 8.844, "calls_remaining_including_this": 35 }, "api_seconds": 4.20718327537179, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3 }, "note": "Point camera forward (+x) to see dresser face and handles." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.67696, 0.47558, 0.97406, -2.41746, -1.42294, 1.44639, 2.78723 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20129, 0.39849, 0.72109 ], "tcp_roll_pitch_yaw": [ -0.00114, -1.29488, 0.00108 ], "tcp_rotation_matrix": [ [ 0.31949, -0.1748, 0.93133 ], [ -0.06497, -0.98457, -0.16251 ], [ 0.94536, -0.00859, -0.32591 ] ], "simulated_seconds_remaining": 6.798, "calls_remaining_including_this": 34 }, "api_seconds": 10.007061171345413, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3, "x": 0.33 }, "note": "Drawer knobs visible to the left (-y) in wrist view; shift toward knob and approach face." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.33623, 0.18234, 0.89822, -2.68416, -1.66134, 1.80655, 2.77778 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32902, 0.30074, 0.7211 ], "tcp_roll_pitch_yaw": [ -0.00123, -1.29498, 0.00092 ], "tcp_rotation_matrix": [ [ 0.31938, -0.17505, 0.93132 ], [ -0.06503, -0.98452, -0.16275 ], [ 0.94539, -0.00858, -0.32582 ] ], "simulated_seconds_remaining": 5.412, "calls_remaining_including_this": 33 }, "api_seconds": 3.8037643395364285, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2, "x": 0.38 }, "note": "Continue toward knob on left and closer to face." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.16934, -0.02299, 0.76792, -2.86622, -1.91813, 2.03285, 2.86642 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37945, 0.2011, 0.7211 ], "tcp_roll_pitch_yaw": [ -0.00132, -1.29504, 0.00078 ], "tcp_rotation_matrix": [ [ 0.3193, -0.17528, 0.9313 ], [ -0.06508, -0.98448, -0.16297 ], [ 0.94542, -0.00857, -0.32576 ] ], "simulated_seconds_remaining": 4.356, "calls_remaining_including_this": 32 }, "api_seconds": 5.804918676614761, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.5, "x": 0.4, "z": 0.7 }, "note": "Knobs shifted left when moving -y, so they are at +y; move toward y~0.5." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.57309, 0.7376, 0.74764, -2.00771, -1.82068, 1.56685, 2.51599 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39986, 0.49872, 0.7001 ], "tcp_roll_pitch_yaw": [ -0.00096, -1.29498, 0.00055 ], "tcp_rotation_matrix": [ [ 0.31936, -0.17516, 0.9313 ], [ -0.06513, -0.9845, -0.16283 ], [ 0.94539, -0.00866, -0.32582 ] ], "simulated_seconds_remaining": 2.046, "calls_remaining_including_this": 31 }, "api_seconds": 3.0027727503329515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Found the dresser's drawer face and knobs too late. Only about 2 s of motion time is left and no knob is centered, so grasping and pulling a drawer is not feasible." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 047 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 47, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 19, "wall_seconds": 107.87, "usage": { "input_tokens": 44, "output_tokens": 5777, "cache_read_input_tokens": 206354, "cache_creation_input_tokens": 16263, "thinking_tokens": 3272, "cost_usd": 0.2870908 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018JS8R7y64cf3zWxnQpeVss", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AcAhJwzZ1T9SeFhB1i9DP9", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper to face forward to see cabinet." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Y5D7c9DvrXhMwy1tSdKAeg", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.7, "z": 0.9 }, "note": "Partial tilt toward forward and lower slightly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 825, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 825 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UUkamQpyeuVCeJoZXeoTG1", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.85 }, "note": "Test simple downward move." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 771, "cache_read_input_tokens": 3336, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 771 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017BdJJVqBwjTrQWq31fKinK", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.4 }, "note": "Tilt gradually toward forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 656, "cache_read_input_tokens": 4107, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 656 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Tilting the gripper toward the cabinet keeps failing in IK, so I'll try the opposite pitch sign." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 815, "cache_read_input_tokens": 4763, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 815 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011VWhv6fqPMxmZDpRmCUVuH", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0.4 }, "note": "Try opposite pitch sign." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 815, "cache_read_input_tokens": 4763, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 815 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014E6GebQJudT792XZ4Kz1Ak", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.2, "x": 0.4 }, "note": "Slight forward tilt and move forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 5578, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 695 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C6xfARxHJmxnw9SWCaij6Y", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.5 }, "note": "Continue tilting forward incrementally." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1082, "cache_read_input_tokens": 6273, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1082 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SGphebBf3S29w5CeoGy4uW", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8, "x": 0.5 }, "note": "Door seam visible; extend forward to unfold elbow and tilt more." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1023, "cache_read_input_tokens": 7355, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1023 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QpZD4vnR8owLPQt21uz3Vw", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "z": 0.75 }, "note": "Make gripper more horizontal and lower to look for handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 802, "cache_read_input_tokens": 8378, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 802 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019Q6VvjfcEPNGNxiWgft8rf", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1, "z": 0.8 }, "note": "Smaller step of tilt and lowering." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 837, "cache_read_input_tokens": 9180, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 837 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I'm facing the cabinet front now; raising the gripper to find the handles." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 10017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 649 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KtnWExh53UnpgYjSYvfbDY", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.95 }, "note": "Handles appear above gripper in exterior view; raise." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 10017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 649 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KevHSjDadLPTJrp7VSKX76", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56 }, "note": "Handles visible ahead; approach forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 816, "cache_read_input_tokens": 10666, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 816 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QKfC6VXtyrkPpYYQVaXxp2", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6, "z": 0.92 }, "note": "Continue approaching handles along gripper axis." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 874, "cache_read_input_tokens": 11482, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 874 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01J31F8qv9bjm82YBXxJ1sZ8", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.64, "z": 0.9 }, "note": "Left handle centered between fingers; keep approaching." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 802, "cache_read_input_tokens": 12356, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 802 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013EbzYsZZYSx9uxYyWGm8Jk", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle between fingers, contact reached; close gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 725, "cache_read_input_tokens": 13158, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 725 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01BajpXf8UZu9DTpnf9XerU4", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 688, "cache_read_input_tokens": 13883, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 688 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper didn't close — the fingertips are probably jammed against the door. Backing off slightly and retrying." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 589, "cache_read_input_tokens": 14571, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 589 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013hqSjG9oAXZ3ZxRUGGA28c", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.615, "z": 0.915, "gripper": 1 }, "note": "Gripper failed to close, likely fingers pressing door; back off slightly." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 589, "cache_read_input_tokens": 14571, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 589 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JC28YY1JFk6hgRbB5PPGtZ", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Retry closing after backing off." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 15160, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Handle grasped. Pulling back to start opening the door." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 619, "cache_read_input_tokens": 15948, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 619 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017EY8mdAY2Bo8QyNX7mGAw3", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.56 }, "note": "Grasped handle; pull straight back a bit to find door swing." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 619, "cache_read_input_tokens": 15948, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 619 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Door is swinging open toward -y. Continuing along the arc." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 920, "cache_read_input_tokens": 16567, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 920 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01ViqwKA8BRe2jcAtA4sqiNN", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": -0.09, "yaw": -0.25 }, "note": "Door swinging with handle moving toward -y; follow arc." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 920, "cache_read_input_tokens": 16567, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 920 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I grasped one of the cabinet's two door handles and began pulling the door open, but the episode ended before I could call done. I can't confirm the cabinet counts as open.\n\n- **Getting to the handle:** The gripper started out pointing down. I tilted it forward in small steps because larger tilts failed in the motion planner (IK), then raised it until the two vertical handles came into view in the wrist camera.\n- **Grasping:** My first close attempt didn't grip, probably because the fingertips were pressed against the door. I backed off slightly and closed again, and it gripped at about 16% open, which looks like a real grasp on the handle.\n- **Opening:** Pulling back about 6 cm swung that door partly open; the exterior camera showed it moving outward, with the handle drifting toward the robot's right. The episode ended on my next move while I was following that arc, and I never saw what happened after that command." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 329, "cache_read_input_tokens": 17487, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 329 }, "output_tokens": 290, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 44, "cache_creation_input_tokens": 16263, "cache_read_input_tokens": 206354, "output_tokens": 5777, "output_tokens_details": { "thinking_tokens": 3272 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 16263, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 290, "cache_read_input_tokens": 17487, "cache_creation_input_tokens": 329, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 329 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 44, "outputTokens": 5777, "cacheReadInputTokens": 206354, "cacheCreationInputTokens": 16263, "webSearchRequests": 0, "costUSD": 0.2870908, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 3272, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.2870908, "num_turns": 22, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00455, -0.81147, 0.0119, -2.42759, -0.08226, 1.68321, -0.16569 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32042, -0.01866, 1.0009 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98282, 0.17181, 0.06748 ], [ 0.17749, -0.98, -0.08998 ], [ 0.05067, 0.10041, -0.99365 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.205774862319231, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt gripper to face forward to see cabinet." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00455, -0.81147, 0.0119, -2.42759, -0.08226, 1.68321, -0.16569 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32042, -0.01866, 1.0009 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98282, 0.17181, 0.06748 ], [ 0.17749, -0.98, -0.08998 ], [ 0.05067, 0.10041, -0.99365 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 3.4031071793287992, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7, "z": 0.9 }, "note": "Partial tilt toward forward and lower slightly." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00455, -0.81147, 0.0119, -2.42759, -0.08226, 1.68321, -0.16569 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32042, -0.01866, 1.0009 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.98282, 0.17181, 0.06748 ], [ 0.17749, -0.98, -0.08998 ], [ 0.05067, 0.10041, -0.99365 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 55 }, "api_seconds": 2.6027040667831898, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Test simple downward move." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00706, -0.79552, 0.00853, -2.80156, -0.09576, 2.07168, -0.13375 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32037, -0.01866, 0.85123 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00032, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98283, 0.17183, 0.06716 ], [ 0.17748, -0.98, -0.09 ], [ 0.05036, 0.10037, -0.99367 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 54 }, "api_seconds": 3.80345974303782, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.4 }, "note": "Tilt gradually toward forward." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00706, -0.79552, 0.00853, -2.80156, -0.09576, 2.07168, -0.13375 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32037, -0.01866, 0.85123 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00032, -1e-05 ], "tcp_rotation_matrix": [ [ 0.98283, 0.17183, 0.06716 ], [ 0.17748, -0.98, -0.09 ], [ 0.05036, 0.10037, -0.99367 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 53 }, "api_seconds": 2.602658155374229, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.4 }, "note": "Try opposite pitch sign." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.00566, -0.42879, 0.01353, -2.48975, -0.08373, 1.73182, -0.16121 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3204, -0.01867, 0.85119 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.39595, -1e-05 ], "tcp_rotation_matrix": [ [ 0.92632, 0.19723, -0.32097 ], [ 0.17748, -0.98, -0.08999 ], [ -0.3323, 0.0264, -0.9428 ] ], "simulated_seconds_remaining": 27.852, "calls_remaining_including_this": 52 }, "api_seconds": 6.8095024805516005, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.2, "x": 0.4 }, "note": "Slight forward tilt and move forward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.02117, -0.63888, 0.01129, -2.77246, -0.11866, 2.39429, -0.10185 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39937, -0.01869, 0.85106 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.19543, -6e-05 ], "tcp_rotation_matrix": [ [ 0.95428, 0.14896, 0.25915 ], [ 0.17744, -0.98, -0.09008 ], [ 0.24055, 0.13194, -0.96163 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 51 }, "api_seconds": 6.405931710265577, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.5 }, "note": "Continue tilting forward incrementally." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.0565, -0.8041, 0.02337, -3.0228, -0.15494, 2.78056, -0.05908 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39931, -0.01872, 0.85091 ], "tcp_roll_pitch_yaw": [ -0.00016, -0.49566, -0.00011 ], "tcp_rotation_matrix": [ [ 0.84047, 0.10319, 0.53194 ], [ 0.17741, -0.98, -0.09019 ], [ 0.51199, 0.17017, -0.84197 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 50 }, "api_seconds": 4.003833819180727, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8, "x": 0.5 }, "note": "Door seam visible; extend forward to unfold elbow and tilt more." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.40918, -0.36704, 0.36116, -2.93053, -0.1464, 3.45611, 0.0114 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49901, -0.01878, 0.85078 ], "tcp_roll_pitch_yaw": [ -0.00062, -0.79651, 0.0001 ], "tcp_rotation_matrix": [ [ 0.65102, 0.048, 0.75754 ], [ 0.17759, -0.97993, -0.09052 ], [ 0.73799, 0.19346, -0.64648 ] ], "simulated_seconds_remaining": 25.014, "calls_remaining_including_this": 49 }, "api_seconds": 4.404179480858147, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "z": 0.75 }, "note": "Make gripper more horizontal and lower to look for handles." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.40918, -0.36704, 0.36116, -2.93053, -0.1464, 3.45611, 0.0114 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49901, -0.01878, 0.85078 ], "tcp_roll_pitch_yaw": [ -0.00062, -0.79651, 0.0001 ], "tcp_rotation_matrix": [ [ 0.65102, 0.048, 0.75754 ], [ 0.17759, -0.97993, -0.09052 ], [ 0.73799, 0.19346, -0.64648 ] ], "simulated_seconds_remaining": 25.014, "calls_remaining_including_this": 48 }, "api_seconds": 2.2027819668874145, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1, "z": 0.8 }, "note": "Smaller step of tilt and lowering." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.61014, 0.09001, 0.67043, -2.95703, 0.20436, 4.10551, -0.31734 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49912, -0.01858, 0.80035 ], "tcp_roll_pitch_yaw": [ 0.00118, -0.99584, -0.00055 ], "tcp_rotation_matrix": [ [ 0.49185, 0.00959, 0.87063 ], [ 0.17716, -0.98012, -0.08929 ], [ 0.85247, 0.19816, -0.48377 ] ], "simulated_seconds_remaining": 24.354, "calls_remaining_including_this": 47 }, "api_seconds": 4.0039371978491545, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Handles appear above gripper in exterior view; raise." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.32484, -0.56255, 0.21977, -2.93358, -0.27819, 3.46564, 0.12092 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49919, -0.01856, 0.94884 ], "tcp_roll_pitch_yaw": [ 0.00103, -0.99622, -0.00037 ], "tcp_rotation_matrix": [ [ 0.49152, 0.00957, 0.87082 ], [ 0.17726, -0.98011, -0.08928 ], [ 0.85264, 0.19824, -0.48344 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 46 }, "api_seconds": 5.204922415316105, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56 }, "note": "Handles visible ahead; approach forward." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.48212, -0.36307, 0.40259, -2.76214, -0.19429, 3.50252, 0.07542 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55879, -0.01857, 0.94884 ], "tcp_roll_pitch_yaw": [ 0.00091, -0.99616, -0.00028 ], "tcp_rotation_matrix": [ [ 0.49157, 0.00957, 0.87079 ], [ 0.17731, -0.98009, -0.08932 ], [ 0.8526, 0.19831, -0.48348 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 45 }, "api_seconds": 4.204246264882386, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.92 }, "note": "Continue approaching handles along gripper axis." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.72244, -0.17809, 0.70822, -2.66274, 0.03196, 3.58748, -0.11766 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59905, -0.01854, 0.9206 ], "tcp_roll_pitch_yaw": [ 0.00088, -0.99598, -0.00014 ], "tcp_rotation_matrix": [ [ 0.4917, 0.00972, 0.87071 ], [ 0.17738, -0.98009, -0.08923 ], [ 0.85251, 0.19832, -0.48363 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 44 }, "api_seconds": 3.004876463674009, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.64, "z": 0.9 }, "note": "Left handle centered between fingers; keep approaching." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.79975, 0.0373, 0.90267, -2.54268, 0.40112, 3.69474, -0.52227 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63356, -0.01802, 0.90574 ], "tcp_roll_pitch_yaw": [ -0.04137, -1.0245, 0.03307 ], "tcp_rotation_matrix": [ [ 0.46741, 0.00116, 0.88404 ], [ 0.195, -0.9755, -0.10182 ], [ 0.86226, 0.21998, -0.45619 ] ], "simulated_seconds_remaining": 21.054, "calls_remaining_including_this": 43 }, "api_seconds": 3.0031105736270547, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle between fingers, contact reached; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.79876, 0.03251, 0.90418, -2.54754, 0.40106, 3.69853, -0.52268 ], "gripper_open": 0.9662, "tcp_xyz": [ 0.63219, -0.01682, 0.90634 ], "tcp_roll_pitch_yaw": [ -0.05158, -1.02645, 0.04374 ], "tcp_rotation_matrix": [ [ 0.46518, 0.00257, 0.88521 ], [ 0.2004, -0.97434, -0.10248 ], [ 0.86223, 0.22507, -0.45376 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 42 }, "api_seconds": 6.005554073490202, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.615, "z": 0.915, "gripper": 1 }, "note": "Gripper failed to close, likely fingers pressing door; back off slightly." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.81188, -0.07101, 0.87416, -2.61087, 0.26538, 3.66706, -0.3572 ], "gripper_open": 0.996, "tcp_xyz": [ 0.61602, -0.0169, 0.9145 ], "tcp_roll_pitch_yaw": [ -0.05242, -1.02643, 0.04445 ], "tcp_rotation_matrix": [ [ 0.46518, 0.00256, 0.88521 ], [ 0.20077, -0.97424, -0.10269 ], [ 0.86215, 0.22549, -0.45371 ] ], "simulated_seconds_remaining": 19.734, "calls_remaining_including_this": 41 }, "api_seconds": 2.002213810570538, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Retry closing after backing off." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.81803, -0.07323, 0.86603, -2.61001, 0.2705, 3.67065, -0.35662 ], "gripper_open": 0.1626, "tcp_xyz": [ 0.61592, -0.02679, 0.91708 ], "tcp_roll_pitch_yaw": [ -0.04985, -1.03296, 0.02317 ], "tcp_rotation_matrix": [ [ 0.46332, -0.01748, 0.88602 ], [ 0.19058, -0.97445, -0.11889 ], [ 0.86546, 0.22394, -0.44814 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 40 }, "api_seconds": 5.4046848975121975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56 }, "note": "Grasped handle; pull straight back a bit to find door swing." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the cabinet.", "joint_positions": [ -0.6991, -0.26258, 0.65591, -2.79262, 0.0587, 3.67804, -0.0795 ], "gripper_open": 0.1536, "tcp_xyz": [ 0.55962, -0.04536, 0.91744 ], "tcp_roll_pitch_yaw": [ 0.00352, -1.03691, -0.07757 ], "tcp_rotation_matrix": [ [ 0.46835, -0.07203, 0.8806 ], [ 0.14144, -0.97771, -0.15519 ], [ 0.87215, 0.19724, -0.44772 ] ], "simulated_seconds_remaining": 18.15, "calls_remaining_including_this": 39 }, "api_seconds": 3.6035364381968975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.09, "yaw": -0.25 }, "note": "Door swinging with handle moving toward -y; follow arc." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5.5 / Open / Episode 048 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 48, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 28, "wall_seconds": 192.01, "usage": { "input_tokens": 62, "output_tokens": 9018, "cache_read_input_tokens": 428369, "cache_creation_input_tokens": 24162, "thinking_tokens": 5306, "cost_usd": 0.4595778 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01STNyF351713zptUDjUCFCi", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AebgaiexKCJJfMyGMQmHZf", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Table ahead; move forward/down to see it with wrist camera." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 483 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01G2SPz7EfCjATikwoEDHji2", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.8 }, "note": "Tilt wrist to look forward and locate the table." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 2508, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 844 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FANhvmn1UExBBqRtrV7NgR", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 1.2 }, "note": "Table seems off to the left in exterior view; yaw to look left." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 3352, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WCFT5BbtUn4mkrrypNicEL", "name": "mcp__robot__move_to", "input": { "targets": { "yaw": 0, "pitch": 0, "y": 0.25 }, "note": "Return to downward view and shift left toward the table to see it from above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 766, "cache_read_input_tokens": 4129, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 766 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still finding where the table and its drawer handle are; next I'll move forward to get a better view." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1171, "cache_read_input_tokens": 4895, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1171 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LqjsxYM8bsK6e498r17ohQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Gripper is near the table in exterior view; move forward to find out how x maps in the image." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1171, "cache_read_input_tokens": 4895, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1171 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ay5FbcqHRFsSBKd1skZweE", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.3, "y": 0.2, "z": 0.8, "pitch": -1.45, "roll": 0, "yaw": 0 }, "note": "Collided with tabletop; back off, lower, and point gripper forward to view the table front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 940, "cache_read_input_tokens": 6066, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 940 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PtMPEti2WSPJEq5dCKfYmR", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.35, "y": 0.2, "z": 0.85, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Back off from the table to a clear pose first." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1117, "cache_read_input_tokens": 7006, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1117 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XxYuwLvuyW66oFNzJ84xxX", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.3, "x": 0.35, "y": 0.28, "z": 0.87 }, "note": "Point gripper forward (+x) toward table's front apron to look for the drawer handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 8123, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 652 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01L3b2Y8hddm6u9urTbPNsLV", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.4, "x": 0.38 }, "note": "Dark table face appears left in wrist view; shift +y to center it and find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1298, "cache_read_input_tokens": 8775, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1298 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SazFnnDR2WQ6wuUZw5zgai", "name": "mcp__robot__move_to", "input": { "targets": { "z": 1.05, "y": 0.2, "x": 0.35 }, "note": "Raise camera while facing +x to get a wider forward view of the scene." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 948, "cache_read_input_tokens": 10073, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 948 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Found the drawer knob in the wrist view. Moving toward it." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1044, "cache_read_input_tokens": 11021, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1044 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TgU9KCUfvdivNeDE18dwBj", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "z": 1.02, "y": 0.18 }, "note": "Knob visible on table apron slightly right/below center; approach along +x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1044, "cache_read_input_tokens": 11021, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1044 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014jGq7LpBGzjYPEwF3j9jLe", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.57, "z": 0.99, "y": 0.14 }, "note": "Knob drifting right/down in view; correct y and z while approaching." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 884, "cache_read_input_tokens": 12065, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 884 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01NoL93aduL35w2WW2Z9fJYh", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Knob out of view, likely right in front of fingers; nudge forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 682, "cache_read_input_tokens": 12949, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 682 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01C2zrYQbkVjmrdFUhHH4azW", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Contact with apron at knob; close to grasp knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 750, "cache_read_input_tokens": 13631, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 750 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A5FUuMGf7fxmrDqJqwgDU6", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 14381, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 636 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015WurFR7jjxxBfRxr8YmGty", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5 }, "note": "Gripper reading unclear; pull back to test if drawer comes with it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 519, "cache_read_input_tokens": 15017, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 519 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Gripper didn't close on the knob; re-aligning with it now." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 15536, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MF8gVYvT1QqHgg29ANfkWL", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.18, "z": 1 }, "note": "Knob not clearly visible; shift back to y=0.18 where it was seen to re-locate." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 788, "cache_read_input_tokens": 15536, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 788 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Behx1S5GsWHzvNzuiL4Vwy", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.193, "x": 0.575 }, "note": "Knob slightly right of finger center; image-right corresponds to -y here, so shift +y a bit and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1006, "cache_read_input_tokens": 16324, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1006 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01XVU4wcvn4qUgW7vutUKF9f", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.178 }, "note": "Knob near right finger; test shifting -y to center it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1051, "cache_read_input_tokens": 17330, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1051 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Mv6Qbe1NmbjF8m1cQsm2xF", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.225 }, "note": "-y moved knob right, so shift +y to center knob between fingers." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 784, "cache_read_input_tokens": 18381, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 784 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KRVEuoiLqbZQWdbKbSN8Ve", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.6 }, "note": "Knob centered between fingers; advance to envelop it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 711, "cache_read_input_tokens": 19165, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 711 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01CPVUmqCSZAQkjpN7Y16u2u", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Knob between fingers at contact; close gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 19876, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 652 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "The gripper still won't close. Next I'll send a small non-zero close value in case 0 isn't being read." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 20528, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WBgruJzh3uf1gVMj6e3x1q", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0.05 }, "note": "Gripper did not close with 0; try 0.05 (below threshold) to close on knob." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 20528, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 641 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Bpgoes2anFoXDoqeCqrDgT", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.582, "gripper": 0 }, "note": "Fingers may be jammed against drawer face; back off 1cm and close." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 21169, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 721 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01JFLeQeRtDxKyfaiw6xaVtS", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.42 }, "note": "Gripper closed on knob; pull drawer out along -x." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 804, "cache_read_input_tokens": 21890, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 804 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014GWiEU4wVNsX3E2L1bGjLw", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.578, "y": 0.215, "gripper": 1 }, "note": "Slipped off knob; reopen and re-approach knob for another grasp." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 22694, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 690 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QCxVurU9nGoCWe7Xurn5hc", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.586, "gripper": 0 }, "note": "Knob centered; advance slightly deeper and close for firmer grip." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 23384, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 777 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013NAfYRUDdS7Sy95iXD6GNQ", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45 }, "note": "Last-second pull attempt." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 24161, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 677 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Simulated time is nearly used up and the drawer is still closed, so I'm ending the episode as a failure." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 24838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 686 }, "output_tokens": 64, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EKA9bGky2xfajAqVQavE1V", "name": "mcp__robot__give_up", "input": { "note": "Located the table's drawer knob and made two grasp attempts, but the grip slipped off the knob each time and the drawer did not open before the simulation time ran out." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 686, "cache_read_input_tokens": 24838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 686 }, "output_tokens": 64, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't open the table's drawer, and I ended the episode as a failure because simulated time ran out.\n\n- **Finding the knob:** This took most of the time. My early moves didn't show where the table was, and one ran the gripper into the tabletop. Once I tilted the gripper to face forward, the wrist camera showed the knob on the drawer front, at about 1.0 m height. I then lined the fingers up with it.\n- **Closing the gripper:** It first stayed open, probably because the fingertips were pressed against the drawer front. After I backed off about 1 cm, it closed partway onto the knob.\n- **Pulling:** When I pulled back, the fingers slipped off the knob, closed completely and left the drawer shut. On the second try the gripper closed completely without catching the knob at all. A last pull with the empty gripper did nothing, and less than a second of simulated time was left." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 191, "cache_read_input_tokens": 25524, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 191 }, "output_tokens": 287, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 62, "cache_creation_input_tokens": 24162, "cache_read_input_tokens": 428369, "output_tokens": 9018, "output_tokens_details": { "thinking_tokens": 5306 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 24162, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 287, "cache_read_input_tokens": 25524, "cache_creation_input_tokens": 191, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 191 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 62, "outputTokens": 9018, "cacheReadInputTokens": 428369, "cacheCreationInputTokens": 24162, "webSearchRequests": 0, "costUSD": 0.4595778, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 5306, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.4595778, "num_turns": 31, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the table.", "joint_positions": [ 0.01691, -0.79692, -0.00231, -2.37321, 0.05029, 1.6298, -0.00551 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31776, 0.01758, 1.01667 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9984, 0.0205, 0.05269 ], [ 0.01773, -0.99846, 0.05264 ], [ 0.05368, -0.05162, -0.99722 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.608044721186161, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.9 }, "note": "Table ahead; move forward/down to see it with wrist camera." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "open the table.", "joint_positions": [ 0.0186, -0.36942, -0.00416, -2.35685, 0.0565, 2.04003, -0.02868 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44893, 0.01758, 0.90081 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00031, -0.0 ], "tcp_rotation_matrix": [ [ 0.99842, 0.02048, 0.05237 ], [ 0.01772, -0.99846, 0.05264 ], [ 0.05337, -0.05163, -0.99724 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 4.604469967074692, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.8 }, "note": "Tilt wrist to look forward and locate the table." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the table.", "joint_positions": [ 0.07682, -0.71446, -0.02357, -3.02441, 0.09831, 3.15909, -0.08866 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44891, 0.01761, 0.9005 ], "tcp_roll_pitch_yaw": [ 3e-05, -0.7949, 9e-05 ], "tcp_rotation_matrix": [ [ 0.66091, 0.05132, 0.7487 ], [ 0.01778, -0.99845, 0.05274 ], [ 0.75025, -0.02154, -0.6608 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 55 }, "api_seconds": 4.605040285736322, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.2 }, "note": "Table seems off to the left in exterior view; yaw to look left." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "open the table.", "joint_positions": [ 0.97208, -0.97365, -1.17711, -2.53556, -0.0634, 2.27622, -1.28209 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.449, 0.01759, 0.90056 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.79494, 1.1954 ], "tcp_rotation_matrix": [ [ 0.22582, 0.94769, 0.22559 ], [ 0.62137, -0.31847, 0.71588 ], [ 0.75027, -0.02148, -0.66078 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 54 }, "api_seconds": 9.209017319604754, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0, "pitch": 0, "y": 0.25 }, "note": "Return to downward view and shift left toward the table to see it from above." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "open the table.", "joint_positions": [ 0.7552, -0.19173, -0.24296, -2.18248, -0.02904, 2.07045, 0.50459 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44901, 0.24939, 0.90055 ], "tcp_roll_pitch_yaw": [ 0.00147, -0.00218, 0.0041 ], "tcp_rotation_matrix": [ [ 0.9982, 0.02471, 0.05463 ], [ 0.02174, -0.99829, 0.05433 ], [ 0.05588, -0.05304, -0.99703 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 53 }, "api_seconds": 7.2079798355698586, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Gripper is near the table in exterior view; move forward to find out how x maps in the image." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "open the table.", "joint_positions": [ 0.6927, 0.11463, -0.29519, -1.66002, 0.12938, 1.39634, 0.30717 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44296, 0.22645, 0.94802 ], "tcp_roll_pitch_yaw": [ -0.08474, 0.43652, 0.05572 ], "tcp_rotation_matrix": [ [ 0.92408, 0.08816, -0.37188 ], [ 0.07378, -0.99588, -0.05275 ], [ -0.375, 0.0213, -0.92678 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 52 }, "api_seconds": 9.208829659037292, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.2, "z": 0.8, "pitch": -1.45, "roll": 0, "yaw": 0 }, "note": "Collided with tabletop; back off, lower, and point gripper forward to view the table front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "open the table.", "joint_positions": [ 0.6927, 0.11463, -0.29519, -1.66002, 0.12938, 1.39634, 0.30717 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44296, 0.22645, 0.94802 ], "tcp_roll_pitch_yaw": [ -0.08474, 0.43652, 0.05572 ], "tcp_rotation_matrix": [ [ 0.92408, 0.08816, -0.37188 ], [ 0.07378, -0.99588, -0.05275 ], [ -0.375, 0.0213, -0.92678 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 51 }, "api_seconds": 3.003287202678621, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.2, "z": 0.85, "pitch": 0, "roll": 0, "yaw": 0 }, "note": "Back off from the table to a clear pose first." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the table.", "joint_positions": [ 0.69528, -0.49314, -0.17795, -2.5914, -0.07846, 2.1728, 0.55792 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35051, 0.20013, 0.85059 ], "tcp_roll_pitch_yaw": [ -0.00088, 0.0031, 0.00051 ], "tcp_rotation_matrix": [ [ 0.99855, 0.02086, 0.04957 ], [ 0.01828, -0.99849, 0.05179 ], [ 0.05057, -0.05081, -0.99743 ] ], "simulated_seconds_remaining": 20.592, "calls_remaining_including_this": 50 }, "api_seconds": 10.409137978218496, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.3, "x": 0.35, "y": 0.28, "z": 0.87 }, "note": "Point gripper forward (+x) toward table's front apron to look for the drawer handle." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the table.", "joint_positions": [ -0.20306, -1.36783, 1.30307, -2.99159, -0.6185, 3.29426, 1.87266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34622, 0.30336, 0.88073 ], "tcp_roll_pitch_yaw": [ 0.04342, -1.30878, -0.00679 ], "tcp_rotation_matrix": [ [ 0.20617, 0.09023, 0.97435 ], [ 0.01398, -0.99591, 0.08926 ], [ 0.97842, -0.00478, -0.20659 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 49 }, "api_seconds": 6.8062555799260736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4, "x": 0.38 }, "note": "Dark table face appears left in wrist view; shift +y to center it and find handle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the table.", "joint_positions": [ -0.4225, -1.28462, 1.4235, -2.68208, -0.58202, 3.19383, 1.8887 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37956, 0.39881, 0.88075 ], "tcp_roll_pitch_yaw": [ 0.04346, -1.3088, -0.00676 ], "tcp_rotation_matrix": [ [ 0.20615, 0.09029, 0.97435 ], [ 0.01398, -0.9959, 0.08933 ], [ 0.97842, -0.00479, -0.20657 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 48 }, "api_seconds": 7.606780279427767, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05, "y": 0.2, "x": 0.35 }, "note": "Raise camera while facing +x to get a wider forward view of the scene." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the table.", "joint_positions": [ 0.11808, -1.28764, 0.40841, -3.03615, -0.85596, 3.07037, 1.27313 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35013, 0.20106, 1.04923 ], "tcp_roll_pitch_yaw": [ 0.04437, -1.30897, -0.00766 ], "tcp_rotation_matrix": [ [ 0.20598, 0.09027, 0.97438 ], [ 0.01375, -0.9959, 0.08936 ], [ 0.97846, -0.00501, -0.20638 ] ], "simulated_seconds_remaining": 15.51, "calls_remaining_including_this": 47 }, "api_seconds": 6.005531090311706, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 1.02, "y": 0.18 }, "note": "Knob visible on table apron slightly right/below center; approach along +x." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the table.", "joint_positions": [ -0.82706, -0.98124, 0.92899, -2.80469, -0.61771, 3.76545, 1.23202 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4987, 0.18015, 1.02024 ], "tcp_roll_pitch_yaw": [ 0.04395, -1.30886, -0.00742 ], "tcp_rotation_matrix": [ [ 0.20609, 0.09011, 0.97438 ], [ 0.01382, -0.99592, 0.08917 ], [ 0.97843, -0.00491, -0.2065 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 46 }, "api_seconds": 3.6039371974766254, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "z": 0.99, "y": 0.14 }, "note": "Knob drifting right/down in view; correct y and z while approaching." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the table.", "joint_positions": [ -1.23926, -0.87036, 1.2159, -2.67586, -0.47645, 3.96903, 1.12021 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.56889, 0.14075, 0.99054 ], "tcp_roll_pitch_yaw": [ 0.04367, -1.30896, -0.00692 ], "tcp_rotation_matrix": [ [ 0.20599, 0.09033, 0.97437 ], [ 0.01394, -0.9959, 0.08938 ], [ 0.97845, -0.00483, -0.20641 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 45 }, "api_seconds": 4.4048121543601155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Knob out of view, likely right in front of fingers; nudge forward." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the table.", "joint_positions": [ -1.34779, -0.84018, 1.29169, -2.6117, -0.45922, 4.02169, 1.11071 ], "gripper_open": 1.0, "tcp_xyz": [ 0.58936, 0.14037, 0.99225 ], "tcp_roll_pitch_yaw": [ 0.1196, -1.32321, -0.05331 ], "tcp_rotation_matrix": [ [ 0.19127, 0.11748, 0.97448 ], [ 0.001, -0.99283, 0.1195 ], [ 0.98154, -0.02188, -0.19002 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 44 }, "api_seconds": 3.003419700078666, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Contact with apron at knob; close to grasp knob." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the table.", "joint_positions": [ -1.34478, -0.8411, 1.28784, -2.61995, -0.45928, 4.03461, 1.11087 ], "gripper_open": 0.9996, "tcp_xyz": [ 0.58648, 0.14038, 0.99246 ], "tcp_roll_pitch_yaw": [ 0.13597, -1.32599, -0.06338 ], "tcp_rotation_matrix": [ [ 0.18832, 0.12332, 0.97433 ], [ -0.00165, -0.99204, 0.12587 ], [ 0.98211, -0.02531, -0.18662 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 43 }, "api_seconds": 7.206744244322181, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Gripper reading unclear; pull back to test if drawer comes with it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "open the table.", "joint_positions": [ -1.03893, -0.96046, 1.04048, -2.86915, -0.53633, 4.03546, 1.16025 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50134, 0.1404, 0.99244 ], "tcp_roll_pitch_yaw": [ 0.13545, -1.32597, -0.06285 ], "tcp_rotation_matrix": [ [ 0.18835, 0.12333, 0.97433 ], [ -0.00152, -0.99205, 0.12587 ], [ 0.9821, -0.02519, -0.18666 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 42 }, "api_seconds": 7.607317546382546, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.18, "z": 1 }, "note": "Knob not clearly visible; shift back to y=0.18 where it was seen to re-locate." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the table.", "joint_positions": [ -0.94218, -1.00406, 1.0452, -2.83271, -0.52465, 3.91543, 1.22475 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50133, 0.17901, 0.99981 ], "tcp_roll_pitch_yaw": [ 0.13511, -1.32602, -0.06229 ], "tcp_rotation_matrix": [ [ 0.1883, 0.12357, 0.97431 ], [ -0.00139, -0.99202, 0.12609 ], [ 0.98211, -0.0251, -0.18663 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 41 }, "api_seconds": 8.407688080333173, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.193, "x": 0.575 }, "note": "Knob slightly right of finger center; image-right corresponds to -y here, so shift +y a bit and approach." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the table.", "joint_positions": [ -1.19361, -0.92207, 1.24895, -2.61599, -0.45073, 3.9126, 1.20325 ], "gripper_open": 0.998, "tcp_xyz": [ 0.57373, 0.19253, 0.99979 ], "tcp_roll_pitch_yaw": [ 0.13517, -1.32595, -0.06282 ], "tcp_rotation_matrix": [ [ 0.18837, 0.1231, 0.97435 ], [ -0.0015, -0.99208, 0.12563 ], [ 0.9821, -0.02512, -0.18669 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 40 }, "api_seconds": 5.005179401487112, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.178 }, "note": "Knob near right finger; test shifting -y to center it." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the table.", "joint_positions": [ -1.21682, -0.90862, 1.24112, -2.62661, -0.4637, 3.94428, 1.18942 ], "gripper_open": 0.9963, "tcp_xyz": [ 0.57369, 0.17914, 0.99978 ], "tcp_roll_pitch_yaw": [ 0.1349, -1.32595, -0.06204 ], "tcp_rotation_matrix": [ [ 0.18837, 0.1236, 0.97429 ], [ -0.00134, -0.99202, 0.12611 ], [ 0.9821, -0.02506, -0.1867 ] ], "simulated_seconds_remaining": 9.24, "calls_remaining_including_this": 39 }, "api_seconds": 4.204417028464377, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.225 }, "note": "-y moved knob right, so shift +y to center knob between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the table.", "joint_positions": [ -1.14649, -0.94932, 1.26989, -2.58593, -0.42381, 3.84033, 1.23287 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57367, 0.22387, 0.99977 ], "tcp_roll_pitch_yaw": [ 0.13452, -1.32598, -0.06139 ], "tcp_rotation_matrix": [ [ 0.18835, 0.12388, 0.97426 ], [ -0.00119, -0.99198, 0.12637 ], [ 0.9821, -0.02496, -0.18669 ] ], "simulated_seconds_remaining": 8.646, "calls_remaining_including_this": 38 }, "api_seconds": 3.4035106021910906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Knob centered between fingers; advance to envelop it." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the table.", "joint_positions": [ -1.23529, -0.92999, 1.32247, -2.52362, -0.41601, 3.86545, 1.22838 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59458, 0.22393, 1.00107 ], "tcp_roll_pitch_yaw": [ 0.16433, -1.33101, -0.07878 ], "tcp_rotation_matrix": [ [ 0.18297, 0.13549, 0.97374 ], [ -0.00571, -0.99029, 0.13887 ], [ 0.9831, -0.03097, -0.18042 ] ], "simulated_seconds_remaining": 8.184, "calls_remaining_including_this": 37 }, "api_seconds": 2.803261830471456, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Knob between fingers at contact; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "open the table.", "joint_positions": [ -1.23054, -0.93111, 1.31907, -2.52947, -0.41579, 3.87031, 1.22851 ], "gripper_open": 0.9996, "tcp_xyz": [ 0.59265, 0.22397, 1.00116 ], "tcp_roll_pitch_yaw": [ 0.17085, -1.3319, -0.08254 ], "tcp_rotation_matrix": [ [ 0.18199, 0.13807, 0.97356 ], [ -0.00669, -0.9899, 0.14163 ], [ 0.98328, -0.03229, -0.17923 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 36 }, "api_seconds": 4.004469284787774, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.05 }, "note": "Gripper did not close with 0; try 0.05 (below threshold) to close on knob." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "open the table.", "joint_positions": [ -1.22749, -0.93191, 1.31569, -2.53473, -0.4153, 3.87364, 1.2286 ], "gripper_open": 0.9687, "tcp_xyz": [ 0.59134, 0.22289, 1.00136 ], "tcp_roll_pitch_yaw": [ 0.17782, -1.33266, -0.08953 ], "tcp_rotation_matrix": [ [ 0.1811, 0.13789, 0.97375 ], [ -0.00828, -0.98987, 0.14171 ], [ 0.98343, -0.03372, -0.17813 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 35 }, "api_seconds": 5.005253738723695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.582, "gripper": 0 }, "note": "Fingers may be jammed against drawer face; back off 1cm and close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "open the table.", "joint_positions": [ -1.20081, -0.93834, 1.28797, -2.57087, -0.41503, 3.86976, 1.23045 ], "gripper_open": 0.4835, "tcp_xyz": [ 0.58379, 0.21128, 1.00133 ], "tcp_roll_pitch_yaw": [ 0.19719, -1.33112, -0.13012 ], "tcp_rotation_matrix": [ [ 0.18184, 0.11627, 0.97643 ], [ -0.01687, -0.99247, 0.12132 ], [ 0.98318, -0.03854, -0.17851 ] ], "simulated_seconds_remaining": 5.412, "calls_remaining_including_this": 34 }, "api_seconds": 3.6037583453580737, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Gripper closed on knob; pull drawer out along -x." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "open the table.", "joint_positions": [ -0.50863, -1.1727, 0.87015, -3.00021, -0.56506, 3.66028, 1.30784 ], "gripper_open": 0.0, "tcp_xyz": [ 0.42132, 0.21135, 1.00136 ], "tcp_roll_pitch_yaw": [ 0.19682, -1.33123, -0.12966 ], "tcp_rotation_matrix": [ [ 0.18175, 0.11638, 0.97643 ], [ -0.01675, -0.99246, 0.12141 ], [ 0.9832, -0.03843, -0.17843 ] ], "simulated_seconds_remaining": 4.026, "calls_remaining_including_this": 33 }, "api_seconds": 4.6065053241327405, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.578, "y": 0.215, "gripper": 1 }, "note": "Slipped off knob; reopen and re-approach knob for another grasp." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "open the table.", "joint_positions": [ -1.16885, -0.94847, 1.27318, -2.58817, -0.41518, 3.86065, 1.23635 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57658, 0.21518, 1.00135 ], "tcp_roll_pitch_yaw": [ 0.19628, -1.33123, -0.12874 ], "tcp_rotation_matrix": [ [ 0.18177, 0.11677, 0.97638 ], [ -0.01656, -0.99242, 0.12177 ], [ 0.9832, -0.0383, -0.17846 ] ], "simulated_seconds_remaining": 2.706, "calls_remaining_including_this": 32 }, "api_seconds": 3.6035683918744326, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.586, "gripper": 0 }, "note": "Knob centered; advance slightly deeper and close for firmer grip." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "open the table.", "joint_positions": [ -1.20098, -0.94119, 1.29036, -2.5658, -0.41133, 3.86179, 1.23464 ], "gripper_open": 0.0044, "tcp_xyz": [ 0.5851, 0.21245, 1.00201 ], "tcp_roll_pitch_yaw": [ 0.20456, -1.332, -0.14154 ], "tcp_rotation_matrix": [ [ 0.18068, 0.11208, 0.97714 ], [ -0.01923, -0.99289, 0.11744 ], [ 0.98335, -0.04001, -0.17724 ] ], "simulated_seconds_remaining": 1.782, "calls_remaining_including_this": 31 }, "api_seconds": 3.603714463301003, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Last-second pull attempt." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "open the table.", "joint_positions": [ -0.65362, -1.11639, 0.95683, -2.92815, -0.51522, 3.73007, 1.29119 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45133, 0.2125, 1.00203 ], "tcp_roll_pitch_yaw": [ 0.20411, -1.33207, -0.14103 ], "tcp_rotation_matrix": [ [ 0.18062, 0.11216, 0.97714 ], [ -0.0191, -0.99289, 0.1175 ], [ 0.98337, -0.03989, -0.1772 ] ], "simulated_seconds_remaining": 0.594, "calls_remaining_including_this": 30 }, "api_seconds": 3.6038828464224935, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Located the table's drawer knob and made two grasp attempts, but the grip slipped off the knob each time and the drawer did not open before the simulation time ran out." } } } ] } } ] } } ======================================================================== Opus 5.5 / Open / Episode 049 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 49, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 21, "wall_seconds": 159.19, "usage": { "input_tokens": 46, "output_tokens": 9443, "cache_read_input_tokens": 249989, "cache_creation_input_tokens": 20557, "thinking_tokens": 6618, "cost_usd": 0.40349779999999996 } } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's opening task. You see exterior and wrist RGB images, arm joint angles and gripper opening, and the measured grasp-point pose. Issue exactly one tool call per turn. Think and make deliberate motions, checking fresh observations after each motion. move_to sets absolute grasp-point x,y,z in meters in the robot base frame: +x forward, +y left, +z up. roll,pitch,yaw are radians relative to the initial grasp orientation, composed as Rz(yaw) Ry(pitch) Rx(roll) R_initial. Unspecified target dimensions retain their currently measured values. gripper is 1=open and 0=closed (binary threshold 0.5). The grasp point is between the fingers; the gripper local +z points forward and fingers open along local y. The controller interpolates translation at at most 0.15 m/s and rotation at 0.75 rad/s, then uses inverse kinematics. Gripper changes take at least 0.6 s; each motion has 0.2 s settling time. You cannot specify duration. Unreachable poses or large joint jumps are rejected without movement, with a tool error so you can correct the target. You have up to 57 model calls and 30 seconds of simulated motion. Thinking does not consume simulated time. Each move must include a short note describing what you observe and why you chose that motion. Use visual feedback to locate the requested articulated object, grasp or engage its handle, and move its door or drawer to open it. Complete the opening task before calling done. Call done only when the goal is achieved; call give_up if you cannot proceed. No extra tools or human guidance are available. AGENT TRANSCRIPT (visible messages and completed tool calls) { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LKwHKjZztBz4bpDEpdrM6L", "name": "mcp__robot__observe", "input": {}, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 472, "cache_read_input_tokens": 1553, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 472 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01THpRR4qTE9Bf5cA1qF7zda", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -1.2, "z": 0.8 }, "note": "Dresser appears ahead; tilt gripper forward and lower to view front face/handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 486, "cache_read_input_tokens": 2025, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 486 }, "output_tokens": 10, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LxjDPptQMY3gmveX26DB33", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": -0.6 }, "note": "Try smaller tilt to look forward." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 881, "cache_read_input_tokens": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 881 }, "output_tokens": 24, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01FVCoHfsHonLZjyKCoZJfqA", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.75, "pitch": -0.9 }, "note": "Lower and tilt more to see dresser front and handle spotted at left of wrist view." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 611, "cache_read_input_tokens": 3392, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 611 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019c6GqkC7ZrPeJyy97k2kgx", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower to see dresser front." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 835, "cache_read_input_tokens": 4003, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 835 }, "output_tokens": 2, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "Still trying to find a position where I can see the dresser's handles. The last few moves were rejected as unreachable, so I'm lowering the gripper in smaller steps." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 682, "cache_read_input_tokens": 4838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 682 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AJTM2n2tS461njwtMyPh5i", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.92 }, "note": "Smaller downward step." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 682, "cache_read_input_tokens": 4838, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 682 }, "output_tokens": 5, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_011GgSLXEe35mJBSzrKDgP2Z", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Elbow near limit; move forward to extend arm." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 706, "cache_read_input_tokens": 5520, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 706 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VvgqUaJ95bCVPPfZpgHd7m", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.12 }, "note": "Handle seen on vertical dark face at left of wrist view; test lateral direction by moving +y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 669, "cache_read_input_tokens": 6226, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 669 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AMX8AHea2eHwSnuZYpwKjV", "name": "mcp__robot__move_to", "input": { "targets": { "pitch": 0, "roll": -1, "y": 0.2, "z": 0.9 }, "note": "Face with handle seems to be on -y side; rotate gripper to look toward -y." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1101, "cache_read_input_tokens": 6895, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1101 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01AZLQibn21vxDup2DDmZUZT", "name": "mcp__robot__move_to", "input": { "targets": { "roll": -1.5 }, "note": "Look horizontally toward -y to see dresser face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1483, "cache_read_input_tokens": 7996, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1483 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RJJWbW8MVCq4SrEAxu8jmd", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.1 }, "note": "Facing dresser front (at -y); drawer gap lines visible. Approach to identify handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 9479, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 819 }, "output_tokens": 4, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I've located the dresser's front face on the robot's −y side. Now I'm lowering the camera to find a drawer handle I can grip." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1126, "cache_read_input_tokens": 10298, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1126 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019WbF93hKUurrq65SJ63nTb", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.7, "y": 0.15 }, "note": "Lower along face to look for drawer handles." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1126, "cache_read_input_tokens": 10298, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1126 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Ehqes1SG5dQYCF8MzYSSFZ", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.03 }, "note": "Approach dark face toward -y to check distance and find handle." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1138, "cache_read_input_tokens": 11424, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1138 }, "output_tokens": 6, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LpYEAYE1oKPMcJdKVZnRun", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.1 }, "note": "Box is toward -y; continue approaching." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1084, "cache_read_input_tokens": 12562, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1084 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LVPsbTXGZ1nsFC5jEFbHkj", "name": "mcp__robot__move_to", "input": { "targets": { "y": 0.08, "x": 0.62, "z": 0.65 }, "note": "Touched face at y~-0.09. Earlier handle seen farther forward and lower; move there facing the face." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 820, "cache_read_input_tokens": 13646, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 820 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KuEvWJoYr7yWw9CwUS6SDq", "name": "mcp__robot__move_to", "input": { "targets": { "x": 0.5, "y": 0.1, "z": 0.95, "roll": 0, "pitch": -0.6, "yaw": 0 }, "note": "Too dark facing directly; return to the pose where handle was visible to localize it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1505, "cache_read_input_tokens": 14466, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1505 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012JQapyLsNDV6yJnyg19GYp", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.01 }, "note": "Estimated handle near (0.65,-0.05,0.64); approach face with vertical finger opening." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1088, "cache_read_input_tokens": 15971, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1088 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I think I've spotted the drawer handle just above the gripper, so I'm moving up and closer to line up for a grasp." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1252, "cache_read_input_tokens": 17059, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1252 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D2PeyzbXU7H9KTTAGg5DBS", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.69, "y": -0.04 }, "note": "Possible handle bar seen at image-left (above TCP); raise and approach." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1252, "cache_read_input_tokens": 17059, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 1252 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LtexaXbb8q76tsiK2gY4KU", "name": "mcp__robot__move_to", "input": { "targets": { "z": 0.715, "y": -0.075 }, "note": "Line (likely handle bar) moving toward center; align and push in to straddle it." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 897, "cache_read_input_tokens": 18311, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 897 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_014YU1gH3ggTGjt5wtMVete2", "name": "mcp__robot__move_to", "input": { "targets": { "y": -0.01, "z": 0.72, "roll": -1.49, "pitch": 0, "yaw": 0.02 }, "note": "Contacted face below the bar; back off and raise to align with bar." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 861, "cache_read_input_tokens": 19208, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 861 }, "output_tokens": 7, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01F4986oKqm7DWJFDuafAixU", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 0 }, "note": "Motion upward was blocked, suggests handle between fingers; close gripper." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 808, "cache_read_input_tokens": 20069, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 808 }, "output_tokens": 3, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017eef2LPygaexPeWXkgXbqA", "name": "mcp__robot__move_to", "input": { "targets": { "gripper": 1, "z": 0.735 }, "note": "Grasp missed; open and raise to align with the bar seen above." }, "caller": { "type": "direct" } } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 783, "cache_read_input_tokens": 20877, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 783 }, "output_tokens": 8, "service_tier": "standard", "inference_geo": "not_available" } } { "role": "assistant", "content": [ { "type": "text", "text": "I didn't get the dresser open; the episode ended before I could finish.\n\n- **Finding the dresser:** The dresser is on the robot's −y side. I found this after several moves were rejected as unreachable. The front face was very dark in the wrist camera, so I couldn't reliably pick out the handles.\n- **First grasp attempt:** I saw a line that I took for a drawer handle, pushed toward it and closed the gripper. The gripper closed all the way on nothing, so the grasp missed.\n- **Where it stopped:** The episode ended while I was reopening the gripper and raising it to line up with that line again. The drawer was never pulled.\n\nThe line may have been a gap between drawers rather than a handle, and I never confirmed the handle's exact height." } ], "usage": { "input_tokens": 2, "cache_creation_input_tokens": 450, "cache_read_input_tokens": 21660, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 450 }, "output_tokens": 245, "service_tier": "standard", "inference_geo": "not_available" } } SESSION USAGE { "usage": { "input_tokens": 46, "cache_creation_input_tokens": 20557, "cache_read_input_tokens": 249989, "output_tokens": 9443, "output_tokens_details": { "thinking_tokens": 6618 }, "server_tool_use": { "web_search_requests": 0, "web_fetch_requests": 0 }, "service_tier": "standard", "cache_creation": { "ephemeral_1h_input_tokens": 20557, "ephemeral_5m_input_tokens": 0 }, "inference_geo": "not_available", "iterations": [ { "input_tokens": 2, "output_tokens": 245, "cache_read_input_tokens": 21660, "cache_creation_input_tokens": 450, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 450 }, "type": "message" } ], "speed": "standard" }, "modelUsage": { "claude-opus-5-5": { "inputTokens": 46, "outputTokens": 9443, "cacheReadInputTokens": 249989, "cacheCreationInputTokens": 20557, "webSearchRequests": 0, "costUSD": 0.40349779999999996, "contextWindow": 1000000, "maxOutputTokens": 128000, "thinkingTokens": 6618, "canonicalModel": "claude-opus-5-5", "provider": "firstParty", "costBasis": "list" } }, "total_cost_usd": 0.40349779999999996, "num_turns": 23, "terminal_reason": "completed" } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.0011, -0.7639, 0.01313, -2.37162, 0.1201, 1.59149, -0.09205 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31122, 0.0353, 1.00471 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99504, 0.09798, -0.01718 ], [ 0.09928, -0.98889, 0.11059 ], [ -0.00615, -0.11175, -0.99372 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.805414603091776, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2, "z": 0.8 }, "note": "Dresser appears ahead; tilt gripper forward and lower to view front face/handles." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 2, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.0011, -0.7639, 0.01313, -2.37162, 0.1201, 1.59149, -0.09205 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31122, 0.0353, 1.00471 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99504, 0.09798, -0.01718 ], [ 0.09928, -0.98889, 0.11059 ], [ -0.00615, -0.11175, -0.99372 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 2.0020920103415847, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.6 }, "note": "Try smaller tilt to look forward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.01064, -1.31184, 0.03215, -2.83304, 0.14655, 2.09874, -0.14128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31117, 0.03532, 1.00468 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59572, 7e-05 ], "tcp_rotation_matrix": [ [ 0.82709, 0.14386, 0.54335 ], [ 0.09934, -0.98889, 0.11061 ], [ 0.55322, -0.03751, -0.83219 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 55 }, "api_seconds": 4.604395073838532, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75, "pitch": -0.9 }, "note": "Lower and tilt more to see dresser front and handle spotted at left of wrist view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.01064, -1.31184, 0.03215, -2.83304, 0.14655, 2.09874, -0.14128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31117, 0.03532, 1.00468 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59572, 7e-05 ], "tcp_rotation_matrix": [ [ 0.82709, 0.14386, 0.54335 ], [ 0.09934, -0.98889, 0.11061 ], [ 0.55322, -0.03751, -0.83219 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 54 }, "api_seconds": 2.6026102686300874, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower to see dresser front." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.01064, -1.31184, 0.03215, -2.83304, 0.14655, 2.09874, -0.14128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31117, 0.03532, 1.00468 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59572, 7e-05 ], "tcp_rotation_matrix": [ [ 0.82709, 0.14386, 0.54335 ], [ 0.09934, -0.98889, 0.11061 ], [ 0.55322, -0.03751, -0.83219 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 53 }, "api_seconds": 2.802782035432756, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Smaller downward step." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.01064, -1.31184, 0.03215, -2.83304, 0.14655, 2.09874, -0.14128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31117, 0.03532, 1.00468 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59572, 7e-05 ], "tcp_rotation_matrix": [ [ 0.82709, 0.14386, 0.54335 ], [ 0.09934, -0.98889, 0.11061 ], [ 0.55322, -0.03751, -0.83219 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 52 }, "api_seconds": 2.6026423489674926, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Elbow near limit; move forward to extend arm." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.03162, -0.73703, 0.02463, -2.72701, 0.17945, 2.56582, -0.20007 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44876, 0.03532, 0.95041 ], "tcp_roll_pitch_yaw": [ 0.0, -0.59546, 6e-05 ], "tcp_rotation_matrix": [ [ 0.82723, 0.14385, 0.54313 ], [ 0.09933, -0.98889, 0.11063 ], [ 0.55301, -0.03756, -0.83233 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 51 }, "api_seconds": 7.206283726729453, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Handle seen on vertical dark face at left of wrist view; test lateral direction by moving +y." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.05792, -0.6996, 0.21225, -2.69598, 0.19526, 2.58983, -0.00667 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44876, 0.11874, 0.95041 ], "tcp_roll_pitch_yaw": [ -0.00016, -0.59547, 0.00035 ], "tcp_rotation_matrix": [ [ 0.82721, 0.14405, 0.54312 ], [ 0.09957, -0.98886, 0.11062 ], [ 0.55301, -0.03743, -0.83233 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 50 }, "api_seconds": 12.210270311683416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0, "roll": -1, "y": 0.2, "z": 0.9 }, "note": "Face with handle seems to be on -y side; rotate gripper to look toward -y." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.11553, 0.38469, 1.00415, -1.74658, -0.81342, 1.1812, 0.88675 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44879, 0.19979, 0.90009 ], "tcp_roll_pitch_yaw": [ -0.99534, -0.00161, 0.00173 ], "tcp_rotation_matrix": [ [ 0.99509, 0.09784, -0.01482 ], [ 0.05059, -0.63176, -0.77351 ], [ -0.08504, 0.76896, -0.63361 ] ], "simulated_seconds_remaining": 24.882, "calls_remaining_including_this": 49 }, "api_seconds": 4.403849605470896, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": -1.5 }, "note": "Look horizontally toward -y to see dresser face." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.23776, 0.66897, 0.8016, -1.57585, -1.10899, 0.74258, 0.93475 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44878, 0.19977, 0.89991 ], "tcp_roll_pitch_yaw": [ -1.49577, -0.00116, 0.00185 ], "tcp_rotation_matrix": [ [ 0.99515, 0.09718, -0.01515 ], [ 0.00315, -0.18537, -0.98266 ], [ -0.09831, 0.97785, -0.18478 ] ], "simulated_seconds_remaining": 23.892, "calls_remaining_including_this": 48 }, "api_seconds": 7.606328155845404, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Facing dresser front (at -y); drawer gap lines visible. Approach to identify handles." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.01525, 0.44214, 0.8398, -1.90146, -1.08372, 0.94207, 0.90783 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44882, 0.10119, 0.89995 ], "tcp_roll_pitch_yaw": [ -1.49585, -0.00123, 0.00164 ], "tcp_rotation_matrix": [ [ 0.99516, 0.09708, -0.01534 ], [ 0.00293, -0.18532, -0.98267 ], [ -0.09824, 0.97787, -0.1847 ] ], "simulated_seconds_remaining": 22.902, "calls_remaining_including_this": 47 }, "api_seconds": 8.006957768462598, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7, "y": 0.15 }, "note": "Lower along face to look for drawer handles." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.19339, 0.91717, 0.69044, -1.70651, -1.1347, 0.98563, 1.20534 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44877, 0.14966, 0.70124 ], "tcp_roll_pitch_yaw": [ -1.49592, -0.00096, 0.00168 ], "tcp_rotation_matrix": [ [ 0.99513, 0.09735, -0.01535 ], [ 0.00296, -0.18525, -0.98269 ], [ -0.0985, 0.97786, -0.18463 ] ], "simulated_seconds_remaining": 21.252, "calls_remaining_including_this": 46 }, "api_seconds": 7.216952363029122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03 }, "note": "Approach dark face toward -y to check distance and find handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04217, 0.74335, 0.67786, -2.01902, -1.20767, 1.15601, 1.20702 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4488, 0.03117, 0.70126 ], "tcp_roll_pitch_yaw": [ -1.49607, -0.001, 0.00144 ], "tcp_rotation_matrix": [ [ 0.99514, 0.09727, -0.01558 ], [ 0.00271, -0.18513, -0.98271 ], [ -0.09847, 0.97789, -0.18449 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 45 }, "api_seconds": 4.403677625581622, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.1 }, "note": "Box is toward -y; continue approaching." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.25128, 0.59247, 0.62497, -2.24272, -1.35822, 1.34769, 1.16959 ], "gripper_open": 1.0, "tcp_xyz": [ 0.44961, -0.08673, 0.70031 ], "tcp_roll_pitch_yaw": [ -1.48603, -0.0006, 0.02064 ], "tcp_rotation_matrix": [ [ 0.99484, 0.1014, 0.00318 ], [ 0.02281, -0.19302, -0.98093 ], [ -0.09885, 0.97594, -0.19434 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 44 }, "api_seconds": 11.809523188509047, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08, "x": 0.62, "z": 0.65 }, "note": "Touched face at y~-0.09. Earlier handle seen farther forward and lower; move there facing the face." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.18968, 1.18947, 0.52502, -1.23226, -1.45982, 1.11111, 0.85915 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61903, 0.07917, 0.6502 ], "tcp_roll_pitch_yaw": [ -1.48596, -0.00052, 0.02083 ], "tcp_rotation_matrix": [ [ 0.99483, 0.10151, 0.00335 ], [ 0.023, -0.19307, -0.98092 ], [ -0.09893, 0.97592, -0.19441 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 43 }, "api_seconds": 8.007196251302958, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.1, "z": 0.95, "roll": 0, "pitch": -0.6, "yaw": 0 }, "note": "Too dark facing directly; return to the pose where handle was visible to localize it." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 16, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.18968, 1.18947, 0.52502, -1.23226, -1.45982, 1.11111, 0.85915 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61903, 0.07917, 0.6502 ], "tcp_roll_pitch_yaw": [ -1.48596, -0.00052, 0.02083 ], "tcp_rotation_matrix": [ [ 0.99483, 0.10151, 0.00335 ], [ 0.023, -0.19307, -0.98092 ], [ -0.09893, 0.97592, -0.19441 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 42 }, "api_seconds": 8.807922621257603, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.01 }, "note": "Estimated handle near (0.65,-0.05,0.64); approach face with vertical finger opening." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.0253, 1.06862, 0.50134, -1.46416, -1.48915, 1.22251, 0.90608 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61906, -0.00894, 0.65024 ], "tcp_roll_pitch_yaw": [ -1.48612, -0.00058, 0.02055 ], "tcp_rotation_matrix": [ [ 0.99484, 0.10139, 0.00309 ], [ 0.02271, -0.19294, -0.98095 ], [ -0.09887, 0.97596, -0.19425 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 41 }, "api_seconds": 5.605253200978041, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.69, "y": -0.04 }, "note": "Possible handle bar seen at image-left (above TCP); raise and approach." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.04295, 0.95174, 0.50929, -1.57306, -1.48986, 1.24859, 0.88144 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61912, -0.03937, 0.6892 ], "tcp_roll_pitch_yaw": [ -1.48617, -0.00081, 0.02038 ], "tcp_rotation_matrix": [ [ 0.99487, 0.10114, 0.00297 ], [ 0.02254, -0.19292, -0.98096 ], [ -0.09864, 0.97599, -0.19421 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 40 }, "api_seconds": 4.604278380982578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.715, "y": -0.075 }, "note": "Line (likely handle bar) moving toward center; align and push in to straddle it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "open the dresser.", "joint_positions": [ -0.09356, 0.87163, 0.52247, -1.66056, -1.46259, 1.36005, 0.85949 ], "gripper_open": 1.0, "tcp_xyz": [ 0.61917, -0.04471, 0.68984 ], "tcp_roll_pitch_yaw": [ -1.39495, 0.01353, 0.05856 ], "tcp_rotation_matrix": [ [ 0.99125, 0.12725, 0.03516 ], [ 0.06944, -0.27605, -0.95863 ], [ -0.11228, 0.95268, -0.28247 ] ], "simulated_seconds_remaining": 14.85, "calls_remaining_including_this": 39 }, "api_seconds": 4.20391324814409, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.01, "z": 0.72, "roll": -1.49, "pitch": 0, "yaw": 0.02 }, "note": "Contacted face below the bar; back off and raise to align with bar." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.0099, 0.92355, 0.50991, -1.55657, -1.42594, 1.30045, 0.84682 ], "gripper_open": 0.9494, "tcp_xyz": [ 0.624, 0.00243, 0.69167 ], "tcp_roll_pitch_yaw": [ -1.40494, 0.01164, 0.05932 ], "tcp_rotation_matrix": [ [ 0.99146, 0.12513, 0.0367 ], [ 0.06922, -0.26653, -0.96134 ], [ -0.11051, 0.95567, -0.27292 ] ], "simulated_seconds_remaining": 14.256, "calls_remaining_including_this": 38 }, "api_seconds": 3.8036034079268575, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Motion upward was blocked, suggests handle between fingers; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "open the dresser.", "joint_positions": [ 0.0099, 0.92355, 0.50991, -1.55657, -1.42594, 1.30045, 0.84682 ], "gripper_open": 0.0, "tcp_xyz": [ 0.624, 0.00245, 0.69167 ], "tcp_roll_pitch_yaw": [ -1.40494, 0.01164, 0.05931 ], "tcp_rotation_matrix": [ [ 0.99146, 0.12513, 0.03669 ], [ 0.06921, -0.26653, -0.96134 ], [ -0.11051, 0.95567, -0.27292 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 37 }, "api_seconds": 5.605437331832945, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.735 }, "note": "Grasp missed; open and raise to align with the bar seen above." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } }