========================================================================
Opus 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
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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.



MODEL RESPONSES


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{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
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      {
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          "targets": {
            "y": 0.0,
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          "note": "Return toward center-right; stepping in smaller increments to keep IK valid."
        },
        "caller": {
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{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
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      {
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          "targets": {
            "y": 0.08,
            "roll": 0.0,
            "yaw": 0.0
          },
          "note": "Small -y step with roll/yaw reset to regain a cleaner configuration."
        },
        "caller": {
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "pitch": -0.8
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          "note": "Reduce pitch to unload joint limits and regain mobility."
        },
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      }
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{
  "api_call": 21,
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    "model": "claude-opus-5",
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            "y": 0.22,
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          "note": "Exterior shows handle to the image-left and below gripper, i.e. larger y, lower z; moving there."
        },
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{
  "api_call": 22,
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            "x": 0.33
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          "note": "Motion seems blocked by contact with cabinet; retreat in -x to free the gripper."
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{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
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          "targets": {
            "y": 0.25,
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          "note": "Now free of contact, shift left and down toward the handle location."
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{
  "api_call": 24,
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          "note": "Return to the pose where a clear black handle bar was visible in the wrist view to re-localize it."
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{
  "api_call": 25,
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            "y": 0.1,
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          "note": "Smaller step back toward center since the larger jump was rejected."
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{
  "api_call": 26,
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        "input": {
          "targets": {
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            "yaw": 0.0,
            "pitch": -0.6
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          "note": "Reset unwanted roll/yaw and reduce pitch to escape the constrained configuration."
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{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezcf6db9kSurN7WE4neo",
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        "input": {
          "targets": {
            "y": 0.36
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          "note": "Probe further left to test image-direction mapping and search for the handle."
        },
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{
  "api_call": 28,
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    "model": "claude-opus-5",
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        "input": {
          "targets": {
            "y": 0.45,
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          "note": "Handle appears just left/below gripper in exterior; move further +y and down."
        },
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{
  "api_call": 29,
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    "model": "claude-opus-5",
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        "input": {
          "targets": {
            "roll": 1.0
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          "note": "Rotate roll so fingers open vertically, enabling a pinch on the horizontal handle bar."
        },
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{
  "api_call": 30,
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    "id": "msg_011CezciLmUTY71ENTD5TwAJ",
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        "input": {
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          "note": "Smaller roll increment to avoid large joint jump."
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{
  "api_call": 31,
  "response": {
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "roll": 0.9
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          "note": "Continue rolling toward vertical finger opening for handle pinch."
        },
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{
  "api_call": 32,
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    "id": "msg_011CezcjN3tkxEea5qK2GwjW",
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        "input": {
          "targets": {
            "roll": 0.65
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          "note": "Smaller roll step."
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        "caller": {
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{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezcjb6TnorFRi4ueaHrg",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
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          "note": "Switch plan: yaw the gripper so fingers separate along x, allowing a pinch across the horizontal handle bar."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 34,
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    "model": "claude-opus-5",
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        "input": {
          "targets": {
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          "note": "Continue yaw so fingers align across the bar (separation along x)."
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{
  "api_call": 35,
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    "id": "msg_011Cezcn13vPwPfHJBy7K22g",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "z": 0.84,
            "x": 0.36
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          "note": "Fingers now separate along x, enabling a top grasp on the horizontal bar; descending and moving slightly forward to find the bar."
        },
        "caller": {
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 778,
      "cache_read_input_tokens": 31223,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 778,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 832,
      "output_tokens_details": {
        "thinking_tokens": 706
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 36,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezco6dZArrnUzFg216bW",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Bmefp65am8oCRqN3GR6BR8",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "z": 0.88,
            "y": 0.42
          },
          "note": "Probe forward in +x to locate the drawer face/handle depth."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1322,
      "cache_read_input_tokens": 32001,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1322,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 528,
      "output_tokens_details": {
        "thinking_tokens": 415
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 37,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezcow38JgJU7pW5o7JCP",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012TJ6qtK5PJCTsTzMGJUcHM",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 0.0,
            "yaw": 0.6,
            "pitch": -0.2
          },
          "note": "Reset orientation toward downward-pointing with fingers rotated 34 deg, recovering from a bad configuration."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1023,
      "cache_read_input_tokens": 33323,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1023,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1135,
      "output_tokens_details": {
        "thinking_tokens": 1001
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 38,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcqMT6fu2rAKGDr61Qd",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018VhDYTGeYvt2UHfPnqJRMB",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "y": 0.3,
            "z": 0.88,
            "pitch": -0.5
          },
          "note": "Move forward toward the drawer face at handle height, fingers straddling in x for a bar grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1625,
      "cache_read_input_tokens": 34346,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1625,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1224,
      "output_tokens_details": {
        "thinking_tokens": 1091
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 39,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcrsMxtJPLDWzgJiKMr",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Gwh1g9FFXt6JC1j7qnsjwX",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.87,
            "x": 0.36,
            "gripper": 0.0
          },
          "note": "Descend slightly onto the handle bar and close the gripper to attempt a grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1714,
      "cache_read_input_tokens": 35971,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1714,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 326,
      "output_tokens_details": {
        "thinking_tokens": 205
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 40,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcsPC5JkNvUJgzvUPdv",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01KjFN8eJgEsbgK4tynfELYH",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.22
          },
          "note": "Pull back in -x to test whether the handle was engaged and the drawer moves."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 815,
      "cache_read_input_tokens": 37685,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 815,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 211,
      "output_tokens_details": {
        "thinking_tokens": 110
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 41,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcsmxoNAQ5gQy6FYJsB",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LaQ9vnYhFwDqarzZC21QDM",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "z": 0.84,
            "gripper": 1.0
          },
          "note": "Final attempt: reopen gripper and advance lower/forward to straddle the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 700,
      "cache_read_input_tokens": 38500,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 700,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 364,
      "output_tokens_details": {
        "thinking_tokens": 241
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 42,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezctM6qdnYFDLY514e6m",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UKZpBMhyBupg5uUkapiDPq",
        "name": "give_up",
        "input": {
          "note": "Could not localize/engage the drawer handle: orientation changes toward a forward-facing grasp were repeatedly rejected by IK, the controller tracked targets poorly near joint limits, and simulated time ran out before a grasp could be made."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 855,
      "cache_read_input_tokens": 39200,
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        "ephemeral_5m_input_tokens": 855,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 158,
      "output_tokens_details": {
        "thinking_tokens": 35
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 50.64043531008065,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57,
                    "z": 0.9
                  },
                  "note": "Rotate gripper to point forward (+x) to look at cabinet front and prepare for horizontal handle grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01417,
      -0.75426,
      -0.02259,
      -2.42381,
      0.0644,
      1.70442,
      -0.10257
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33118,
      0.01407,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99498,
        0.09373,
        0.03512
      ],
      [
        0.09073,
        -0.99273,
        0.07912
      ],
      [
        0.04228,
        -0.07554,
        -0.99625
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.406002705916762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Try partial rotation toward forward-facing gripper since full -1.57 was unreachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01417,
      -0.75426,
      -0.02259,
      -2.42381,
      0.0644,
      1.70442,
      -0.10257
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.33118,
      0.01407,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99498,
        0.09373,
        0.03512
      ],
      [
        0.09073,
        -0.99273,
        0.07912
      ],
      [
        0.04228,
        -0.07554,
        -0.99625
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.605353547260165,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.3
                  },
                  "note": "Testing small pitch change to gauge reachable orientation range."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01197,
      -1.01925,
      -0.01799,
      -2.65939,
      0.06937,
      1.97056,
      -0.12079
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33113,
      0.01408,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.29608,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.93934,
        0.11172,
        0.32427
      ],
      [
        0.09076,
        -0.99272,
        0.07913
      ],
      [
        0.33075,
        -0.0449,
        -0.94265
      ]
    ],
    "simulated_seconds_remaining": 29.304,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 10.209318144246936,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Continue incremental pitch toward forward-pointing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01197,
      -1.01925,
      -0.01799,
      -2.65939,
      0.06937,
      1.97056,
      -0.12079
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33113,
      0.01408,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.29608,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.93934,
        0.11172,
        0.32427
      ],
      [
        0.09076,
        -0.99272,
        0.07913
      ],
      [
        0.33075,
        -0.0449,
        -0.94265
      ]
    ],
    "simulated_seconds_remaining": 29.304,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.606047679670155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "pitch": -0.5
                  },
                  "note": "Lower the TCP to free joint range, while rotating gripper further 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 drawer.",
    "joint_positions": [
      0.01197,
      -1.01925,
      -0.01799,
      -2.65939,
      0.06937,
      1.97056,
      -0.12079
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33113,
      0.01408,
      0.98596
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.29608,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.93934,
        0.11172,
        0.32427
      ],
      [
        0.09076,
        -0.99272,
        0.07913
      ],
      [
        0.33075,
        -0.0449,
        -0.94265
      ]
    ],
    "simulated_seconds_remaining": 29.304,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.805630416609347,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "Test pure downward translation to check reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.0138,
      -1.03231,
      -0.01897,
      -2.88071,
      0.07612,
      2.17808,
      -0.13613
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33109,
      0.01408,
      0.90124
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.29579,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.93944,
        0.11173,
        0.32399
      ],
      [
        0.09077,
        -0.99272,
        0.07913
      ],
      [
        0.33048,
        -0.04493,
        -0.94274
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.804528799839318,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6
                  },
                  "note": "Retry further pitch rotation at lower height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.0138,
      -1.03231,
      -0.01897,
      -2.88071,
      0.07612,
      2.17808,
      -0.13613
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33109,
      0.01408,
      0.90124
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.29579,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.93944,
        0.11173,
        0.32399
      ],
      [
        0.09077,
        -0.99272,
        0.07913
      ],
      [
        0.33048,
        -0.04493,
        -0.94274
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 15.013123030774295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.45,
                    "x": 0.4
                  },
                  "note": "Slight pitch with forward reach to probe reachable orientations and approach cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.03219,
      -0.84721,
      -0.02618,
      -2.86553,
      0.0919,
      2.49943,
      -0.16081
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39891,
      0.0141,
      0.90114
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      -0.44728,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.8788,
        0.11727,
        0.46255
      ],
      [
        0.09079,
        -0.99272,
        0.07918
      ],
      [
        0.46847,
        -0.02759,
        -0.88305
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 3.2031270265579224,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "x": 0.45
                  },
                  "note": "Keep rotating forward while extending reach toward cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.0857,
      -0.71994,
      -0.05994,
      -2.9417,
      0.12283,
      2.95297,
      -0.20808
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4492,
      0.01415,
      0.90086
    ],
    "tcp_roll_pitch_yaw": [
      0.00019,
      -0.6954,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.73683,
        0.12064,
        0.66523
      ],
      [
        0.09084,
        -0.99269,
        0.07941
      ],
      [
        0.66995,
        0.00192,
        -0.7424
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.204681636765599,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Continue to forward-facing orientation to view cabinet front with 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 drawer.",
    "joint_positions": [
      0.0857,
      -0.71994,
      -0.05994,
      -2.9417,
      0.12283,
      2.95297,
      -0.20808
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4492,
      0.01415,
      0.90086
    ],
    "tcp_roll_pitch_yaw": [
      0.00019,
      -0.6954,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.73683,
        0.12064,
        0.66523
      ],
      [
        0.09084,
        -0.99269,
        0.07941
      ],
      [
        0.66995,
        0.00192,
        -0.7424
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 2.802951850928366,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.85,
                    "z": 0.85
                  },
                  "note": "Small pitch increment plus lowering to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.0857,
      -0.71994,
      -0.05994,
      -2.9417,
      0.12283,
      2.95297,
      -0.20808
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4492,
      0.01415,
      0.90086
    ],
    "tcp_roll_pitch_yaw": [
      0.00019,
      -0.6954,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.73683,
        0.12064,
        0.66523
      ],
      [
        0.09084,
        -0.99269,
        0.07941
      ],
      [
        0.66995,
        0.00192,
        -0.7424
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.0086736204102635,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.85,
                    "x": 0.5
                  },
                  "note": "Extending reach further seemed to allow more pitch; try again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.20638,
      -0.60031,
      -0.18284,
      -2.91777,
      0.14073,
      3.13361,
      -0.26872
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47781,
      0.01558,
      0.89921
    ],
    "tcp_roll_pitch_yaw": [
      0.03096,
      -0.77256,
      0.0024
    ],
    "tcp_rotation_matrix": [
      [
        0.68085,
        0.14365,
        0.71819
      ],
      [
        0.09101,
        -0.98957,
        0.11165
      ],
      [
        0.72674,
        -0.01065,
        -0.68683
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 21.216158034279943,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0,
                    "z": 0.95
                  },
                  "note": "Raise and pitch more forward to view cabinet front and handle in wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.25515,
      -0.66911,
      -0.22129,
      -2.99172,
      0.13152,
      3.35433,
      -0.29552
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47541,
      0.01563,
      0.94164
    ],
    "tcp_roll_pitch_yaw": [
      0.02854,
      -0.9805,
      0.00566
    ],
    "tcp_rotation_matrix": [
      [
        0.51603,
        0.14403,
        0.84437
      ],
      [
        0.09241,
        -0.98937,
        0.11229
      ],
      [
        0.85157,
        0.02008,
        -0.52386
      ]
    ],
    "simulated_seconds_remaining": 25.74,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.205222716554999,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.05
                  },
                  "note": "Back up and raise for a wider wrist view of the cabinet to locate the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.07201,
      -1.17982,
      -0.05118,
      -2.95372,
      0.12452,
      2.78804,
      -0.22259
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40079,
      0.01562,
      1.0491
    ],
    "tcp_roll_pitch_yaw": [
      0.02861,
      -0.98094,
      0.00559
    ],
    "tcp_rotation_matrix": [
      [
        0.51566,
        0.14401,
        0.8446
      ],
      [
        0.09237,
        -0.98937,
        0.1123
      ],
      [
        0.8518,
        0.0201,
        -0.52349
      ]
    ],
    "simulated_seconds_remaining": 24.552,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 12.409829872660339,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.16,
                    "x": 0.45,
                    "z": 0.95
                  },
                  "note": "Shift left toward where the handle appears (left of wrist view) to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00925,
      -0.82326,
      0.48093,
      -3.00842,
      0.32215,
      3.27714,
      0.15171
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44053,
      0.12963,
      0.96957
    ],
    "tcp_roll_pitch_yaw": [
      0.16683,
      -1.02464,
      -0.19638
    ],
    "tcp_rotation_matrix": [
      [
        0.47538,
        0.05977,
        0.87775
      ],
      [
        -0.01051,
        -0.99723,
        0.0736
      ],
      [
        0.87972,
        -0.04421,
        -0.47344
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 17.612959994003177,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.1
                  },
                  "note": "Handle drifted further to image-left when moving +y, so try moving -y to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00925,
      -0.82326,
      0.48093,
      -3.00842,
      0.32215,
      3.27714,
      0.15171
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44053,
      0.12963,
      0.96957
    ],
    "tcp_roll_pitch_yaw": [
      0.16683,
      -1.02464,
      -0.19638
    ],
    "tcp_rotation_matrix": [
      [
        0.47538,
        0.05977,
        0.87775
      ],
      [
        -0.01051,
        -0.99723,
        0.0736
      ],
      [
        0.87972,
        -0.04421,
        -0.47344
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 3.0026195952668786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "x": 0.42,
                    "z": 0.95
                  },
                  "note": "Return toward center-right; stepping in smaller increments to keep IK valid."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00925,
      -0.82326,
      0.48093,
      -3.00842,
      0.32215,
      3.27714,
      0.15171
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44053,
      0.12963,
      0.96957
    ],
    "tcp_roll_pitch_yaw": [
      0.16683,
      -1.02464,
      -0.19638
    ],
    "tcp_rotation_matrix": [
      [
        0.47538,
        0.05977,
        0.87775
      ],
      [
        -0.01051,
        -0.99723,
        0.0736
      ],
      [
        0.87972,
        -0.04421,
        -0.47344
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.804388107731938,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.08,
                    "roll": 0.0,
                    "yaw": 0.0
                  },
                  "note": "Small -y step with roll/yaw reset to regain a cleaner configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00925,
      -0.82326,
      0.48093,
      -3.00842,
      0.32215,
      3.27714,
      0.15171
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44053,
      0.12963,
      0.96957
    ],
    "tcp_roll_pitch_yaw": [
      0.16683,
      -1.02464,
      -0.19638
    ],
    "tcp_rotation_matrix": [
      [
        0.47538,
        0.05977,
        0.87775
      ],
      [
        -0.01051,
        -0.99723,
        0.0736
      ],
      [
        0.87972,
        -0.04421,
        -0.47344
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 4.6041357554495335,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Reduce pitch to unload joint limits and regain mobility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02521,
      -0.85628,
      0.36523,
      -2.88725,
      0.31547,
      2.90812,
      0.11461
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43673,
      0.12925,
      0.96941
    ],
    "tcp_roll_pitch_yaw": [
      0.15843,
      -0.80207,
      -0.18621
    ],
    "tcp_rotation_matrix": [
      [
        0.65552,
        0.04808,
        0.75364
      ],
      [
        -0.03911,
        -0.99447,
        0.09746
      ],
      [
        0.75416,
        -0.09337,
        -0.65002
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 12.01060598436743,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.22,
                    "z": 0.92
                  },
                  "note": "Exterior shows handle to the image-left and below gripper, i.e. larger y, lower z; moving there."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.09779,
      -0.92259,
      0.53766,
      -2.86598,
      0.33633,
      2.81185,
      0.36501
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42841,
      0.13347,
      0.96613
    ],
    "tcp_roll_pitch_yaw": [
      0.2328,
      -0.75501,
      -0.42473
    ],
    "tcp_rotation_matrix": [
      [
        0.65383,
        -0.13977,
        0.74362
      ],
      [
        -0.20952,
        -0.97781,
        0.00043
      ],
      [
        0.72706,
        -0.15608,
        -0.6686
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.405303484760225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33
                  },
                  "note": "Motion seems blocked by contact with cabinet; retreat in -x to free the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.08881,
      -1.38165,
      0.5318,
      -3.03021,
      0.34607,
      2.48958,
      0.45035
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33137,
      0.13354,
      0.96624
    ],
    "tcp_roll_pitch_yaw": [
      0.23289,
      -0.7553,
      -0.42462
    ],
    "tcp_rotation_matrix": [
      [
        0.65365,
        -0.13956,
        0.74382
      ],
      [
        -0.20936,
        -0.97784,
        0.00052
      ],
      [
        0.72726,
        -0.15606,
        -0.66838
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 3.4034651862457395,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25,
                    "z": 0.92
                  },
                  "note": "Now free of contact, shift left and down toward the handle location."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.06487,
      -1.14739,
      0.90721,
      -2.90645,
      0.44544,
      2.63158,
      0.73428
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33139,
      0.24875,
      0.92052
    ],
    "tcp_roll_pitch_yaw": [
      0.23272,
      -0.75539,
      -0.42446
    ],
    "tcp_rotation_matrix": [
      [
        0.65363,
        -0.13951,
        0.74384
      ],
      [
        -0.20922,
        -0.97787,
        0.00045
      ],
      [
        0.72732,
        -0.15592,
        -0.66836
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 15.614445707760751,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "z": 0.98,
                    "x": 0.38
                  },
                  "note": "Return to the pose where a clear black handle bar was visible in the wrist view to re-localize it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.06487,
      -1.14739,
      0.90721,
      -2.90645,
      0.44544,
      2.63158,
      0.73428
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33139,
      0.24875,
      0.92052
    ],
    "tcp_roll_pitch_yaw": [
      0.23272,
      -0.75539,
      -0.42446
    ],
    "tcp_rotation_matrix": [
      [
        0.65363,
        -0.13951,
        0.74384
      ],
      [
        -0.20922,
        -0.97787,
        0.00045
      ],
      [
        0.72732,
        -0.15592,
        -0.66836
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.604111638851464,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1,
                    "z": 0.95
                  },
                  "note": "Smaller step back toward center since the larger jump was rejected."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.06487,
      -1.14739,
      0.90721,
      -2.90645,
      0.44544,
      2.63158,
      0.73428
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33139,
      0.24875,
      0.92052
    ],
    "tcp_roll_pitch_yaw": [
      0.23272,
      -0.75539,
      -0.42446
    ],
    "tcp_rotation_matrix": [
      [
        0.65363,
        -0.13951,
        0.74384
      ],
      [
        -0.20922,
        -0.97787,
        0.00045
      ],
      [
        0.72732,
        -0.15592,
        -0.66836
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.204704876989126,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.0,
                    "yaw": 0.0,
                    "pitch": -0.6
                  },
                  "note": "Reset unwanted roll/yaw and reduce pitch to escape the constrained configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.14386,
      -0.99135,
      0.66822,
      -2.83585,
      0.36313,
      2.52112,
      0.36544
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33139,
      0.24877,
      0.92054
    ],
    "tcp_roll_pitch_yaw": [
      0.00224,
      -0.60206,
      -0.00467
    ],
    "tcp_rotation_matrix": [
      [
        0.79638,
        0.11666,
        0.59343
      ],
      [
        0.08692,
        -0.99311,
        0.07858
      ],
      [
        0.59851,
        -0.011,
        -0.80104
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.611947393976152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.36
                  },
                  "note": "Probe further left to test image-direction mapping and search for the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01015,
      -0.81464,
      0.94292,
      -2.5927,
      0.34105,
      2.52946,
      0.56871
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33139,
      0.35873,
      0.92057
    ],
    "tcp_roll_pitch_yaw": [
      0.00216,
      -0.60213,
      -0.00452
    ],
    "tcp_rotation_matrix": [
      [
        0.79633,
        0.11676,
        0.59348
      ],
      [
        0.08704,
        -0.9931,
        0.07859
      ],
      [
        0.59856,
        -0.01092,
        -0.801
      ]
    ],
    "simulated_seconds_remaining": 17.556,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 6.806238372810185,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.45,
                    "z": 0.87
                  },
                  "note": "Handle appears just left/below gripper in exterior; move further +y and down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.28374,
      -0.6955,
      1.31306,
      -2.41878,
      0.30424,
      2.61256,
      0.75494
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33137,
      0.44885,
      0.87064
    ],
    "tcp_roll_pitch_yaw": [
      0.002,
      -0.60219,
      -0.00435
    ],
    "tcp_rotation_matrix": [
      [
        0.79629,
        0.11685,
        0.59352
      ],
      [
        0.08719,
        -0.99309,
        0.07854
      ],
      [
        0.59859,
        -0.01079,
        -0.80098
      ]
    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 28.62343345489353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.0
                  },
                  "note": "Rotate roll so fingers open vertically, enabling a pinch on the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.28374,
      -0.6955,
      1.31306,
      -2.41878,
      0.30424,
      2.61256,
      0.75494
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33137,
      0.44885,
      0.87064
    ],
    "tcp_roll_pitch_yaw": [
      0.002,
      -0.60219,
      -0.00435
    ],
    "tcp_rotation_matrix": [
      [
        0.79629,
        0.11685,
        0.59352
      ],
      [
        0.08719,
        -0.99309,
        0.07854
      ],
      [
        0.59859,
        -0.01079,
        -0.80098
      ]
    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 4.6044722981750965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.4
                  },
                  "note": "Smaller roll increment to avoid large joint jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.11877,
      -0.36649,
      0.9545,
      -2.65768,
      0.48268,
      3.16681,
      0.43501
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33136,
      0.44886,
      0.87073
    ],
    "tcp_roll_pitch_yaw": [
      0.39651,
      -0.60148,
      -0.00456
    ],
    "tcp_rotation_matrix": [
      [
        0.77876,
        0.32961,
        0.53375
      ],
      [
        0.06381,
        -0.88805,
        0.4553
      ],
      [
        0.62407,
        -0.32051,
        -0.71261
      ]
    ],
    "simulated_seconds_remaining": 15.708,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 9.007928903214633,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.9
                  },
                  "note": "Continue rolling toward vertical finger opening for handle pinch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.11877,
      -0.36649,
      0.9545,
      -2.65768,
      0.48268,
      3.16681,
      0.43501
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33136,
      0.44886,
      0.87073
    ],
    "tcp_roll_pitch_yaw": [
      0.39651,
      -0.60148,
      -0.00456
    ],
    "tcp_rotation_matrix": [
      [
        0.77876,
        0.32961,
        0.53375
      ],
      [
        0.06381,
        -0.88805,
        0.4553
      ],
      [
        0.62407,
        -0.32051,
        -0.71261
      ]
    ],
    "simulated_seconds_remaining": 15.708,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 3.0031906133517623,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.65
                  },
                  "note": "Smaller roll step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.11877,
      -0.36649,
      0.9545,
      -2.65768,
      0.48268,
      3.16681,
      0.43501
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33136,
      0.44886,
      0.87073
    ],
    "tcp_roll_pitch_yaw": [
      0.39651,
      -0.60148,
      -0.00456
    ],
    "tcp_rotation_matrix": [
      [
        0.77876,
        0.32961,
        0.53375
      ],
      [
        0.06381,
        -0.88805,
        0.4553
      ],
      [
        0.62407,
        -0.32051,
        -0.71261
      ]
    ],
    "simulated_seconds_remaining": 15.708,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 20.817649957723916,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.6,
                    "roll": 0.0
                  },
                  "note": "Switch plan: yaw the gripper so fingers separate along x, allowing a pinch across the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.21302,
      -0.34991,
      0.79585,
      -2.59418,
      0.29869,
      2.9251,
      0.06671
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.32582,
      0.44437,
      0.86249
    ],
    "tcp_roll_pitch_yaw": [
      -0.0054,
      -0.57135,
      0.59869
    ],
    "tcp_rotation_matrix": [
      [
        0.62145,
        0.65616,
        0.42807
      ],
      [
        0.53407,
        -0.75457,
        0.3813
      ],
      [
        0.5732,
        -0.00834,
        -0.81937
      ]
    ],
    "simulated_seconds_remaining": 14.718,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 11.009733668528497,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.3
                  },
                  "note": "Continue yaw so fingers align across the bar (separation along x)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.75112,
      -0.28765,
      0.16063,
      -2.50403,
      0.80962,
      2.62318,
      -0.69162
    ],
    "gripper_open": 0.9949,
    "tcp_xyz": [
      0.30436,
      0.44779,
      0.8781
    ],
    "tcp_roll_pitch_yaw": [
      0.30421,
      -0.46473,
      0.79436
    ],
    "tcp_rotation_matrix": [
      [
        0.54936,
        0.8343,
        0.04632
      ],
      [
        0.66474,
        -0.46995,
        0.58074
      ],
      [
        0.50628,
        -0.28824,
        -0.81277
      ]
    ],
    "simulated_seconds_remaining": 13.464,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 14.613011226058006,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.84,
                    "x": 0.36
                  },
                  "note": "Fingers now separate along x, enabling a top grasp on the horizontal bar; descending and moving slightly forward to find the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.74745,
      -0.30644,
      0.11081,
      -2.48077,
      0.88713,
      2.45231,
      -0.85127
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.2872,
      0.44414,
      0.88782
    ],
    "tcp_roll_pitch_yaw": [
      0.39078,
      -0.45366,
      0.88772
    ],
    "tcp_rotation_matrix": [
      [
        0.49153,
        0.86673,
        -0.08468
      ],
      [
        0.71142,
        -0.34356,
        0.61306
      ],
      [
        0.50227,
        -0.36159,
        -0.78548
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 10.80953805707395,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.88,
                    "y": 0.42
                  },
                  "note": "Probe forward in +x to locate the drawer face/handle depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.64523,
      -0.29125,
      -0.02882,
      -2.22093,
      0.8351,
      1.38423,
      -0.99804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.16637,
      0.36629,
      0.99799
    ],
    "tcp_roll_pitch_yaw": [
      0.88165,
      -0.24815,
      1.33257
    ],
    "tcp_rotation_matrix": [
      [
        0.19763,
        0.62541,
        -0.75485
      ],
      [
        0.92004,
        0.14742,
        0.36302
      ],
      [
        0.33832,
        -0.76624,
        -0.54627
      ]
    ],
    "simulated_seconds_remaining": 11.55,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 18.420720484107733,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.0,
                    "yaw": 0.6,
                    "pitch": -0.2
                  },
                  "note": "Reset orientation toward downward-pointing with fingers rotated 34 deg, recovering from a bad configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.39546,
      -0.85007,
      0.55077,
      -2.39573,
      0.45161,
      1.86472,
      0.04735
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.16629,
      0.36633,
      0.99801
    ],
    "tcp_roll_pitch_yaw": [
      0.00285,
      -0.19902,
      0.60291
    ],
    "tcp_rotation_matrix": [
      [
        0.74507,
        0.65124,
        0.14409
      ],
      [
        0.62292,
        -0.75663,
        0.19869
      ],
      [
        0.23842,
        -0.05828,
        -0.96941
      ]
    ],
    "simulated_seconds_remaining": 9.57,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 19.62169812154025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.3,
                    "z": 0.88,
                    "pitch": -0.5
                  },
                  "note": "Move forward toward the drawer face at handle height, fingers straddling in x for a bar grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 41,
    "motion_seconds": 2.706,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.21614,
      -0.56295,
      0.37473,
      -2.40204,
      0.45374,
      1.9752,
      -0.54744
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31348,
      0.30085,
      0.94243
    ],
    "tcp_roll_pitch_yaw": [
      0.09189,
      -0.15804,
      0.83428
    ],
    "tcp_rotation_matrix": [
      [
        0.59062,
        0.80695,
        0.00131
      ],
      [
        0.78011,
        -0.57139,
        0.25484
      ],
      [
        0.20639,
        -0.14949,
        -0.96698
      ]
    ],
    "simulated_seconds_remaining": 6.864,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 6.6061075162142515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.87,
                    "x": 0.36,
                    "gripper": 0.0
                  },
                  "note": "Descend slightly onto the handle bar and close the gripper to attempt a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.19085,
      -0.57969,
      0.40424,
      -2.44203,
      0.44612,
      2.06676,
      -0.61292
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.32846,
      0.29701,
      0.93533
    ],
    "tcp_roll_pitch_yaw": [
      0.01961,
      -0.21048,
      0.88442
    ],
    "tcp_rotation_matrix": [
      [
        0.54127,
        0.8373,
        0.07714
      ],
      [
        0.80252,
        -0.54181,
        0.24981
      ],
      [
        0.25096,
        -0.07331,
        -0.96522
      ]
    ],
    "simulated_seconds_remaining": 5.94,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 5.004454283043742,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22
                  },
                  "note": "Pull back in -x to test whether the handle was engaged and the drawer moves."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.31966,
      -0.89237,
      0.43194,
      -2.62068,
      0.52941,
      1.95596,
      -0.50853
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.22134,
      0.29706,
      0.93538
    ],
    "tcp_roll_pitch_yaw": [
      0.01947,
      -0.21057,
      0.88461
    ],
    "tcp_rotation_matrix": [
      [
        0.5411,
        0.8374,
        0.07726
      ],
      [
        0.80261,
        -0.54167,
        0.24981
      ],
      [
        0.25104,
        -0.07316,
        -0.96521
      ]
    ],
    "simulated_seconds_remaining": 4.95,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 7.006210217252374,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.84,
                    "gripper": 1.0
                  },
                  "note": "Final attempt: reopen gripper and advance lower/forward to straddle the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.08646,
      -0.45406,
      0.44554,
      -2.30946,
      0.34268,
      1.69311,
      -0.68788
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29172,
      0.25346,
      0.91475
    ],
    "tcp_roll_pitch_yaw": [
      0.14527,
      0.12079,
      1.00875
    ],
    "tcp_rotation_matrix": [
      [
        0.45913,
        0.85747,
        -0.23226
      ],
      [
        0.88597,
        -0.46118,
        0.04874
      ],
      [
        -0.06532,
        -0.22815,
        -0.97143
      ]
    ],
    "simulated_seconds_remaining": 2.97,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 3.8037707190960646,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize/engage the drawer handle: orientation changes toward a forward-facing grasp were repeatedly rejected by IK, the controller tracked targets poorly near joint limits, and simulated time ran out before a grasp could be made."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 55,
  "house_index": 14,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 9,
  "api_calls": 10,
  "wall_seconds": 111.68544363975525,
  "usage": {
    "input_tokens": 20,
    "cache_creation_input_tokens": 9685,
    "cache_read_input_tokens": 44913,
    "output_tokens": 4038
  },
  "estimated_cost_usd": 0.18403775
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcM1M6Av4Gw2frdR8dP",
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    "content": [
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LcJ2F5nYwLk8HjVtgbcg72",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1777,
      "cache_read_input_tokens": 0,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 137,
      "output_tokens_details": {
        "thinking_tokens": 113
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcMNLtxLGwLtjhHrFzd",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QLGcoxBSzYQhjzhGAjSf4H",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.5,
            "z": 1.0
          },
          "note": "Pitch gripper to face forward (+x) so wrist camera can see the oven front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcND1bnvgHJWc3REiSu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01XUo1Y184h1HU6LJ5WTncwe",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.6
          },
          "note": "Incremental pitch to tilt camera forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
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    }
  }
}

{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcNk3tN9jJ248wN9CDo",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01DGXZzXDsmkDF1Rjf9sq3fj",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.1
          },
          "note": "Pitch further forward to view oven door and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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  }
}

{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcPG4BeLWfc2ZvpfFXu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014tiFN5QBw3AqtVgZmuqWyp",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.3,
            "z": 1.0
          },
          "note": "Move toward the oven (forward-left) for a closer view of the door and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "output_tokens_details": {
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      "service_tier": "standard",
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  }
}

{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcQHkQEJrxa5f2XEKo5",
    "type": "message",
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    "content": [
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        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.0
          },
          "note": "Retry pitching forward now that arm is in a new configuration, to look at the oven front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcRLS9tw8zEWHTqdyCS",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
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      {
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        "id": "toolu_011jSX1vxvy7igvK2zXPpZoo",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6
          },
          "note": "Advance forward toward oven face to gauge distance."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
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      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcRzg3f9wPJrFxpicdw",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.4
          },
          "note": "Level the camera to horizontal to see the oven door handle region."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcTF5GAsUq25ub8gboM",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Ne9MTxqDtKrHTUuh84U1pK",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.72
          },
          "note": "Continue advancing forward to approach the oven front panel."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcUCzWdFkhFKSERG6R8",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018tsigrZbxPNUFndgYcyW4A",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "pitch": -1.2,
            "z": 0.9
          },
          "note": "Back off slightly and lower to search for the oven door handle below the window."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
      "inference_geo": "global"
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  }
}


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": 16.41355795878917,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5,
                    "z": 1.0
                  },
                  "note": "Pitch gripper to face forward (+x) so wrist camera can see the oven 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 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": 56
  },
  "api_seconds": 6.406142153777182,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6
                  },
                  "note": "Incremental pitch to tilt camera forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
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      -1.29812,
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      -2.79918,
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    "gripper_open": 0.9966,
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      1.05006
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    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.59563,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
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      [
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      [
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    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 55
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  "api_seconds": 7.006006615236402,
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      {
        "content": {
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                    "pitch": -1.1
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                  "note": "Pitch further forward to view oven door and handle."
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  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
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{
  "call": 4,
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                  },
                  "note": "Move toward the oven (forward-left) for a closer view of the door and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 5,
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                  "note": "Retry pitching forward now that arm is in a new configuration, to look at the oven front."
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              }
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          ]
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{
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{
  "call": 7,
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                  "note": "Level the camera to horizontal to see the oven door handle region."
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              }
            }
          ]
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{
  "call": 8,
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    "instruction": "open the oven.",
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                  },
                  "note": "Continue advancing forward to approach the oven front panel."
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              }
            }
          ]
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      }
    ]
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{
  "call": 9,
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    "instruction": "open the oven.",
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                    "x": 0.6,
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                  },
                  "note": "Back off slightly and lower to search for the oven door handle below the window."
                }
              }
            }
          ]
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}

========================================================================
Opus 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,
  "source_episode_index": 69,
  "house_index": 15,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 36,
  "api_calls": 38,
  "wall_seconds": 316.48493123054504,
  "usage": {
    "input_tokens": 76,
    "cache_creation_input_tokens": 34144,
    "cache_read_input_tokens": 641543,
    "output_tokens": 14374
  },
  "estimated_cost_usd": 0.8939015
}


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.



MODEL RESPONSES


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          "note": "Move forward to get a better view of the cabinet ahead."
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        }
      }
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{
  "api_call": 3,
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{
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          "note": "Incremental pitch rotation toward horizontal gripper."
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 155,
      "output_tokens_details": {
        "thinking_tokens": 65
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcoQc3xyXuRKLP3S8Qr",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01PcivuuKFu1B7TXrRwiknK4",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "y": 0.0,
            "z": 0.95,
            "roll": 0.0,
            "pitch": -0.5,
            "yaw": 0.0
          },
          "note": "Arm is in a flipped configuration (joint0≈2.5 rad) wasting reach; retreat to unwind."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 646,
      "cache_read_input_tokens": 23534,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 646,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 749,
      "output_tokens_details": {
        "thinking_tokens": 590
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcpWkv9og8niDoQimGs",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019fiHyPRqdXrMy2dgSfNMgY",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.3,
            "y": -0.15,
            "z": 0.9,
            "pitch": 0.0
          },
          "note": "Pull back and to the right with downward orientation to unwind the twisted base joint."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1242,
      "cache_read_input_tokens": 24180,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1242,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1727,
      "output_tokens_details": {
        "thinking_tokens": 1600
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcrasmkruGmCwFTSzNh",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013YpCtEyatJmzkcUgAktZqK",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.72,
            "y": 0.12,
            "z": 0.95,
            "pitch": -1.4,
            "yaw": 0.15
          },
          "note": "Attempt direct reach to the handle position with forward-facing gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 2220,
      "cache_read_input_tokens": 25422,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 2220,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 316,
      "output_tokens_details": {
        "thinking_tokens": 182
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezcs1aoyujoBAwjNmK4z",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01VWNRTQm1LxiRPPqbGCJsQu",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.4,
            "yaw": 0.15
          },
          "note": "First rotate to forward-facing orientation at the retracted position."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 807,
      "cache_read_input_tokens": 27642,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 807,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 125,
      "output_tokens_details": {
        "thinking_tokens": 18
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcsLWMK1kuvRLAdstbe",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JSK5AutCLZop5usnxFFHZe",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.7,
            "y": 0.12,
            "z": 0.95
          },
          "note": "With the base joint unwound, drive straight to the handle location."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 617,
      "cache_read_input_tokens": 28449,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 617,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 406,
      "output_tokens_details": {
        "thinking_tokens": 296
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcsqtBqTTU1b2EmWQbf",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01FDTDarSyapZU7DXnEeSg9F",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "y": 0.0,
            "z": 0.93
          },
          "note": "Intermediate waypoint forward toward the cabinet."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 898,
      "cache_read_input_tokens": 29066,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 898,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 109,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezct4vFhwCiTdfNyrRjo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QE3p7wNQy2WwnKVYdbHbxD",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.36,
            "y": -0.12
          },
          "note": "Small step forward to escape the joint-limit configuration."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 601,
      "cache_read_input_tokens": 29964,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 601,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 192,
      "output_tokens_details": {
        "thinking_tokens": 91
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezctPYwR8TZ6LUiVex3Z",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Ads3HKZLDs5LyuJULs1SAU",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.1,
            "yaw": 0.0
          },
          "note": "Change orientation slightly to escape the joint-limited pose."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 684,
      "cache_read_input_tokens": 30565,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 684,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 135,
      "output_tokens_details": {
        "thinking_tokens": 28
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezctfzPzux5urVPxnEUU",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013vzqUQq436nqsek3LDarRq",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.68,
            "y": 0.1,
            "z": 0.95,
            "pitch": -1.35
          },
          "note": "Drive to the handle in one motion given limited remaining time."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 627,
      "cache_read_input_tokens": 31249,
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        "ephemeral_5m_input_tokens": 627,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 316,
      "output_tokens_details": {
        "thinking_tokens": 196
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 36,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcuFHNtQ87fpN1JgVtc",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Y58rfk7qdRVM1yTNrvwzkv",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.7,
            "y": 0.14,
            "gripper": 0.0
          },
          "note": "Final lunge onto the handle and close the gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 808,
      "cache_read_input_tokens": 31876,
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        "ephemeral_5m_input_tokens": 808,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 312,
      "output_tokens_details": {
        "thinking_tokens": 202
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 37,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezcumBDzsoG8HAbtYe17",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013LthQs9uKjC2xM4XP3YEcW",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.52,
            "y": 0.05
          },
          "note": "Pull back in case the handle was captured between the fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 806,
      "cache_read_input_tokens": 32684,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 806,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 161,
      "output_tokens_details": {
        "thinking_tokens": 60
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 38,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezcv7rvUAvYtH6cp8oAV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QFnjRkqyepKssVB8avEHNt",
        "name": "give_up",
        "input": {
          "note": "Ran out of simulated motion time. Much of the budget was consumed escaping twisted/joint-limited IK configurations while approaching the cabinet handles; the handle was never securely grasped and the door remains closed."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 654,
      "cache_read_input_tokens": 33490,
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        "ephemeral_5m_input_tokens": 654,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 152,
      "output_tokens_details": {
        "thinking_tokens": 38
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 13.214255953207612,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1.0
                  },
                  "note": "Move forward to get a better view of the cabinet ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01214,
      -0.30352,
      0.04372,
      -2.01787,
      -0.06244,
      1.65474,
      0.14397
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44869,
      -0.00143,
      0.99972
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00011,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99281,
        -0.10509,
        -0.05732
      ],
      [
        -0.10935,
        -0.99102,
        -0.07691
      ],
      [
        -0.04872,
        0.08263,
        -0.99539
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.608651827089489,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.571
                  },
                  "note": "Rotate gripper to point forward horizontally to see 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": [
      -0.01214,
      -0.30352,
      0.04372,
      -2.01787,
      -0.06244,
      1.65474,
      0.14397
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44869,
      -0.00143,
      0.99972
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      0.00011,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99281,
        -0.10509,
        -0.05732
      ],
      [
        -0.10935,
        -0.99102,
        -0.07691
      ],
      [
        -0.04872,
        0.08263,
        -0.99539
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.003900609910488,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Incremental pitch rotation toward horizontal gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03219,
      -0.84671,
      0.04975,
      -2.75479,
      -0.10475,
      2.64266,
      0.22764
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44866,
      -0.00146,
      0.99956
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79526,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72977,
        -0.13268,
        0.67069
      ],
      [
        -0.10937,
        -0.99101,
        -0.07704
      ],
      [
        0.67489,
        -0.01713,
        -0.73772
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.403818902559578,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Continue pitching to horizontal forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.03219,
      -0.84671,
      0.04975,
      -2.75479,
      -0.10475,
      2.64266,
      0.22764
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44866,
      -0.00146,
      0.99956
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79526,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72977,
        -0.13268,
        0.67069
      ],
      [
        -0.10937,
        -0.99101,
        -0.07704
      ],
      [
        0.67489,
        -0.01713,
        -0.73772
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.804182250984013,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "z": 0.95,
                    "x": 0.4
                  },
                  "note": "Retreat slightly and lower while pitching further to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.03219,
      -0.84671,
      0.04975,
      -2.75479,
      -0.10475,
      2.64266,
      0.22764
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44866,
      -0.00146,
      0.99956
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79526,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72977,
        -0.13268,
        0.67069
      ],
      [
        -0.10937,
        -0.99101,
        -0.07704
      ],
      [
        0.67489,
        -0.01713,
        -0.73772
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.60650372132659,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Try smaller pitch step to test feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.06919,
      -0.90429,
      0.07268,
      -2.91393,
      -0.12428,
      2.94707,
      0.26368
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44866,
      -0.00149,
      0.99937
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      -0.99588,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.58064,
        -0.12673,
        0.80424
      ],
      [
        -0.10939,
        -0.991,
        -0.07718
      ],
      [
        0.80678,
        -0.04317,
        -0.58927
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.407234262675047,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.7
                  },
                  "note": "Yaw left toward the cabinet which lies forward-left of the robot."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.57723,
      -1.05015,
      -0.74061,
      -2.77645,
      -0.13532,
      2.67946,
      -0.57522
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44869,
      -0.00157,
      0.99952
    ],
    "tcp_roll_pitch_yaw": [
      0.00016,
      -0.99604,
      0.69504
    ],
    "tcp_rotation_matrix": [
      [
        0.51589,
        0.53764,
        0.66693
      ],
      [
        0.28783,
        -0.84206,
        0.45617
      ],
      [
        0.80685,
        -0.04337,
        -0.58916
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.004374807700515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Pitch toward horizontal now that yaw improved joint configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.72143,
      -1.29075,
      -1.06522,
      -2.9696,
      -0.1373,
      3.08134,
      -0.81015
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44868,
      -0.00155,
      0.99949
    ],
    "tcp_roll_pitch_yaw": [
      0.00108,
      -1.39597,
      0.69441
    ],
    "tcp_rotation_matrix": [
      [
        0.2395,
        0.55849,
        0.79418
      ],
      [
        0.05725,
        -0.82469,
        0.56268
      ],
      [
        0.96921,
        -0.0893,
        -0.22949
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.612302595749497,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.1
                  },
                  "note": "Advance toward the cabinet handles seen in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.29811,
      -0.92855,
      -1.18074,
      -2.74953,
      -0.04649,
      3.4833,
      -0.7349
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54904,
      0.09911,
      0.99946
    ],
    "tcp_roll_pitch_yaw": [
      0.0011,
      -1.39586,
      0.69458
    ],
    "tcp_rotation_matrix": [
      [
        0.23958,
        0.55864,
        0.79405
      ],
      [
        0.05736,
        -0.82459,
        0.56281
      ],
      [
        0.96918,
        -0.08929,
        -0.2296
      ]
    ],
    "simulated_seconds_remaining": 23.43,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.805477988906205,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.16,
                    "z": 0.98
                  },
                  "note": "Continue approaching along gripper axis toward handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.72799,
      -0.82183,
      -1.43078,
      -2.56423,
      -0.00931,
      3.6878,
      -0.73909
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.6122,
      0.15559,
      0.98299
    ],
    "tcp_roll_pitch_yaw": [
      -0.0457,
      -1.42672,
      0.70921
    ],
    "tcp_rotation_matrix": [
      [
        0.21347,
        0.53482,
        0.81756
      ],
      [
        0.03634,
        -0.84061,
        0.54042
      ],
      [
        0.97627,
        -0.08565,
        -0.19888
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 10.210198392160237,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.35
                  },
                  "note": "Reduce yaw to relieve wrist joint near limit and face the cabinet more frontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.97396,
      -0.46648,
      -1.48929,
      -2.53516,
      0.41833,
      4.04272,
      -0.60906
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61222,
      0.15592,
      0.98292
    ],
    "tcp_roll_pitch_yaw": [
      -0.04667,
      -1.42646,
      0.35579
    ],
    "tcp_rotation_matrix": [
      [
        0.21301,
        0.20988,
        0.95424
      ],
      [
        -0.03977,
        -0.97398,
        0.2231
      ],
      [
        0.97624,
        -0.08547,
        -0.19912
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.809247072786093,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68
                  },
                  "note": "Move forward toward cabinet face to judge distance to handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.24422,
      -0.52532,
      -1.73744,
      -2.43606,
      0.38844,
      4.17575,
      -0.67215
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63767,
      0.15778,
      0.97924
    ],
    "tcp_roll_pitch_yaw": [
      -0.66932,
      -1.4717,
      0.92594
    ],
    "tcp_rotation_matrix": [
      [
        0.13391,
        0.16737,
        0.97676
      ],
      [
        -0.01479,
        -0.98519,
        0.17084
      ],
      [
        0.99088,
        -0.03732,
        -0.12945
      ]
    ],
    "simulated_seconds_remaining": 20.988,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 16.41449378244579,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "z": 0.93,
                    "roll": 0.0,
                    "pitch": -1.47,
                    "yaw": 0.35
                  },
                  "note": "Lower and advance to reach handle while restoring clean forward orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.36567,
      -0.74916,
      -1.89604,
      -2.40838,
      0.05465,
      4.45056,
      -0.70245
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63502,
      0.15866,
      0.98124
    ],
    "tcp_roll_pitch_yaw": [
      -2.60898,
      -1.39099,
      2.889
    ],
    "tcp_rotation_matrix": [
      [
        -0.0965,
        0.20595,
        0.97379
      ],
      [
        -0.04687,
        -0.97821,
        0.20224
      ],
      [
        0.99423,
        -0.02612,
        0.10405
      ]
    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 21.820694960653782,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "Lower the hand to see if a lower pose is reachable and to view handle extent."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      2.36567,
      -0.74916,
      -1.89604,
      -2.40838,
      0.05465,
      4.45056,
      -0.70245
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63502,
      0.15866,
      0.98124
    ],
    "tcp_roll_pitch_yaw": [
      -2.60898,
      -1.39099,
      2.889
    ],
    "tcp_rotation_matrix": [
      [
        -0.0965,
        0.20595,
        0.97379
      ],
      [
        -0.04687,
        -0.97821,
        0.20224
      ],
      [
        0.99423,
        -0.02612,
        0.10405
      ]
    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.605354447849095,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.05
                  },
                  "note": "Retreat from the joint-limited configuration to regain maneuverability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.81413,
      -0.61385,
      -1.70981,
      -2.76942,
      -0.17393,
      4.45147,
      -0.52827
    ],
    "gripper_open": 0.9962,
    "tcp_xyz": [
      0.55089,
      0.05158,
      0.98113
    ],
    "tcp_roll_pitch_yaw": [
      -2.60508,
      -1.39121,
      2.88693
    ],
    "tcp_rotation_matrix": [
      [
        -0.09604,
        0.20766,
        0.97347
      ],
      [
        -0.04642,
        -0.97787,
        0.20402
      ],
      [
        0.99429,
        -0.0256,
        0.10355
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.205732793547213,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.12,
                    "z": 0.95
                  },
                  "note": "Advance toward handles at slightly lower height to stay within reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.26203,
      -0.79079,
      -1.9436,
      -2.48958,
      -0.07388,
      4.51896,
      -0.68296
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62068,
      0.10356,
      0.95666
    ],
    "tcp_roll_pitch_yaw": [
      -2.64683,
      -1.36937,
      2.88959
    ],
    "tcp_rotation_matrix": [
      [
        -0.12074,
        0.17059,
        0.97792
      ],
      [
        -0.04443,
        -0.98506,
        0.16635
      ],
      [
        0.99169,
        -0.02337,
        0.12652
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.406345371156931,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "z": 0.94
                  },
                  "note": "Edge forward so the left handle sits between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.28766,
      -0.86186,
      -2.01528,
      -2.43217,
      -0.22867,
      4.53401,
      -0.70465
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63076,
      0.1017,
      0.95284
    ],
    "tcp_roll_pitch_yaw": [
      -2.64248,
      -1.29095,
      2.92068
    ],
    "tcp_rotation_matrix": [
      [
        -0.19439,
        0.20578,
        0.9591
      ],
      [
        -0.03088,
        -0.97855,
        0.2037
      ],
      [
        0.98044,
        0.00998,
        0.19658
      ]
    ],
    "simulated_seconds_remaining": 17.358,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.805453898385167,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "x": 0.66
                  },
                  "note": "Drop lower to gain horizontal reach toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      2.28766,
      -0.86186,
      -2.01528,
      -2.43217,
      -0.22867,
      4.53401,
      -0.70465
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    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63076,
      0.1017,
      0.95284
    ],
    "tcp_roll_pitch_yaw": [
      -2.64248,
      -1.29095,
      2.92068
    ],
    "tcp_rotation_matrix": [
      [
        -0.19439,
        0.20578,
        0.9591
      ],
      [
        -0.03088,
        -0.97855,
        0.2037
      ],
      [
        0.98044,
        0.00998,
        0.19658
      ]
    ],
    "simulated_seconds_remaining": 17.358,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 16.012892118655145,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper to attempt grasping the handle that appears between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.27571,
      -0.85303,
      -2.01209,
      -2.44655,
      -0.23388,
      4.52766,
      -0.70845
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62767,
      0.10176,
      0.95242
    ],
    "tcp_roll_pitch_yaw": [
      -2.59615,
      -1.29101,
      2.88305
    ],
    "tcp_rotation_matrix": [
      [
        -0.19118,
        0.21258,
        0.95826
      ],
      [
        -0.02003,
        -0.97691,
        0.21272
      ],
      [
        0.98135,
        0.02147,
        0.19102
      ]
    ],
    "simulated_seconds_remaining": 16.434,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.007227716967463,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0,
                    "z": 0.945
                  },
                  "note": "Retry closing the gripper with a tiny motion to ensure the command executes."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      2.27571,
      -0.85303,
      -2.01209,
      -2.44655,
      -0.23388,
      4.52766,
      -0.70845
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62767,
      0.10176,
      0.95242
    ],
    "tcp_roll_pitch_yaw": [
      -2.59615,
      -1.29101,
      2.88305
    ],
    "tcp_rotation_matrix": [
      [
        -0.19118,
        0.21258,
        0.95826
      ],
      [
        -0.02003,
        -0.97691,
        0.21272
      ],
      [
        0.98135,
        0.02147,
        0.19102
      ]
    ],
    "simulated_seconds_remaining": 16.434,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 11.410221562720835,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "roll": 0.0,
                    "pitch": -1.3,
                    "yaw": 0.2
                  },
                  "note": "Back off slightly and set a clean forward orientation to escape the singular configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.78951,
      -0.43011,
      -1.35391,
      -2.58668,
      0.59593,
      3.97543,
      -0.67056
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60041,
      0.10173,
      0.95295
    ],
    "tcp_roll_pitch_yaw": [
      -0.00675,
      -1.30521,
      0.20747
    ],
    "tcp_rotation_matrix": [
      [
        0.3228,
        0.09269,
        0.94192
      ],
      [
        -0.04411,
        -0.99264,
        0.1128
      ],
      [
        0.94544,
        -0.07796,
        -0.31634
      ]
    ],
    "simulated_seconds_remaining": 15.444,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.804819158278406,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68
                  },
                  "note": "Advance forward toward handles with the clean arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.18596,
      -0.44355,
      -1.74148,
      -2.48988,
      0.52162,
      4.18233,
      -0.70952
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.6273,
      0.10023,
      0.95489
    ],
    "tcp_roll_pitch_yaw": [
      -0.68478,
      -1.369,
      0.80776
    ],
    "tcp_rotation_matrix": [
      [
        0.19963,
        0.03471,
        0.97926
      ],
      [
        0.04174,
        -0.99877,
        0.02689
      ],
      [
        0.97898,
        0.03551,
        -0.20083
      ]
    ],
    "simulated_seconds_remaining": 14.586,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.207043462432921,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "x": 0.62
                  },
                  "note": "Test lower height to see if horizontal reach improves."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.44747,
      -0.74396,
      -2.05457,
      -2.48756,
      0.31451,
      4.44718,
      -0.73639
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.62009,
      0.1002,
      0.85132
    ],
    "tcp_roll_pitch_yaw": [
      -0.68447,
      -1.36903,
      0.80738
    ],
    "tcp_rotation_matrix": [
      [
        0.19966,
        0.03462,
        0.97925
      ],
      [
        0.04166,
        -0.99877,
        0.02682
      ],
      [
        0.97898,
        0.03544,
        -0.20085
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.004188388586044,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72
                  },
                  "note": "Probe maximum forward reach at lower height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      2.56142,
      -0.83123,
      -2.13676,
      -2.36209,
      0.3103,
      4.5325,
      -0.82756
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64292,
      0.09875,
      0.84614
    ],
    "tcp_roll_pitch_yaw": [
      -1.09811,
      -1.3418,
      1.15497
    ],
    "tcp_rotation_matrix": [
      [
        0.14658,
        -0.02611,
        0.98885
      ],
      [
        0.10157,
        -0.99397,
        -0.0413
      ],
      [
        0.98397,
        0.10649,
        -0.14305
      ]
    ],
    "simulated_seconds_remaining": 12.606,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 13.611726657487452,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.0,
                    "z": 0.95,
                    "roll": 0.0,
                    "pitch": -0.5,
                    "yaw": 0.0
                  },
                  "note": "Arm is in a flipped configuration (joint0≈2.5 rad) wasting reach; retreat to unwind."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.63443,
      -0.86193,
      -0.89718,
      -2.28457,
      2.07725,
      4.48231,
      -1.94909
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40085,
      0.00026,
      0.94969
    ],
    "tcp_roll_pitch_yaw": [
      -0.00047,
      -0.50335,
      0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.89315,
        -0.13176,
        0.43003
      ],
      [
        -0.10902,
        -0.99104,
        -0.07723
      ],
      [
        0.43635,
        0.02209,
        -0.8995
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 26.824253218248487,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": -0.15,
                    "z": 0.9,
                    "pitch": 0.0
                  },
                  "note": "Pull back and to the right with downward orientation to unwind the twisted base joint."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.19682,
      -0.61454,
      -1.1562,
      -2.16783,
      2.50267,
      4.5169,
      -2.72685
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30063,
      -0.14943,
      0.90004
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      -0.00275,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99295,
        -0.10527,
        -0.05447
      ],
      [
        -0.10931,
        -0.991,
        -0.07726
      ],
      [
        -0.04585,
        0.08267,
        -0.99552
      ]
    ],
    "simulated_seconds_remaining": 8.91,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 5.807605338282883,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72,
                    "y": 0.12,
                    "z": 0.95,
                    "pitch": -1.4,
                    "yaw": 0.15
                  },
                  "note": "Attempt direct reach to the handle position with forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.19682,
      -0.61454,
      -1.1562,
      -2.16783,
      2.50267,
      4.5169,
      -2.72685
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30063,
      -0.14943,
      0.90004
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      -0.00275,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99295,
        -0.10527,
        -0.05447
      ],
      [
        -0.10931,
        -0.991,
        -0.07726
      ],
      [
        -0.04585,
        0.08267,
        -0.99552
      ]
    ],
    "simulated_seconds_remaining": 8.91,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 3.0029029389843345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4,
                    "yaw": 0.15
                  },
                  "note": "First rotate to forward-facing orientation at the retracted position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.22257,
      -1.78157,
      -0.93462,
      -3.03111,
      2.06569,
      3.65301,
      -2.93089
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30055,
      -0.1495,
      0.89958
    ],
    "tcp_roll_pitch_yaw": [
      0.00787,
      -1.39501,
      0.14157
    ],
    "tcp_rotation_matrix": [
      [
        0.23549,
        0.04879,
        0.97065
      ],
      [
        -0.07648,
        -0.99471,
        0.06856
      ],
      [
        0.96886,
        -0.09038,
        -0.23051
      ]
    ],
    "simulated_seconds_remaining": 6.732,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.8060020580887794,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.12,
                    "z": 0.95
                  },
                  "note": "With the base joint unwound, drive straight to the handle location."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.22257,
      -1.78157,
      -0.93462,
      -3.03111,
      2.06569,
      3.65301,
      -2.93089
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30055,
      -0.1495,
      0.89958
    ],
    "tcp_roll_pitch_yaw": [
      0.00787,
      -1.39501,
      0.14157
    ],
    "tcp_rotation_matrix": [
      [
        0.23549,
        0.04879,
        0.97065
      ],
      [
        -0.07648,
        -0.99471,
        0.06856
      ],
      [
        0.96886,
        -0.09038,
        -0.23051
      ]
    ],
    "simulated_seconds_remaining": 6.732,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 2.8026116844266653,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.0,
                    "z": 0.93
                  },
                  "note": "Intermediate waypoint forward toward the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.22257,
      -1.78157,
      -0.93462,
      -3.03111,
      2.06569,
      3.65301,
      -2.93089
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30055,
      -0.1495,
      0.89958
    ],
    "tcp_roll_pitch_yaw": [
      0.00787,
      -1.39501,
      0.14157
    ],
    "tcp_rotation_matrix": [
      [
        0.23549,
        0.04879,
        0.97065
      ],
      [
        -0.07648,
        -0.99471,
        0.06856
      ],
      [
        0.96886,
        -0.09038,
        -0.23051
      ]
    ],
    "simulated_seconds_remaining": 6.732,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 4.404129701666534,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": -0.12
                  },
                  "note": "Small step forward to escape the joint-limit configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.22257,
      -1.78157,
      -0.93462,
      -3.03111,
      2.06569,
      3.65301,
      -2.93089
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30055,
      -0.1495,
      0.89958
    ],
    "tcp_roll_pitch_yaw": [
      0.00787,
      -1.39501,
      0.14157
    ],
    "tcp_rotation_matrix": [
      [
        0.23549,
        0.04879,
        0.97065
      ],
      [
        -0.07648,
        -0.99471,
        0.06856
      ],
      [
        0.96886,
        -0.09038,
        -0.23051
      ]
    ],
    "simulated_seconds_remaining": 6.732,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 3.003258398734033,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1,
                    "yaw": 0.0
                  },
                  "note": "Change orientation slightly to escape the joint-limited pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.24443,
      -1.34723,
      -0.53676,
      -2.96014,
      2.19855,
      3.64704,
      -2.58346
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30051,
      -0.14963,
      0.8996
    ],
    "tcp_roll_pitch_yaw": [
      0.00795,
      -1.10364,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.49149,
        -0.1123,
        0.86361
      ],
      [
        -0.10807,
        -0.99185,
        -0.06747
      ],
      [
        0.86415,
        -0.06017,
        -0.49962
      ]
    ],
    "simulated_seconds_remaining": 6.006,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 5.8052444960922,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": 0.1,
                    "z": 0.95,
                    "pitch": -1.35
                  },
                  "note": "Drive to the handle in one motion given limited remaining time."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 51,
    "motion_seconds": 3.366,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.45467,
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      -2.04232,
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      -1.94033
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63534,
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      0.93715
    ],
    "tcp_roll_pitch_yaw": [
      -0.21014,
      -1.2322,
      -0.00775
    ],
    "tcp_rotation_matrix": [
      [
        0.3522,
        -0.31348,
        0.88186
      ],
      [
        -0.1198,
        -0.94959,
        -0.28971
      ],
      [
        0.92823,
        -0.00361,
        -0.372
      ]
    ],
    "simulated_seconds_remaining": 2.64,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 6.007771833799779,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
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                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.7,
                    "y": 0.14,
                    "gripper": 0.0
                  },
                  "note": "Final lunge onto the handle and close the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.70505,
      -0.82618,
      1.86985,
      -1.62151,
      2.76211,
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    "calls_remaining_including_this": 23
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  "api_seconds": 4.204454802908003,
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      {
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                    "x": 0.52,
                    "y": 0.05
                  },
                  "note": "Pull back in case the handle was captured between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.31548,
      -0.77749,
      1.5966,
      -2.02775,
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    "gripper_open": 0.9966,
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    "tcp_rotation_matrix": [
      [
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      [
        -0.12839,
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      ],
      [
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    ],
    "simulated_seconds_remaining": 0.726,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 3.8037598934024572,
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    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Ran out of simulated motion time. Much of the budget was consumed escaping twisted/joint-limited IK configurations while approaching the cabinet handles; the handle was never securely grasped and the door remains closed."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 89,
  "house_index": 16,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 50,
  "api_calls": 51,
  "wall_seconds": 406.7934968471527,
  "usage": {
    "input_tokens": 102,
    "cache_creation_input_tokens": 43861,
    "cache_read_input_tokens": 1161075,
    "output_tokens": 17647
  },
  "estimated_cost_usd": 1.29635375
}


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.



MODEL RESPONSES


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          "note": "Rotate gripper to point forward so wrist camera can see the cabinet ahead."
        },
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        }
      }
    ],
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{
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          "note": "Try a smaller pitch rotation since full 90° was unreachable."
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{
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          "note": "Test simple translation downward to confirm controller works."
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{
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          "note": "Continue incremental pitch toward forward-facing gripper."
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{
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{
  "api_call": 9,
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{
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{
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{
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{
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          "note": "Back off and raise to get a wider wrist view of the cabinet doors and handles."
        },
        "caller": {
          "type": "direct"
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{
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    "model": "claude-opus-5",
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          "note": "Approach the vertical handle bar visible in wrist view to straddle it with the fingers."
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{
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          "note": "Handles appear to be at lower y; recentering to y=-0.01 to verify with wrist view."
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{
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          "note": "Advance toward handle region with fingers open to straddle a handle bar."
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{
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          "note": "Advance a bit more so handle bar lies between the fingers before closing."
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{
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          "note": "Close gripper to attempt grasping the handle bar between the fingers."
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{
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          "note": "Empty close confirmed no handle; back off, reopen, and shift +y to center the handle bars in wrist view."
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{
  "api_call": 21,
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          "note": "Exterior suggests handle is deeper than fingertips; advance in x."
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{
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          "note": "Pure +y move to calibrate image direction against the handle location."
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{
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          "note": "Exterior suggests handle is further to robot's left; continue +y."
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{
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          "note": "Realized the dark shape in exterior was my own fingers; using wrist view: handle lies at smaller y. Move to y=0 and check centering."
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{
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          "note": "Split the y motion into smaller step."
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{
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        "input": {
          "targets": {
            "y": 0.06
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          "note": "Handle bar at far left of wrist view; step -y to center it."
        },
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{
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          "note": "Estimated handle at y≈0.06; close gripper here to test grasp."
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{
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        "input": {
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          "note": "Reopen and probe deeper in x to find the door plane / handle depth."
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{
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          "note": "Reset orientation and try the other candidate handle position at y=-0.05."
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{
  "api_call": 30,
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          "note": "Intermediate pose to unwind the twisted wrist gradually."
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{
  "api_call": 31,
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          "note": "Retreat slightly in x with current orientation to free the wrist."
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{
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          "note": "Tiny vertical move to test which small motions are feasible from this stuck pose."
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{
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{
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{
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          "note": "Move toward the second candidate handle at lower y, keeping current workable orientation."
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{
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{
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          "note": "Handle bar visible left of center; step -y to center it between fingers."
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{
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{
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          "note": "Retreat from door contact before lateral repositioning."
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{
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{
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{
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          "note": "Vertical moves worked before; raise to escape."
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{
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{
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          "note": "Retreat and rise together to clear contact so I can shift laterally."
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{
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{
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{
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{
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{
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{
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    "id": "msg_011CezdRbKUsP4gfV4RWq1Gc",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01PBQrgQ5wLCx729W2hfv3WZ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5
          },
          "note": "Final attempt: pull back in -x in case the fingers have hooked the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 685,
      "cache_read_input_tokens": 42501,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 685,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 177,
      "output_tokens_details": {
        "thinking_tokens": 76
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 51,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdS3HRxxxPoFe75yfbP",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "text",
        "text": "Out of simulated time; the cabinet door was never grasped or opened."
      },
      {
        "type": "tool_use",
        "id": "toolu_019g4MuhMKiXfSrMVrYoy7i8",
        "name": "give_up",
        "input": {
          "note": "Could not localize/grasp the cabinet handle reliably: wrist views were dark and ambiguous, lateral moves near the door were repeatedly rejected by IK/contact, and simulated time expired before a successful grasp and pull."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 675,
      "cache_read_input_tokens": 43186,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 675,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 144,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 15.01228367909789,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Rotate gripper to point forward so wrist camera can see the cabinet ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": 7.80970866791904,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Try a smaller pitch rotation since full 90° was unreachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": 4.6042359210550785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "Test simple translation downward to confirm controller works."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01659,
      -0.83557,
      0.07939,
      -2.67295,
      0.02438,
      1.83054,
      0.04636
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29896,
      0.01593,
      0.90127
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00029,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99985,
        -0.01611,
        -0.00704
      ],
      [
        -0.01635,
        -0.99923,
        -0.03557
      ],
      [
        -0.00646,
        0.03568,
        -0.99934
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.006988649256527,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Retry pitching gripper forward from the lower position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01659,
      -0.83557,
      0.07939,
      -2.67295,
      0.02438,
      1.83054,
      0.04636
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29896,
      0.01593,
      0.90127
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00029,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99985,
        -0.01611,
        -0.00704
      ],
      [
        -0.01635,
        -0.99923,
        -0.03557
      ],
      [
        -0.00646,
        0.03568,
        -0.99934
      ]
    ],
    "simulated_seconds_remaining": 29.172,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.6033625369891524,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.3
                  },
                  "note": "Try a small pitch step to find feasible rotation direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00014,
      -1.13875,
      0.08532,
      -2.9012,
      0.03216,
      2.05145,
      0.05766
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29891,
      0.01594,
      0.90126
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.29609,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.95814,
        -0.02581,
        0.28514
      ],
      [
        -0.01632,
        -0.99923,
        -0.03561
      ],
      [
        0.28584,
        0.02946,
        -0.95782
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.00446264538914,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6
                  },
                  "note": "Continue incremental pitch toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00014,
      -1.13875,
      0.08532,
      -2.9012,
      0.03216,
      2.05145,
      0.05766
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29891,
      0.01594,
      0.90126
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.29609,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.95814,
        -0.02581,
        0.28514
      ],
      [
        -0.01632,
        -0.99923,
        -0.03561
      ],
      [
        0.28584,
        0.02946,
        -0.95782
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.608012939803302,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5,
                    "z": 0.85,
                    "x": 0.35
                  },
                  "note": "Combine slight forward/down motion with more pitch to stay in reachable range."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00014,
      -1.13875,
      0.08532,
      -2.9012,
      0.03216,
      2.05145,
      0.05766
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29891,
      0.01594,
      0.90126
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.29609,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.95814,
        -0.02581,
        0.28514
      ],
      [
        -0.01632,
        -0.99923,
        -0.03561
      ],
      [
        0.28584,
        0.02946,
        -0.95782
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 13.210365805774927,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 1.0,
                    "pitch": -0.29
                  },
                  "note": "Move forward and up to survey the scene ahead for the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.06056,
      -0.41398,
      0.09648,
      -2.2176,
      -0.00706,
      2.08727,
      0.05737
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49879,
      0.01593,
      0.99939
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.29002,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.95986,
        -0.02565,
        0.27932
      ],
      [
        -0.01635,
        -0.99923,
        -0.0356
      ],
      [
        0.28002,
        0.02961,
        -0.95954
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.810755806043744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "New arm configuration may allow more pitch; aim gripper forward at cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.07307,
      -0.68741,
      0.11747,
      -2.75868,
      -0.01418,
      2.96103,
      0.09934
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49879,
      0.01591,
      0.99914
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -0.89504,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.6302,
        -0.03802,
        0.7755
      ],
      [
        -0.01636,
        -0.99923,
        -0.03569
      ],
      [
        0.77626,
        0.00981,
        -0.63034
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.606851308606565,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.35
                  },
                  "note": "Pitch further so gripper points horizontally at the cabinet door face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.23235,
      -0.50087,
      0.30025,
      -2.97612,
      0.05418,
      3.8256,
      0.12065
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49892,
      0.01591,
      0.99875
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -1.34473,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.23012,
        -0.03853,
        0.9724
      ],
      [
        -0.01635,
        -0.99923,
        -0.03573
      ],
      [
        0.97303,
        -0.00768,
        -0.23057
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.80532060097903,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Approach cabinet face to inspect handles at close range."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.31654,
      -0.1627,
      0.39555,
      -2.67027,
      0.14286,
      3.85556,
      -0.01365
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59873,
      0.01589,
      0.99875
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -1.34468,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.23016,
        -0.03856,
        0.97239
      ],
      [
        -0.01638,
        -0.99923,
        -0.03574
      ],
      [
        0.97301,
        -0.0077,
        -0.23062
      ]
    ],
    "simulated_seconds_remaining": 23.628,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 11.809921233914793,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1,
                    "x": 0.55
                  },
                  "note": "Shift left toward the dark handle seen left of the gripper, backing off slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.26118,
      -0.27623,
      0.66818,
      -2.73696,
      0.57673,
      3.85342,
      -0.17013
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55069,
      0.09902,
      0.99881
    ],
    "tcp_roll_pitch_yaw": [
      -0.00073,
      -1.34482,
      0.00095
    ],
    "tcp_rotation_matrix": [
      [
        0.23004,
        -0.03812,
        0.97243
      ],
      [
        -0.01614,
        -0.99924,
        -0.03535
      ],
      [
        0.97305,
        -0.00756,
        -0.23048
      ]
    ],
    "simulated_seconds_remaining": 22.704,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.40550056938082,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.05,
                    "pitch": -1.1
                  },
                  "note": "Back off and raise to get a wider wrist view of the cabinet doors and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.20521,
      -1.25278,
      0.61717,
      -2.91999,
      0.68575,
      2.79996,
      -0.11122
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40099,
      0.09908,
      1.04993
    ],
    "tcp_roll_pitch_yaw": [
      -0.00083,
      -1.10219,
      0.00119
    ],
    "tcp_rotation_matrix": [
      [
        0.45708,
        -0.03865,
        0.88859
      ],
      [
        -0.01581,
        -0.99925,
        -0.03533
      ],
      [
        0.88928,
        0.0021,
        -0.45735
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 11.009312762878835,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.12,
                    "z": 1.02
                  },
                  "note": "Approach the vertical handle bar visible in wrist view to straddle it with the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.38712,
      -0.68885,
      0.77648,
      -2.69732,
      0.68843,
      3.19298,
      -0.14566
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51872,
      0.11973,
      1.02026
    ],
    "tcp_roll_pitch_yaw": [
      -0.00094,
      -1.10198,
      0.0012
    ],
    "tcp_rotation_matrix": [
      [
        0.45727,
        -0.03874,
        0.88849
      ],
      [
        -0.01581,
        -0.99925,
        -0.03543
      ],
      [
        0.88919,
        0.00215,
        -0.45754
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 16.41448764037341,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.01,
                    "z": 1.02
                  },
                  "note": "Handles appear to be at lower y; recentering to y=-0.01 to verify with wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.09843,
      -0.90505,
      0.24518,
      -2.93904,
      0.6695,
      3.13418,
      -0.45789
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45064,
      -0.00886,
      1.02005
    ],
    "tcp_roll_pitch_yaw": [
      -0.0008,
      -1.10206,
      0.00087
    ],
    "tcp_rotation_matrix": [
      [
        0.45719,
        -0.03894,
        0.88851
      ],
      [
        -0.01596,
        -0.99924,
        -0.03558
      ],
      [
        0.88922,
        0.00209,
        -0.45747
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.007833291776478,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Advance toward handle region with fingers open to straddle a handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01838,
      -0.48687,
      0.14957,
      -2.68392,
      0.63291,
      3.31863,
      -0.49458
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54874,
      -0.00887,
      1.02003
    ],
    "tcp_roll_pitch_yaw": [
      -0.00068,
      -1.10195,
      0.00077
    ],
    "tcp_rotation_matrix": [
      [
        0.4573,
        -0.03893,
        0.88846
      ],
      [
        -0.016,
        -0.99924,
        -0.03555
      ],
      [
        0.88917,
        0.00204,
        -0.45757
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.007379680871964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Advance a bit more so handle bar lies between the fingers before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00798,
      -0.31906,
      0.12578,
      -2.54081,
      0.60767,
      3.34632,
      -0.49518
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59882,
      -0.00887,
      1.01999
    ],
    "tcp_roll_pitch_yaw": [
      -0.00063,
      -1.10185,
      0.00072
    ],
    "tcp_rotation_matrix": [
      [
        0.45738,
        -0.03894,
        0.88842
      ],
      [
        -0.01603,
        -0.99924,
        -0.03555
      ],
      [
        0.88913,
        0.00202,
        -0.45766
      ]
    ],
    "simulated_seconds_remaining": 17.292,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.405838550068438,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close gripper to attempt grasping the handle bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00798,
      -0.31906,
      0.12578,
      -2.54081,
      0.60767,
      3.34632,
      -0.49518
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59883,
      -0.00887,
      1.01999
    ],
    "tcp_roll_pitch_yaw": [
      -0.00063,
      -1.10185,
      0.00072
    ],
    "tcp_rotation_matrix": [
      [
        0.45738,
        -0.03894,
        0.88842
      ],
      [
        -0.01603,
        -0.99924,
        -0.03555
      ],
      [
        0.88913,
        0.00202,
        -0.45765
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 21.01630064006895,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.035,
                    "gripper": 1
                  },
                  "note": "Empty close confirmed no handle; back off, reopen, and shift +y to center the handle bars in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.16118,
      -0.60227,
      0.3996,
      -2.74479,
      0.70539,
      3.26988,
      -0.40775
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.52109,
      0.03449,
      1.02007
    ],
    "tcp_roll_pitch_yaw": [
      -0.00069,
      -1.10198,
      0.00098
    ],
    "tcp_rotation_matrix": [
      [
        0.45727,
        -0.03874,
        0.88848
      ],
      [
        -0.01591,
        -0.99925,
        -0.03538
      ],
      [
        0.88918,
        0.00204,
        -0.45755
      ]
    ],
    "simulated_seconds_remaining": 15.444,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 21.620805505663157,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66
                  },
                  "note": "Exterior suggests handle is deeper than fingertips; advance in x."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.64766,
      -0.18977,
      0.81453,
      -2.35533,
      0.60575,
      3.33194,
      -0.39174
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.65633,
      0.04049,
      1.02128
    ],
    "tcp_roll_pitch_yaw": [
      -0.00887,
      -1.10554,
      0.01379
    ],
    "tcp_rotation_matrix": [
      [
        0.45415,
        -0.03324,
        0.8903
      ],
      [
        -0.01015,
        -0.99943,
        -0.03214
      ],
      [
        0.89087,
        0.00556,
        -0.45423
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 22.419231506995857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.14
                  },
                  "note": "Pure +y move to calibrate image direction against the handle location."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.0832,
      -0.39549,
      1.35379,
      -2.29268,
      0.62998,
      3.251,
      -0.16004
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65629,
      0.13893,
      1.02136
    ],
    "tcp_roll_pitch_yaw": [
      -0.00921,
      -1.10566,
      0.01444
    ],
    "tcp_rotation_matrix": [
      [
        0.45404,
        -0.03289,
        0.89037
      ],
      [
        -0.00985,
        -0.99944,
        -0.0319
      ],
      [
        0.89093,
        0.00571,
        -0.45411
      ]
    ],
    "simulated_seconds_remaining": 13.2,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 7.4066678043454885,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.21
                  },
                  "note": "Exterior suggests handle is further to robot's left; continue +y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.16811,
      -0.56757,
      1.48922,
      -2.20818,
      0.66775,
      3.15572,
      -0.02348
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65626,
      0.20895,
      1.0214
    ],
    "tcp_roll_pitch_yaw": [
      -0.00957,
      -1.10574,
      0.01509
    ],
    "tcp_rotation_matrix": [
      [
        0.45398,
        -0.03258,
        0.89042
      ],
      [
        -0.00956,
        -0.99945,
        -0.03169
      ],
      [
        0.89096,
        0.00587,
        -0.45404
      ]
    ],
    "simulated_seconds_remaining": 12.408,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.210245247930288,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0
                  },
                  "note": "Realized the dark shape in exterior was my own fingers; using wrist view: handle lies at smaller y. Move to y=0 and check centering."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.16811,
      -0.56757,
      1.48922,
      -2.20818,
      0.66775,
      3.15572,
      -0.02348
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65626,
      0.20895,
      1.0214
    ],
    "tcp_roll_pitch_yaw": [
      -0.00957,
      -1.10574,
      0.01509
    ],
    "tcp_rotation_matrix": [
      [
        0.45398,
        -0.03258,
        0.89042
      ],
      [
        -0.00956,
        -0.99945,
        -0.03169
      ],
      [
        0.89096,
        0.00587,
        -0.45404
      ]
    ],
    "simulated_seconds_remaining": 12.408,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 3.0029592318460345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.12
                  },
                  "note": "Split the y motion into smaller step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.04541,
      -0.35363,
      1.2994,
      -2.30908,
      0.62167,
      3.2705,
      -0.1975
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.65628,
      0.12117,
      1.02145
    ],
    "tcp_roll_pitch_yaw": [
      -0.00909,
      -1.10576,
      0.0143
    ],
    "tcp_rotation_matrix": [
      [
        0.45396,
        -0.03293,
        0.89042
      ],
      [
        -0.00992,
        -0.99944,
        -0.0319
      ],
      [
        0.89097,
        0.00565,
        -0.45403
      ]
    ],
    "simulated_seconds_remaining": 11.55,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.011052997782826,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.06
                  },
                  "note": "Handle bar at far left of wrist view; step -y to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.80399,
      -0.22531,
      0.99484,
      -2.3476,
      0.60869,
      3.32049,
      -0.34064
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6563,
      0.06105,
      1.02149
    ],
    "tcp_roll_pitch_yaw": [
      -0.00864,
      -1.10581,
      0.01361
    ],
    "tcp_rotation_matrix": [
      [
        0.45391,
        -0.03322,
        0.89043
      ],
      [
        -0.01023,
        -0.99943,
        -0.03207
      ],
      [
        0.89099,
        0.00545,
        -0.454
      ]
    ],
    "simulated_seconds_remaining": 10.824,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 14.411040553823113,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Estimated handle at y≈0.06; close gripper here to test grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.80399,
      -0.22531,
      0.99484,
      -2.3476,
      0.60869,
      3.32049,
      -0.34064
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.6563,
      0.06104,
      1.02149
    ],
    "tcp_roll_pitch_yaw": [
      -0.00865,
      -1.1058,
      0.01362
    ],
    "tcp_rotation_matrix": [
      [
        0.45392,
        -0.03322,
        0.89043
      ],
      [
        -0.01022,
        -0.99943,
        -0.03207
      ],
      [
        0.89099,
        0.00545,
        -0.454
      ]
    ],
    "simulated_seconds_remaining": 9.9,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 7.606797159649432,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72,
                    "gripper": 1
                  },
                  "note": "Reopen and probe deeper in x to find the door plane / handle depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.52859,
      -0.1927,
      1.80072,
      -2.17148,
      0.96642,
      3.50438,
      -0.17312
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69127,
      0.06778,
      1.03627
    ],
    "tcp_roll_pitch_yaw": [
      0.89261,
      -1.03581,
      -1.05175
    ],
    "tcp_rotation_matrix": [
      [
        0.25521,
        -0.25001,
        0.934
      ],
      [
        -0.45772,
        -0.88213,
        -0.11106
      ],
      [
        0.85168,
        -0.39917,
        -0.33956
      ]
    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 7.406683508306742,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66,
                    "y": -0.05,
                    "z": 1.02,
                    "roll": 0,
                    "pitch": -1.1,
                    "yaw": 0
                  },
                  "note": "Reset orientation and try the other candidate handle position at y=-0.05."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.52859,
      -0.1927,
      1.80072,
      -2.17148,
      0.96642,
      3.50438,
      -0.17312
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69127,
      0.06778,
      1.03627
    ],
    "tcp_roll_pitch_yaw": [
      0.89261,
      -1.03581,
      -1.05175
    ],
    "tcp_rotation_matrix": [
      [
        0.25521,
        -0.25001,
        0.934
      ],
      [
        -0.45772,
        -0.88213,
        -0.11106
      ],
      [
        0.85168,
        -0.39917,
        -0.33956
      ]
    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 3.803826925344765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.03,
                    "z": 1.02,
                    "roll": 0.4,
                    "pitch": -1.1,
                    "yaw": -0.5
                  },
                  "note": "Intermediate pose to unwind the twisted wrist gradually."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.52859,
      -0.1927,
      1.80072,
      -2.17148,
      0.96642,
      3.50438,
      -0.17312
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69127,
      0.06778,
      1.03627
    ],
    "tcp_roll_pitch_yaw": [
      0.89261,
      -1.03581,
      -1.05175
    ],
    "tcp_rotation_matrix": [
      [
        0.25521,
        -0.25001,
        0.934
      ],
      [
        -0.45772,
        -0.88213,
        -0.11106
      ],
      [
        0.85168,
        -0.39917,
        -0.33956
      ]
    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 4.00421111471951,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62
                  },
                  "note": "Retreat slightly in x with current orientation to free the wrist."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.52859,
      -0.1927,
      1.80072,
      -2.17148,
      0.96642,
      3.50438,
      -0.17312
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.69127,
      0.06778,
      1.03627
    ],
    "tcp_roll_pitch_yaw": [
      0.89261,
      -1.03581,
      -1.05175
    ],
    "tcp_rotation_matrix": [
      [
        0.25521,
        -0.25001,
        0.934
      ],
      [
        -0.45772,
        -0.88213,
        -0.11106
      ],
      [
        0.85168,
        -0.39917,
        -0.33956
      ]
    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 4.204053778201342,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.06
                  },
                  "note": "Tiny vertical move to test which small motions are feasible from this stuck pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.38337,
      -0.25802,
      1.64109,
      -2.13578,
      1.10535,
      3.406,
      -0.25741
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.68842,
      0.07301,
      1.04698
    ],
    "tcp_roll_pitch_yaw": [
      0.87256,
      -1.0129,
      -1.02945
    ],
    "tcp_rotation_matrix": [
      [
        0.275,
        -0.25376,
        0.92735
      ],
      [
        -0.46861,
        -0.87759,
        -0.10118
      ],
      [
        0.83951,
        -0.40674,
        -0.36025
      ]
    ],
    "simulated_seconds_remaining": 8.514,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 5.604961079545319,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.5,
                    "yaw": -0.6,
                    "x": 0.64
                  },
                  "note": "Gradually unwind wrist twist while retreating slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.38337,
      -0.25802,
      1.64109,
      -2.13578,
      1.10535,
      3.406,
      -0.25741
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.68842,
      0.07301,
      1.04698
    ],
    "tcp_roll_pitch_yaw": [
      0.87256,
      -1.0129,
      -1.02945
    ],
    "tcp_rotation_matrix": [
      [
        0.275,
        -0.25376,
        0.92735
      ],
      [
        -0.46861,
        -0.87759,
        -0.10118
      ],
      [
        0.83951,
        -0.40674,
        -0.36025
      ]
    ],
    "simulated_seconds_remaining": 8.514,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 3.203005224466324,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.9,
                    "roll": 0.75
                  },
                  "note": "Smaller rotation step to unwind the wrist."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 6,
    "motion_seconds": 0.396,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.33639,
      -0.37519,
      1.53406,
      -2.1307,
      1.13308,
      3.25328,
      -0.25969
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.68771,
      0.07317,
      1.04545
    ],
    "tcp_roll_pitch_yaw": [
      0.75262,
      -1.01225,
      -0.90461
    ],
    "tcp_rotation_matrix": [
      [
        0.32961,
        -0.25352,
        0.90944
      ],
      [
        -0.43181,
        -0.8971,
        -0.09359
      ],
      [
        0.83959,
        -0.36186,
        -0.40516
      ]
    ],
    "simulated_seconds_remaining": 8.118,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 7.807276599109173,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "x": 0.66
                  },
                  "note": "Move toward the second candidate handle at lower y, keeping current workable orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.33639,
      -0.37519,
      1.53406,
      -2.1307,
      1.13308,
      3.25328,
      -0.25969
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.68771,
      0.07317,
      1.04545
    ],
    "tcp_roll_pitch_yaw": [
      0.75262,
      -1.01225,
      -0.90461
    ],
    "tcp_rotation_matrix": [
      [
        0.32961,
        -0.25352,
        0.90944
      ],
      [
        -0.43181,
        -0.8971,
        -0.09359
      ],
      [
        0.83959,
        -0.36186,
        -0.40516
      ]
    ],
    "simulated_seconds_remaining": 8.118,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 3.002824162133038,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.04,
                    "x": 0.67
                  },
                  "note": "Smaller lateral step toward lower y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.11697,
      -0.26085,
      1.32196,
      -2.19268,
      1.15246,
      3.31727,
      -0.38337
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6706,
      0.04106,
      1.04555
    ],
    "tcp_roll_pitch_yaw": [
      0.7531,
      -1.01214,
      -0.90516
    ],
    "tcp_rotation_matrix": [
      [
        0.32944,
        -0.2536,
        0.90948
      ],
      [
        -0.43205,
        -0.89698,
        -0.09361
      ],
      [
        0.83953,
        -0.36211,
        -0.40506
      ]
    ],
    "simulated_seconds_remaining": 7.59,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 7.206479925662279,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.02
                  },
                  "note": "Handle bar visible left of center; step -y to center it between fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.11697,
      -0.26085,
      1.32196,
      -2.19268,
      1.15246,
      3.31727,
      -0.38337
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6706,
      0.04106,
      1.04555
    ],
    "tcp_roll_pitch_yaw": [
      0.7531,
      -1.01214,
      -0.90516
    ],
    "tcp_rotation_matrix": [
      [
        0.32944,
        -0.2536,
        0.90948
      ],
      [
        -0.43205,
        -0.89698,
        -0.09361
      ],
      [
        0.83953,
        -0.36211,
        -0.40506
      ]
    ],
    "simulated_seconds_remaining": 7.59,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 2.803097157739103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.01
                  },
                  "note": "Tiny -y step (large jumps rejected)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.90973,
      -0.17096,
      1.13723,
      -2.19232,
      1.163,
      3.34297,
      -0.48967
    ],
    "gripper_open": 0.9936,
    "tcp_xyz": [
      0.67026,
      0.04022,
      1.04447
    ],
    "tcp_roll_pitch_yaw": [
      0.7452,
      -1.00859,
      -0.85142
    ],
    "tcp_rotation_matrix": [
      [
        0.354,
        -0.21312,
        0.91064
      ],
      [
        -0.41601,
        -0.90794,
        -0.05077
      ],
      [
        0.83763,
        -0.36087,
        -0.41007
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 6.805691857822239,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Retreat from door contact before lateral repositioning."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.90973,
      -0.17096,
      1.13723,
      -2.19232,
      1.163,
      3.34297,
      -0.48967
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    "gripper_open": 0.9936,
    "tcp_xyz": [
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      0.04022,
      1.04447
    ],
    "tcp_roll_pitch_yaw": [
      0.7452,
      -1.00859,
      -0.85142
    ],
    "tcp_rotation_matrix": [
      [
        0.354,
        -0.21312,
        0.91064
      ],
      [
        -0.41601,
        -0.90794,
        -0.05077
      ],
      [
        0.83763,
        -0.36087,
        -0.41007
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 3.8042764011770487,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "z": 1.03
                  },
                  "note": "Small retreat step to escape the near-singular/contact configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 40,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      -0.17096,
      1.13723,
      -2.19232,
      1.163,
      3.34297,
      -0.48967
    ],
    "gripper_open": 0.9936,
    "tcp_xyz": [
      0.67026,
      0.04022,
      1.04447
    ],
    "tcp_roll_pitch_yaw": [
      0.7452,
      -1.00859,
      -0.85142
    ],
    "tcp_rotation_matrix": [
      [
        0.354,
        -0.21312,
        0.91064
      ],
      [
        -0.41601,
        -0.90794,
        -0.05077
      ],
      [
        0.83763,
        -0.36087,
        -0.41007
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 3.4051715722307563,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.75
                  },
                  "note": "Try small orientation change to escape blocked configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 41,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.90973,
      -0.17096,
      1.13723,
      -2.19232,
      1.163,
      3.34297,
      -0.48967
    ],
    "gripper_open": 0.9936,
    "tcp_xyz": [
      0.67026,
      0.04022,
      1.04447
    ],
    "tcp_roll_pitch_yaw": [
      0.7452,
      -1.00859,
      -0.85142
    ],
    "tcp_rotation_matrix": [
      [
        0.354,
        -0.21312,
        0.91064
      ],
      [
        -0.41601,
        -0.90794,
        -0.05077
      ],
      [
        0.83763,
        -0.36087,
        -0.41007
      ]
    ],
    "simulated_seconds_remaining": 7.062,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 3.4029464973136783,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.08
                  },
                  "note": "Vertical moves worked before; raise to escape."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 42,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.04139,
      -0.33717,
      1.18198,
      -2.17583,
      1.13538,
      3.15615,
      -0.36882
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66891,
      0.04341,
      1.0702
    ],
    "tcp_roll_pitch_yaw": [
      0.73424,
      -0.99221,
      -0.83684
    ],
    "tcp_rotation_matrix": [
      [
        0.36899,
        -0.21383,
        0.9045
      ],
      [
        -0.421,
        -0.90606,
        -0.04245
      ],
      [
        0.82861,
        -0.36514,
        -0.42435
      ]
    ],
    "simulated_seconds_remaining": 6.534,
    "calls_remaining_including_this": 16
  },
  "api_seconds": 7.806816468946636,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.015
                  },
                  "note": "Continue small -y step to center the vertical handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 43,
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                  "note": "Retreat and rise together to clear contact so I can shift laterally."
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              }
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{
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                  "note": "Now clear of contact; shift -y to align with the handle bar."
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{
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              }
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          ]
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{
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              }
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          ]
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{
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                  "note": "Advance to handle depth and close gripper on it."
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              }
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          ]
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{
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                  "note": "Close gripper on whatever is between fingers as a final attempt."
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              }
            }
          ]
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    ]
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{
  "call": 49,
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    "instruction": "open the cabinet.",
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    ],
    "simulated_seconds_remaining": 1.254,
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            {
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                    "x": 0.5
                  },
                  "note": "Final attempt: pull back in -x in case the fingers have hooked the handle."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 50,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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    "tcp_rotation_matrix": [
      [
        0.22462,
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      [
        -0.52934,
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      [
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    "simulated_seconds_remaining": 0.066,
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  },
  "api_seconds": 5.2043426632881165,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize/grasp the cabinet handle reliably: wrist views were dark and ambiguous, lateral moves near the door were repeatedly rejected by IK/contact, and simulated time expired before a successful grasp and pull."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 117,
  "house_index": 17,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 46,
  "api_calls": 47,
  "wall_seconds": 444.78603625297546,
  "usage": {
    "input_tokens": 94,
    "cache_creation_input_tokens": 44968,
    "cache_read_input_tokens": 1033803,
    "output_tokens": 20835
  },
  "estimated_cost_usd": 1.3192965
}


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.



MODEL RESPONSES


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            "pitch": -1.57,
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          },
          "note": "Rotating gripper to point forward (+x) to see the cabinet drawers ahead."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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          "note": "Trying a smaller pitch rotation toward forward-facing gripper."
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          "note": "Continue rotating to face forward and lower to drawer height."
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        "caller": {
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      }
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{
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          "note": "Moving forward-left and down toward cabinet front to inspect drawer handles."
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{
  "api_call": 8,
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          "note": "Backing off slightly and lowering to get a clearer wrist view of the cabinet face and handles."
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{
  "api_call": 9,
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          "note": "Small downward step to test reachability."
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{
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          "note": "Joint 4 is at its limit; reducing pitch to free the configuration."
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{
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          "note": "Advance toward the cabinet face while lowering slightly to spot the drawer handle."
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{
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{
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          "note": "Split motion: just lower a bit first."
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{
  "api_call": 14,
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          "note": "Advance forward to get closer to the cabinet front and see handle detail."
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{
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          "note": "Rotating yaw left to survey the cabinet fronts with the wrist camera."
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{
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          "note": "Try pitching gripper closer to horizontal in the new configuration for a frontal view of the cabinet face."
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{
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{
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          "note": "Shifting left toward the cabinet face with the vertical handle to inspect it closely."
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{
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          "note": "Retreating up and back for an overview wrist view of the counter and cabinet fronts."
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{
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{
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          "note": "Moving further left along the counter to inspect cabinet fronts where handles were seen in the exterior view."
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{
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{
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          "note": "Tilting back toward downward view and lifting to see the counter edge from above."
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{
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          "note": "Lowering below counter top level at y=0.45 to reach the cabinet front region."
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{
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          "note": "Moving left to the estimated top-drawer handle region (y~0.7, z~0.92) to probe for the cabinet face."
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{
  "api_call": 26,
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    "model": "claude-opus-5",
    "id": "msg_011CezdGpwmYre38rzJuhw15",
    "type": "message",
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      {
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          "note": "Smaller step left and up to avoid large joint jumps."
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{
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      {
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            "yaw": 0.95,
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          },
          "note": "The wrist camera looks left, so the cabinet is on the robot's +y side; rotating the gripper to point more toward +y for a frontal approach."
        },
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{
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          "note": "Counter appears to run along y with its front facing -x; rotating gripper toward +x and moving back to mid-y for a frontal approach."
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{
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          "note": "Translate back to mid-y first, keeping orientation."
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{
  "api_call": 30,
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          "note": "Rotating gripper toward +x (frontal to the counter face) in a small step."
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{
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          "note": "Stepping orientation back toward the neutral downward pose to use a top-down hook on the drawer handle."
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{
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          "note": "Continuing back toward neutral orientation."
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{
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{
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          "note": "Returning to the earlier reachable region where neutral orientations worked."
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{
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          "note": "Rotating toward facing +x now that arm is in the earlier reachable region."
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{
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{
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          "note": "Continuing small rotations toward facing the cabinet front; wrist now shows a wooden face with a vertical handle."
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{
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          "note": "Moving toward the vertical handle seen left of center in the wrist view."
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{
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          "note": "Handle drifted left when moving +y, so it's at smaller y; moving right to center it."
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{
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          "note": "Advancing along the gripper approach axis toward the vertical handle now centered in the wrist view."
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{
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          "note": "Final approach to straddle the vertical handle between the open fingers."
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{
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          "note": "Pushing in a bit more so the handle sits between the fingers."
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{
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          "note": "Closing the gripper on the handle."
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    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 735,
      "cache_read_input_tokens": 40983,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 735,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 135,
      "output_tokens_details": {
        "thinking_tokens": 46
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 44,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdUoHtUvWxXuBb3hgDz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MaxGy8i3SfF2VA3EvjemDF",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "z": 0.845
          },
          "note": "Pulling back along -x to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 626,
      "cache_read_input_tokens": 41718,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 626,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 195,
      "output_tokens_details": {
        "thinking_tokens": 97
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 45,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdVCk2Ry4Ke6NaxnMMz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015YRvHmRncTAGTzEqzK8C1A",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.47
          },
          "note": "Continuing to pull the drawer open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 686,
      "cache_read_input_tokens": 42344,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 686,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 230,
      "output_tokens_details": {
        "thinking_tokens": 142
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 46,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdVcFepzv6pEAmJrnAL",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QvYQ1ysqx7jjmw32jL3VQt",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.58,
            "z": 0.88
          },
          "note": "Moving back toward the cabinet to visually verify whether the drawer moved out."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 718,
      "cache_read_input_tokens": 43030,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 718,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 729,
      "output_tokens_details": {
        "thinking_tokens": 620
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 47,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdWePA6AAuzc9sbBfrt",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01YKc8rpNP4gmWhqLfYaPQJC",
        "name": "give_up",
        "input": {
          "note": "I located a cabinet/drawer handle and attempted a grasp-and-pull, but the gripper slipped off the handle and the simulated motion budget is now exhausted, so the drawer was not opened."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1220,
      "cache_read_input_tokens": 43748,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1220,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 149,
      "output_tokens_details": {
        "thinking_tokens": 39
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 19.614908216521144,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57,
                    "z": 1.0
                  },
                  "note": "Rotating gripper to point forward (+x) to see the cabinet drawers ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01595,
      -0.80441,
      0.02568,
      -2.29148,
      0.03674,
      1.60203,
      -0.16756
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32278,
      0.01276,
      1.05566
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97868,
        0.17054,
        0.11445
      ],
      [
        0.16954,
        -0.98535,
        0.01856
      ],
      [
        0.11594,
        0.00124,
        -0.99326
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.008246069774032,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Trying a smaller pitch rotation toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00061,
      -1.49808,
      0.03689,
      -2.94658,
      0.056,
      2.35892,
      -0.1798
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32275,
      0.01277,
      1.05558
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79552,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.60218,
        0.1185,
        0.78951
      ],
      [
        0.16957,
        -0.98534,
        0.01856
      ],
      [
        0.78014,
        0.1227,
        -0.61345
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.604227812029421,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4,
                    "z": 0.95
                  },
                  "note": "Continue rotating to face forward and lower to drawer 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 drawer.",
    "joint_positions": [
      -0.00061,
      -1.49808,
      0.03689,
      -2.94658,
      0.056,
      2.35892,
      -0.1798
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32275,
      0.01277,
      1.05558
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79552,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.60218,
        0.1185,
        0.78951
      ],
      [
        0.16957,
        -0.98534,
        0.01856
      ],
      [
        0.78014,
        0.1227,
        -0.61345
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.404565390199423,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1,
                    "z": 1.0
                  },
                  "note": "Smaller incremental pitch change to avoid IK failure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00061,
      -1.49808,
      0.03689,
      -2.94658,
      0.056,
      2.35892,
      -0.1798
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32275,
      0.01277,
      1.05558
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79552,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.60218,
        0.1185,
        0.78951
      ],
      [
        0.16957,
        -0.98534,
        0.01856
      ],
      [
        0.78014,
        0.1227,
        -0.61345
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.404258732683957,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.1,
                    "z": 0.95
                  },
                  "note": "Moving forward-left and down toward cabinet front to inspect drawer handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01144,
      -0.9481,
      0.35095,
      -3.0149,
      0.13703,
      2.98087,
      0.05199
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41919,
      0.09924,
      0.95078
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.7952,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.60245,
        0.11845,
        0.78932
      ],
      [
        0.16966,
        -0.98533,
        0.01837
      ],
      [
        0.77992,
        0.12285,
        -0.61371
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.4030206985771656,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Try again to point gripper forward now that arm is in a different configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01144,
      -0.9481,
      0.35095,
      -3.0149,
      0.13703,
      2.98087,
      0.05199
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41919,
      0.09924,
      0.95078
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.7952,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.60245,
        0.11845,
        0.78932
      ],
      [
        0.16966,
        -0.98533,
        0.01837
      ],
      [
        0.77992,
        0.12285,
        -0.61371
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.609062375500798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 0.88
                  },
                  "note": "Backing off slightly and lowering to get a clearer wrist view of the cabinet face and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01144,
      -0.9481,
      0.35095,
      -3.0149,
      0.13703,
      2.98087,
      0.05199
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41919,
      0.09924,
      0.95078
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.7952,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.60245,
        0.11845,
        0.78932
      ],
      [
        0.16966,
        -0.98533,
        0.01837
      ],
      [
        0.77992,
        0.12285,
        -0.61371
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.004983477294445,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "Small downward step to test reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01144,
      -0.9481,
      0.35095,
      -3.0149,
      0.13703,
      2.98087,
      0.05199
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41919,
      0.09924,
      0.95078
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.7952,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.60245,
        0.11845,
        0.78932
      ],
      [
        0.16966,
        -0.98533,
        0.01837
      ],
      [
        0.77992,
        0.12285,
        -0.61371
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.404335609637201,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4
                  },
                  "note": "Joint 4 is at its limit; reducing pitch to free the configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.01066,
      -0.79464,
      0.24922,
      -2.70818,
      0.12384,
      2.44067,
      -0.01559
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41935,
      0.09927,
      0.95087
    ],
    "tcp_roll_pitch_yaw": [
      -0.00018,
      -0.40491,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.85387,
        0.15624,
        0.49648
      ],
      [
        0.1696,
        -0.98534,
        0.0184
      ],
      [
        0.49208,
        0.06849,
        -0.86785
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 11.209019945934415,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 0.9
                  },
                  "note": "Advance toward the cabinet face while lowering slightly to spot the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.0703,
      -0.45826,
      0.29283,
      -2.60958,
      0.07623,
      2.68018,
      -0.0073
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49885,
      0.09923,
      0.90063
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.40465,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.85402,
        0.15618,
        0.49625
      ],
      [
        0.16954,
        -0.98535,
        0.01833
      ],
      [
        0.49184,
        0.06848,
        -0.86799
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.007084536366165,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.8,
                    "pitch": -0.8
                  },
                  "note": "Lowering below the counter overhang and tilting forward to view the drawer front/handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.0703,
      -0.45826,
      0.29283,
      -2.60958,
      0.07623,
      2.68018,
      -0.0073
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49885,
      0.09923,
      0.90063
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.40465,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.85402,
        0.15618,
        0.49625
      ],
      [
        0.16954,
        -0.98535,
        0.01833
      ],
      [
        0.49184,
        0.06848,
        -0.86799
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 2.803038145415485,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85
                  },
                  "note": "Split motion: just lower a bit first."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.09376,
      -0.37557,
      0.32626,
      -2.67914,
      0.05437,
      2.83205,
      0.01925
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4988,
      0.09921,
      0.85104
    ],
    "tcp_roll_pitch_yaw": [
      -0.00028,
      -0.40434,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.85417,
        0.15617,
        0.49598
      ],
      [
        0.16955,
        -0.98535,
        0.01827
      ],
      [
        0.49157,
        0.06849,
        -0.86814
      ]
    ],
    "simulated_seconds_remaining": 24.882,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.2046561343595386,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56
                  },
                  "note": "Advance forward to get closer to the cabinet front and see handle detail."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.17853,
      -0.18868,
      0.36708,
      -2.50071,
      -0.04507,
      2.83734,
      0.06458
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55879,
      0.09918,
      0.85103
    ],
    "tcp_roll_pitch_yaw": [
      -0.00025,
      -0.40428,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.85422,
        0.15609,
        0.49594
      ],
      [
        0.16946,
        -0.98537,
        0.01825
      ],
      [
        0.49153,
        0.06845,
        -0.86817
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 12.609149103984237,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.7
                  },
                  "note": "Rotating yaw left to survey the cabinet fronts with the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.13401,
      -0.14205,
      -0.01417,
      -2.39905,
      0.59928,
      2.61507,
      -1.22011
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55883,
      0.09907,
      0.85103
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.40409,
      0.69507
    ],
    "tcp_rotation_matrix": [
      [
        0.54751,
        0.75109,
        0.36891
      ],
      [
        0.67732,
        -0.65667,
        0.3317
      ],
      [
        0.49139,
        0.06826,
        -0.86826
      ]
    ],
    "simulated_seconds_remaining": 22.902,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 13.21112421527505,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Try pitching gripper closer to horizontal in the new configuration for a frontal view of the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.24712,
      -0.15981,
      -0.20929,
      -2.52381,
      1.88279,
      2.53132,
      -2.48196
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55867,
      0.09902,
      0.85076
    ],
    "tcp_roll_pitch_yaw": [
      0.00143,
      -0.99508,
      0.69415
    ],
    "tcp_rotation_matrix": [
      [
        0.22628,
        0.70183,
        0.67545
      ],
      [
        0.4087,
        -0.69785,
        0.58819
      ],
      [
        0.88417,
        0.14296,
        -0.44475
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.00595554150641,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.0
                  },
                  "note": "Rotating back to face forward with near-horizontal gripper to view the cabinet ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.24712,
      -0.15981,
      -0.20929,
      -2.52381,
      1.88279,
      2.53132,
      -2.48196
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55867,
      0.09902,
      0.85076
    ],
    "tcp_roll_pitch_yaw": [
      0.00143,
      -0.99508,
      0.69415
    ],
    "tcp_rotation_matrix": [
      [
        0.22628,
        0.70183,
        0.67545
      ],
      [
        0.4087,
        -0.69785,
        0.58819
      ],
      [
        0.88417,
        0.14296,
        -0.44475
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 11.009428185410798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25
                  },
                  "note": "Shifting left toward the cabinet face with the vertical handle to inspect it closely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.40592,
      -0.05407,
      -0.00952,
      -2.37871,
      2.31126,
      2.74993,
      -2.6579
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55864,
      0.2488,
      0.85077
    ],
    "tcp_roll_pitch_yaw": [
      0.0013,
      -0.99511,
      0.69456
    ],
    "tcp_rotation_matrix": [
      [
        0.2261,
        0.70203,
        0.6753
      ],
      [
        0.4088,
        -0.69763,
        0.58838
      ],
      [
        0.88417,
        0.14303,
        -0.44472
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 16.611888731829822,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.1,
                    "pitch": -0.6
                  },
                  "note": "Retreating up and back for an overview wrist view of the counter and cabinet fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.40592,
      -0.05407,
      -0.00952,
      -2.37871,
      2.31126,
      2.74993,
      -2.6579
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55864,
      0.2488,
      0.85077
    ],
    "tcp_roll_pitch_yaw": [
      0.0013,
      -0.99511,
      0.69456
    ],
    "tcp_rotation_matrix": [
      [
        0.2261,
        0.70203,
        0.6753
      ],
      [
        0.4088,
        -0.69763,
        0.58838
      ],
      [
        0.88417,
        0.14303,
        -0.44472
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 3.403302727267146,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Small lift to change view before bigger repositioning."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.47545,
      -0.27943,
      -0.01192,
      -2.34237,
      1.64912,
      2.91644,
      -1.92894
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55865,
      0.24883,
      0.99881
    ],
    "tcp_roll_pitch_yaw": [
      0.00114,
      -0.99539,
      0.6948
    ],
    "tcp_rotation_matrix": [
      [
        0.22581,
        0.70206,
        0.67536
      ],
      [
        0.40872,
        -0.69758,
        0.5885
      ],
      [
        0.88428,
        0.14315,
        -0.44447
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 15.412504561245441,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.45,
                    "z": 0.95
                  },
                  "note": "Moving further left along the counter to inspect cabinet fronts where handles were seen in the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.71357,
      0.15561,
      0.03301,
      -1.82369,
      2.64174,
      3.20113,
      -2.79449
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55865,
      0.44868,
      0.95026
    ],
    "tcp_roll_pitch_yaw": [
      0.0012,
      -0.99534,
      0.69483
    ],
    "tcp_rotation_matrix": [
      [
        0.22584,
        0.70213,
        0.67528
      ],
      [
        0.40875,
        -0.69752,
        0.58855
      ],
      [
        0.88426,
        0.14311,
        -0.44452
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 14.010140360333025,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.35
                  },
                  "note": "Reducing yaw stepwise to face forward and identify what is directly ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.71357,
      0.15561,
      0.03301,
      -1.82369,
      2.64174,
      3.20113,
      -2.79449
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55865,
      0.44868,
      0.95026
    ],
    "tcp_roll_pitch_yaw": [
      0.0012,
      -0.99534,
      0.69483
    ],
    "tcp_rotation_matrix": [
      [
        0.22584,
        0.70213,
        0.67528
      ],
      [
        0.40875,
        -0.69752,
        0.58855
      ],
      [
        0.88426,
        0.14311,
        -0.44452
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 17.613550865091383,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6,
                    "z": 1.05
                  },
                  "note": "Tilting back toward downward view and lifting to see the counter edge from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      0.15561,
      0.03301,
      -1.82369,
      2.64174,
      3.20113,
      -2.79449
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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      0.44868,
      0.95026
    ],
    "tcp_roll_pitch_yaw": [
      0.0012,
      -0.99534,
      0.69483
    ],
    "tcp_rotation_matrix": [
      [
        0.22584,
        0.70213,
        0.67528
      ],
      [
        0.40875,
        -0.69752,
        0.58855
      ],
      [
        0.88426,
        0.14311,
        -0.44452
      ]
    ],
    "simulated_seconds_remaining": 17.49,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 15.211953195743263,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.8
                  },
                  "note": "Lowering below counter top level at y=0.45 to reach the cabinet front region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.30206,
      0.38555,
      -0.62396,
      -1.99858,
      2.80651,
      2.83016,
      -2.78522
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55856,
      0.44869,
      0.80041
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      -0.99474,
      0.69664
    ],
    "tcp_rotation_matrix": [
      [
        0.22554,
        0.7026,
        0.67489
      ],
      [
        0.40974,
        -0.69691,
        0.58859
      ],
      [
        0.88388,
        0.14378,
        -0.44507
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 21.81628978252411,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.68,
                    "z": 0.92
                  },
                  "note": "Moving left to the estimated top-drawer handle region (y~0.7, z~0.92) to probe for the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.30206,
      0.38555,
      -0.62396,
      -1.99858,
      2.80651,
      2.83016,
      -2.78522
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55856,
      0.44869,
      0.80041
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      -0.99474,
      0.69664
    ],
    "tcp_rotation_matrix": [
      [
        0.22554,
        0.7026,
        0.67489
      ],
      [
        0.40974,
        -0.69691,
        0.58859
      ],
      [
        0.88388,
        0.14378,
        -0.44507
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 3.0029549840837717,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.55,
                    "z": 0.85
                  },
                  "note": "Smaller step left and up to avoid large joint jumps."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.33943,
      0.53175,
      -0.57303,
      -1.65085,
      2.78963,
      3.07176,
      -2.65208
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55848,
      0.54897,
      0.84946
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.99485,
      0.69688
    ],
    "tcp_rotation_matrix": [
      [
        0.22537,
        0.70279,
        0.67476
      ],
      [
        0.40972,
        -0.69672,
        0.58882
      ],
      [
        0.88393,
        0.14376,
        -0.44497
      ]
    ],
    "simulated_seconds_remaining": 15.114,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 21.61686445400119,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.95,
                    "pitch": -1.15
                  },
                  "note": "The wrist camera looks left, so the cabinet is on the robot's +y side; rotating the gripper to point more toward +y for a frontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.22155,
      0.4418,
      -0.49894,
      -1.85456,
      2.56721,
      2.66683,
      -2.64338
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5588,
      0.54867,
      0.84934
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -1.14734,
      0.94529
    ],
    "tcp_rotation_matrix": [
      [
        0.03614,
        0.83917,
        0.54267
      ],
      [
        0.33959,
        -0.52102,
        0.78308
      ],
      [
        0.93988,
        0.15598,
        -0.3038
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 20.223025989718735,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.5,
                    "pitch": -1.3,
                    "y": 0.3
                  },
                  "note": "Counter appears to run along y with its front facing -x; rotating gripper toward +x and moving back to mid-y for a frontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.22155,
      0.4418,
      -0.49894,
      -1.85456,
      2.56721,
      2.66683,
      -2.64338
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5588,
      0.54867,
      0.84934
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -1.14734,
      0.94529
    ],
    "tcp_rotation_matrix": [
      [
        0.03614,
        0.83917,
        0.54267
      ],
      [
        0.33959,
        -0.52102,
        0.78308
      ],
      [
        0.93988,
        0.15598,
        -0.3038
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 2.8026136895641685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3
                  },
                  "note": "Translate back to mid-y first, keeping orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.03245,
      0.04337,
      -0.68233,
      -2.37337,
      2.17506,
      2.39828,
      -2.66876
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55891,
      0.30117,
      0.84935
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -1.14735,
      0.9449
    ],
    "tcp_rotation_matrix": [
      [
        0.03626,
        0.83898,
        0.54295
      ],
      [
        0.33956,
        -0.52133,
        0.78289
      ],
      [
        0.93989,
        0.15597,
        -0.30379
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.606097138486803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.6
                  },
                  "note": "Rotating gripper toward +x (frontal to the counter face) in a small step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.03245,
      0.04337,
      -0.68233,
      -2.37337,
      2.17506,
      2.39828,
      -2.66876
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55891,
      0.30117,
      0.84935
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -1.14735,
      0.9449
    ],
    "tcp_rotation_matrix": [
      [
        0.03626,
        0.83898,
        0.54295
      ],
      [
        0.33956,
        -0.52133,
        0.78289
      ],
      [
        0.93989,
        0.15597,
        -0.30379
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 20.215405149385333,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "yaw": 0.8
                  },
                  "note": "Stepping orientation back toward the neutral downward pose to use a top-down hook on the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.10833,
      0.01923,
      -0.61201,
      -2.28376,
      2.05444,
      2.81897,
      -2.40247
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55881,
      0.30149,
      0.84933
    ],
    "tcp_roll_pitch_yaw": [
      0.00074,
      -0.90374,
      0.80262
    ],
    "tcp_rotation_matrix": [
      [
        0.23548,
        0.78168,
        0.57752
      ],
      [
        0.48761,
        -0.60905,
        0.62553
      ],
      [
        0.8407,
        0.1343,
        -0.52457
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 3.2030443754047155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5,
                    "yaw": 0.4
                  },
                  "note": "Continuing back toward neutral orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.10833,
      0.01923,
      -0.61201,
      -2.28376,
      2.05444,
      2.81897,
      -2.40247
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55881,
      0.30149,
      0.84933
    ],
    "tcp_roll_pitch_yaw": [
      0.00074,
      -0.90374,
      0.80262
    ],
    "tcp_rotation_matrix": [
      [
        0.23548,
        0.78168,
        0.57752
      ],
      [
        0.48761,
        -0.60905,
        0.62553
      ],
      [
        0.8407,
        0.1343,
        -0.52457
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 4.604761925525963,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "yaw": 0.6
                  },
                  "note": "Smaller orientation step toward neutral."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.10833,
      0.01923,
      -0.61201,
      -2.28376,
      2.05444,
      2.81897,
      -2.40247
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55881,
      0.30149,
      0.84933
    ],
    "tcp_roll_pitch_yaw": [
      0.00074,
      -0.90374,
      0.80262
    ],
    "tcp_rotation_matrix": [
      [
        0.23548,
        0.78168,
        0.57752
      ],
      [
        0.48761,
        -0.60905,
        0.62553
      ],
      [
        0.8407,
        0.1343,
        -0.52457
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 6.005147866904736,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1,
                    "x": 0.5,
                    "z": 0.9
                  },
                  "note": "Returning to the earlier reachable region where neutral orientations worked."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.76753,
      -0.55197,
      -0.66209,
      -2.67396,
      1.22583,
      2.80077,
      -2.01193
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50044,
      0.10118,
      0.89974
    ],
    "tcp_roll_pitch_yaw": [
      0.00098,
      -0.904,
      0.80211
    ],
    "tcp_rotation_matrix": [
      [
        0.23558,
        0.78147,
        0.57776
      ],
      [
        0.48729,
        -0.60934,
        0.6255
      ],
      [
        0.84086,
        0.13418,
        -0.52435
      ]
    ],
    "simulated_seconds_remaining": 10.098,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 6.608653772622347,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "yaw": 0.3
                  },
                  "note": "Rotating toward facing +x now that arm is in the earlier reachable region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.76753,
      -0.55197,
      -0.66209,
      -2.67396,
      1.22583,
      2.80077,
      -2.01193
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50044,
      0.10118,
      0.89974
    ],
    "tcp_roll_pitch_yaw": [
      0.00098,
      -0.904,
      0.80211
    ],
    "tcp_rotation_matrix": [
      [
        0.23558,
        0.78147,
        0.57776
      ],
      [
        0.48729,
        -0.60934,
        0.6255
      ],
      [
        0.84086,
        0.13418,
        -0.52435
      ]
    ],
    "simulated_seconds_remaining": 10.098,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 3.20348384603858,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.65,
                    "pitch": -0.85
                  },
                  "note": "Tiny orientation nudge to find a feasible direction of rotation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.75314,
      -0.54366,
      -0.54118,
      -2.69698,
      1.27739,
      2.97713,
      -1.88337
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50043,
      0.10131,
      0.89971
    ],
    "tcp_roll_pitch_yaw": [
      0.00108,
      -0.85105,
      0.65361
    ],
    "tcp_rotation_matrix": [
      [
        0.33984,
        0.68829,
        0.64091
      ],
      [
        0.47368,
        -0.71399,
        0.51561
      ],
      [
        0.81249,
        0.12836,
        -0.56867
      ]
    ],
    "simulated_seconds_remaining": 9.57,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 4.804205405525863,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.4,
                    "pitch": -1.0
                  },
                  "note": "Continuing small rotations toward facing the cabinet front; wrist now shows a wooden face with a vertical handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.75314,
      -0.54366,
      -0.54118,
      -2.69698,
      1.27739,
      2.97713,
      -1.88337
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50043,
      0.10131,
      0.89971
    ],
    "tcp_roll_pitch_yaw": [
      0.00108,
      -0.85105,
      0.65361
    ],
    "tcp_rotation_matrix": [
      [
        0.33984,
        0.68829,
        0.64091
      ],
      [
        0.47368,
        -0.71399,
        0.51561
      ],
      [
        0.81249,
        0.12836,
        -0.56867
      ]
    ],
    "simulated_seconds_remaining": 9.57,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 9.807385319843888,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.22
                  },
                  "note": "Moving toward the vertical handle seen left of center in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.00512,
      -0.2204,
      -0.53491,
      -2.4024,
      1.72708,
      3.04382,
      -2.08918
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54944,
      0.21882,
      0.89971
    ],
    "tcp_roll_pitch_yaw": [
      0.00091,
      -0.85097,
      0.65401
    ],
    "tcp_rotation_matrix": [
      [
        0.33971,
        0.68848,
        0.64078
      ],
      [
        0.47388,
        -0.71379,
        0.5157
      ],
      [
        0.81243,
        0.12846,
        -0.56873
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 7.206813692115247,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.02
                  },
                  "note": "Handle drifted left when moving +y, so it's at smaller y; moving right to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.6493,
      -0.40717,
      -0.79719,
      -2.52021,
      1.09031,
      2.67973,
      -1.93769
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54948,
      -0.0188,
      0.89973
    ],
    "tcp_roll_pitch_yaw": [
      0.00092,
      -0.85106,
      0.65367
    ],
    "tcp_rotation_matrix": [
      [
        0.33981,
        0.68824,
        0.64098
      ],
      [
        0.47372,
        -0.71402,
        0.51553
      ],
      [
        0.81248,
        0.12846,
        -0.56866
      ]
    ],
    "simulated_seconds_remaining": 6.534,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 9.808737458661199,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.61,
                    "y": 0.01,
                    "z": 0.87
                  },
                  "note": "Advancing along the gripper approach axis toward the vertical handle now centered in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.83106,
      -0.1079,
      -0.92881,
      -2.34181,
      1.40652,
      2.58303,
      -2.11366
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60891,
      0.00959,
      0.87044
    ],
    "tcp_roll_pitch_yaw": [
      0.00097,
      -0.85077,
      0.65391
    ],
    "tcp_rotation_matrix": [
      [
        0.33988,
        0.68847,
        0.6407
      ],
      [
        0.47393,
        -0.71381,
        0.51562
      ],
      [
        0.81232,
        0.1284,
        -0.5689
      ]
    ],
    "simulated_seconds_remaining": 5.742,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 12.611481542699039,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.645,
                    "y": 0.035,
                    "z": 0.845
                  },
                  "note": "Final approach to straddle the vertical handle between the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "open the drawer.",
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
      [
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      [
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      [
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    ],
    "simulated_seconds_remaining": 5.082,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 5.603940803557634,
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                "args": {
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                    "x": 0.672,
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                  "note": "Pushing in a bit more so the handle sits between the fingers."
                }
              }
            }
          ]
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      }
    ]
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}

{
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              }
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          ]
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{
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                  "note": "Pulling back along -x to open the drawer."
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              }
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          ]
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{
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    ],
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                  "note": "Continuing to pull the drawer open."
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              }
            }
          ]
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{
  "call": 45,
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    "instruction": "open the drawer.",
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    ],
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  "api_seconds": 13.210029601119459,
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            {
              "functionCall": {
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                    "x": 0.58,
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                  },
                  "note": "Moving back toward the cabinet to visually verify whether the drawer moved out."
                }
              }
            }
          ]
        }
      }
    ]
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  "execution": {
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{
  "call": 46,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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    ],
    "tcp_rotation_matrix": [
      [
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      ],
      [
        0.63862,
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      ],
      [
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    ],
    "simulated_seconds_remaining": 0.594,
    "calls_remaining_including_this": 12
  },
  "api_seconds": 4.003810557536781,
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    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I located a cabinet/drawer handle and attempted a grasp-and-pull, but the gripper slipped off the handle and the simulated motion budget is now exhausted, so the drawer was not opened."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 144,
  "house_index": 18,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 25,
  "api_calls": 26,
  "wall_seconds": 296.40574765205383,
  "usage": {
    "input_tokens": 52,
    "cache_creation_input_tokens": 28686,
    "cache_read_input_tokens": 370419,
    "output_tokens": 14759
  },
  "estimated_cost_usd": 0.733732
}


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.



MODEL RESPONSES


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{
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          },
          "note": "Moving toward the region of the black box-like object on the table to inspect for a cabinet door."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
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    "model": "claude-opus-5",
    "id": "msg_011CezdVdSakY3X4NBYbrop6",
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          "note": "Lowering toward the table near the black object to see its front face and handle."
        },
        "caller": {
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      }
    ],
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          },
          "note": "Rotating gripper to point forward (+x) so the wrist camera views the front face of the black box, and backing off slightly."
        },
        "caller": {
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{
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          "note": "Trying a smaller forward tilt to view the object front face."
        },
        "caller": {
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      }
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{
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          "note": "Panning left to bring the black box into wrist view to identify its door/handle."
        },
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{
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          },
          "note": "Turning the wrist camera left to find the wooden cabinet with the two handles seen earlier."
        },
        "caller": {
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{
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{
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{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdbRQh6NZssM3HZsCPi",
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        "type": "thinking",
        "thinking": ""
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          "note": "Moving to hover just in front of the estimated box location (y~0.05) to inspect it up close."
        },
        "caller": {
          "type": "direct"
        }
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{
  "api_call": 11,
  "response": {
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            "x": 0.45,
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          },
          "note": "Panning right to inspect the tan/orange item beside the black box, possibly a door handle."
        },
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          "type": "direct"
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{
  "api_call": 12,
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          "note": "Moving further right/forward to center the dark box (candidate cabinet) in the wrist view."
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        "caller": {
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{
  "api_call": 13,
  "response": {
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          "note": "Looking straight down from above the presumed box location to pinpoint it in the wrist view."
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{
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  "response": {
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          "note": "Pre-grasp pose in front of the box's front face, gripper tilted forward-down to see and reach the handle."
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{
  "api_call": 15,
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          "note": "Moving toward my best estimate of the box location (x0.5,y-0.2) to verify with the wrist view."
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{
  "api_call": 16,
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          "note": "Dropping lower and centering to inspect the brown surface with the yellow handle seen at the image edge."
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{
  "api_call": 17,
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          "note": "Approaching the box front face at y=-0.13 with fingers pointing forward to engage its door handle."
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{
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          "note": "Advancing forward to straddle the box's door handle with open fingers."
        },
        "caller": {
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{
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          "targets": {
            "gripper": 0
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          "note": "Closing the gripper to try to grip the door handle at this position."
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{
  "api_call": 20,
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          "note": "Pulling back along -x to swing open the door if the handle is grasped."
        },
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          "type": "direct"
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{
  "api_call": 21,
  "response": {
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          "note": "Retreating slightly to test whether anything is grasped and to open the door."
        },
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{
  "api_call": 22,
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          "note": "Last attempt: opening fingers and shifting to the box's front-center where the handle likely is."
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{
  "api_call": 23,
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          "note": "Two yellow handles are visible just ahead-right; advancing to straddle one with open fingers."
        },
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          "type": "direct"
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{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdpvJNP6EZiLjuis8J8",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "y": -0.12,
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          "note": "Shifting to align with the handle and closing fingers on it."
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        "caller": {
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{
  "api_call": 25,
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        "thinking": ""
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          "targets": {
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          "note": "Final pull along -x to open the cabinet door if the handle is captured."
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{
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    "model": "claude-opus-5",
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    "content": [
      {
        "type": "text",
        "text": "I was unable to reliably localize the cabinet's handle within the available time; the door was never grasped or opened."
      },
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          "note": "Spent too much of the time budget localizing the articulated object; ambiguous wrist-camera mapping led to failed handle grasps, and simulated time is now exhausted without opening the cabinet."
        },
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 19.615328477695584,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.15,
                    "z": 1.0
                  },
                  "note": "Moving toward the region of the black box-like object on the table to inspect for a cabinet door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.09808,
      -0.27265,
      0.24515,
      -1.95948,
      0.01481,
      1.50786,
      0.22784
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39919,
      0.14896,
      0.99982
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      8e-05,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.98141,
        0.10726,
        -0.15913
      ],
      [
        0.09074,
        -0.99004,
        -0.10768
      ],
      [
        -0.16909,
        0.09123,
        -0.98137
      ]
    ],
    "simulated_seconds_remaining": 28.314,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.204517104662955,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.15,
                    "z": 0.88
                  },
                  "note": "Lowering toward the table near the black object to see its front face and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.08677,
      -0.0995,
      0.25076,
      -2.0861,
      -0.02556,
      1.80239,
      0.24218
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44945,
      0.14995,
      0.88108
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00041,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98136,
        0.10724,
        -0.15946
      ],
      [
        0.09068,
        -0.99003,
        -0.10774
      ],
      [
        -0.16942,
        0.09128,
        -0.98131
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 17.213915129192173,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.15,
                    "z": 0.95,
                    "pitch": -1.57
                  },
                  "note": "Rotating gripper to point forward (+x) so the wrist camera views the front face of the black box, and backing off slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.08677,
      -0.0995,
      0.25076,
      -2.0861,
      -0.02556,
      1.80239,
      0.24218
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44945,
      0.14995,
      0.88108
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      0.00041,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98136,
        0.10724,
        -0.15946
      ],
      [
        0.09068,
        -0.99003,
        -0.10774
      ],
      [
        -0.16942,
        0.09128,
        -0.98131
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.6045865854248405,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.15,
                    "z": 0.95,
                    "pitch": -0.8
                  },
                  "note": "Trying a smaller forward tilt to view the object front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.11556,
      -0.83512,
      0.36567,
      -2.74983,
      -0.14598,
      2.48337,
      0.47723
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40023,
      0.15003,
      0.94965
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -0.79573,
      0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.80751,
        0.00983,
        0.58977
      ],
      [
        0.0908,
        -0.99002,
        -0.10781
      ],
      [
        0.58282,
        0.14061,
        -0.80034
      ]
    ],
    "simulated_seconds_remaining": 25.74,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.00857230834663,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.3,
                    "z": 0.98,
                    "pitch": -0.8
                  },
                  "note": "Panning left to bring the black box into wrist view to identify its door/handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.04011,
      -0.6143,
      0.68901,
      -2.4143,
      -0.16051,
      2.33997,
      0.74732
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4,
      0.29874,
      0.97976
    ],
    "tcp_roll_pitch_yaw": [
      -0.00045,
      -0.80003,
      0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.80498,
        0.00938,
        0.59322
      ],
      [
        0.09095,
        -0.99001,
        -0.10776
      ],
      [
        0.58628,
        0.1407,
        -0.79779
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.40718705393374,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.3,
                    "z": 1.0,
                    "pitch": -0.5,
                    "yaw": 0.8
                  },
                  "note": "Turning the wrist camera left to find the wooden cabinet with the two handles seen earlier."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.39859,
      -0.47008,
      0.2293,
      -2.28352,
      0.0652,
      2.17778,
      -0.27364
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40006,
      0.29996,
      0.99992
    ],
    "tcp_roll_pitch_yaw": [
      -0.00101,
      -0.50145,
      0.79578
    ],
    "tcp_rotation_matrix": [
      [
        0.59445,
        0.74195,
        0.31005
      ],
      [
        0.73619,
        -0.65726,
        0.16134
      ],
      [
        0.32349,
        0.13235,
        -0.93693
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.409154281020164,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.4,
                    "z": 1.0,
                    "pitch": -0.8,
                    "yaw": 0
                  },
                  "note": "Repositioning forward-left with a downward-forward view to center the black box in the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.1129,
      -0.03177,
      0.71712,
      -1.89886,
      -0.62903,
      2.1513,
      1.05273
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4994,
      0.39959,
      0.99983
    ],
    "tcp_roll_pitch_yaw": [
      -0.00255,
      -0.79786,
      0.00573
    ],
    "tcp_rotation_matrix": [
      [
        0.80591,
        0.01338,
        0.59189
      ],
      [
        0.09482,
        -0.98976,
        -0.10673
      ],
      [
        0.5844,
        0.14213,
        -0.79892
      ]
    ],
    "simulated_seconds_remaining": 21.516,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 21.817337656393647,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.2,
                    "z": 1.1,
                    "pitch": -0.2,
                    "yaw": 0
                  },
                  "note": "Raising up with a near-horizontal forward view to survey the scene and locate the cabinet furniture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.08042,
      -0.30829,
      0.36126,
      -1.75168,
      -0.01038,
      1.45469,
      0.33613
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40052,
      0.20077,
      1.09963
    ],
    "tcp_roll_pitch_yaw": [
      -0.0025,
      -0.2028,
      -0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.99544,
        0.08581,
        0.04177
      ],
      [
        0.08995,
        -0.98984,
        -0.11008
      ],
      [
        0.0319,
        0.11333,
        -0.99304
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 16.013087524101138,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.05,
                    "z": 1.0,
                    "pitch": -0.6
                  },
                  "note": "Moving to hover just in front of the estimated box location (y~0.05) to inspect it up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01362,
      -0.49556,
      0.15582,
      -2.34393,
      -0.12336,
      2.26722,
      0.1328
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49948,
      0.05066,
      1.00036
    ],
    "tcp_roll_pitch_yaw": [
      -0.00247,
      -0.59759,
      -0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.90661,
        0.03538,
        0.42048
      ],
      [
        0.08976,
        -0.98984,
        -0.11025
      ],
      [
        0.4123,
        0.1377,
        -0.90058
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 11.612290202639997,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.1,
                    "z": 0.95,
                    "pitch": -0.6
                  },
                  "note": "Panning right to inspect the tan/orange item beside the black box, possibly a door handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.08118,
      -0.63211,
      -0.11705,
      -2.5864,
      -0.1444,
      2.40504,
      -0.17213
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45039,
      -0.09884,
      0.95039
    ],
    "tcp_roll_pitch_yaw": [
      -0.00235,
      -0.59993,
      -0.00078
    ],
    "tcp_rotation_matrix": [
      [
        0.90567,
        0.03483,
        0.42256
      ],
      [
        0.08952,
        -0.98986,
        -0.11026
      ],
      [
        0.41443,
        0.13768,
        -0.89961
      ]
    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 11.40996466577053,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.25,
                    "z": 0.95,
                    "pitch": -0.6
                  },
                  "note": "Moving further right/forward to center the dark box (candidate cabinet) in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.06457,
      -0.32954,
      -0.39974,
      -2.31723,
      -0.04992,
      2.45491,
      -0.50713
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49957,
      -0.24881,
      0.94998
    ],
    "tcp_roll_pitch_yaw": [
      -0.00224,
      -0.59997,
      -0.00105
    ],
    "tcp_rotation_matrix": [
      [
        0.90567,
        0.03463,
        0.42257
      ],
      [
        0.0893,
        -0.98988,
        -0.11025
      ],
      [
        0.41447,
        0.13759,
        -0.8996
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 11.81004641763866,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": -0.1,
                    "z": 1.05,
                    "pitch": 0
                  },
                  "note": "Looking straight down from above the presumed box location to pinpoint it in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01839,
      0.30497,
      -0.23153,
      -1.04398,
      -0.06834,
      0.83502,
      -0.27218
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46559,
      -0.10112,
      1.0882
    ],
    "tcp_roll_pitch_yaw": [
      0.04997,
      0.3579,
      -0.09613
    ],
    "tcp_rotation_matrix": [
      [
        0.86722,
        0.01905,
        -0.49756
      ],
      [
        0.01579,
        -0.99982,
        -0.01075
      ],
      [
        -0.49767,
        0.00147,
        -0.86736
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 22.618584068492055,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": -0.08,
                    "z": 0.95,
                    "pitch": -1.0
                  },
                  "note": "Pre-grasp pose in front of the box's front face, gripper tilted forward-down to see and reach the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.09043,
      -0.93074,
      -0.16613,
      -2.98059,
      -0.31118,
      2.88428,
      0.04031
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42011,
      -0.08017,
      0.95015
    ],
    "tcp_roll_pitch_yaw": [
      0.04975,
      -0.99475,
      -0.09618
    ],
    "tcp_rotation_matrix": [
      [
        0.67878,
        -0.07226,
        0.73078
      ],
      [
        0.03389,
        -0.991,
        -0.12946
      ],
      [
        0.73356,
        0.11264,
        -0.67022
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 22.21831718273461,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.2,
                    "z": 0.95,
                    "pitch": -1.0
                  },
                  "note": "Moving toward my best estimate of the box location (x0.5,y-0.2) to verify with the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.10884,
      -0.53334,
      -0.56446,
      -2.68619,
      -0.26786,
      3.03612,
      -0.23207
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49925,
      -0.1989,
      0.95001
    ],
    "tcp_roll_pitch_yaw": [
      0.05005,
      -0.99995,
      -0.09653
    ],
    "tcp_rotation_matrix": [
      [
        0.67496,
        -0.07294,
        0.73424
      ],
      [
        0.03407,
        -0.99096,
        -0.12976
      ],
      [
        0.73706,
        0.1126,
        -0.66638
      ]
    ],
    "simulated_seconds_remaining": 10.164,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 15.212763640098274,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.0,
                    "z": 0.9,
                    "pitch": -0.4
                  },
                  "note": "Dropping lower and centering to inspect the brown surface with the yellow handle seen at the image edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.16619,
      -0.33397,
      -0.12652,
      -2.38115,
      -0.17422,
      2.27577,
      0.14391
    ],
    "gripper_open": 0.9966,
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      0.50006,
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    ],
    "tcp_roll_pitch_yaw": [
      0.05003,
      -0.40313,
      -0.0963
    ],
    "tcp_rotation_matrix": [
      [
        0.97224,
        -0.01367,
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      ],
      [
        0.00551,
        -0.99668,
        -0.08124
      ],
      [
        0.23391,
        0.08027,
        -0.96894
      ]
    ],
    "simulated_seconds_remaining": 8.514,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 17.21492108143866,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.13,
                    "z": 0.93,
                    "pitch": -1.2
                  },
                  "note": "Approaching the box front face at y=-0.13 with fingers pointing forward to engage its door handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.17846,
      -0.62534,
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      -3.01071,
      -0.49309,
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    ],
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    ],
    "tcp_roll_pitch_yaw": [
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      -1.19485,
      -0.09696
    ],
    "tcp_rotation_matrix": [
      [
        0.52026,
        -0.09501,
        0.8487
      ],
      [
        0.04892,
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      ],
      [
        0.8526,
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        -0.50981
      ]
    ],
    "simulated_seconds_remaining": 7.128,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.807790047489107,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": -0.13,
                    "z": 0.93
                  },
                  "note": "Advancing forward to straddle the box's door handle with open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.18053,
      -0.33347,
      -0.19227,
      -2.79719,
      -0.38702,
      3.51348,
      0.07298
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      0.52877,
      -0.12999,
      0.92999
    ],
    "tcp_roll_pitch_yaw": [
      0.0504,
      -1.19479,
      -0.09676
    ],
    "tcp_rotation_matrix": [
      [
        0.52032,
        -0.09497,
        0.84867
      ],
      [
        0.04899,
        -0.98884,
        -0.14068
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      [
        0.85256,
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      ]
    ],
    "simulated_seconds_remaining": 6.27,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 17.414726266637444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Closing the gripper to try to grip the door handle at this position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
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      -0.33347,
      -0.19227,
      -2.79719,
      -0.38702,
      3.51348,
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    "gripper_open": 0.0,
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    ],
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      -0.09676
    ],
    "tcp_rotation_matrix": [
      [
        0.52032,
        -0.09497,
        0.84867
      ],
      [
        0.04898,
        -0.98884,
        -0.14068
      ],
      [
        0.85257,
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      ]
    ],
    "simulated_seconds_remaining": 5.346,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 3.6036760192364454,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4
                  },
                  "note": "Pulling back along -x to swing open the door if the handle is grasped."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
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      -0.33347,
      -0.19227,
      -2.79719,
      -0.38702,
      3.51348,
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    ],
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    ],
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      ],
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        0.04898,
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        -0.14068
      ],
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      ]
    ],
    "simulated_seconds_remaining": 5.346,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.003498367965221,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "z": 0.94
                  },
                  "note": "Retreating slightly to test whether anything is grasped and to open the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
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      -0.15932,
      -0.61252,
      -0.31169,
      -2.96978,
      -0.48594,
      3.40555,
      0.05473
    ],
    "gripper_open": 0.0,
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      0.93989
    ],
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      -0.09685
    ],
    "tcp_rotation_matrix": [
      [
        0.52023,
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        0.84872
      ],
      [
        0.04895,
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        -0.14077
      ],
      [
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      ]
    ],
    "simulated_seconds_remaining": 4.554,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.806117359548807,
  "response": {
    "candidates": [
      {
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                "args": {
                  "targets": {
                    "x": 0.54,
                    "y": -0.06,
                    "z": 0.93,
                    "gripper": 1
                  },
                  "note": "Last attempt: opening fingers and shifting to the box's front-center where the handle likely is."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
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      -0.36929,
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    ],
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      ],
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      ],
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      ]
    ],
    "simulated_seconds_remaining": 3.564,
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  },
  "api_seconds": 8.606815247796476,
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      {
        "content": {
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                    "x": 0.62,
                    "y": -0.02,
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                  },
                  "note": "Two yellow handles are visible just ahead-right; advancing to straddle one with open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
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    ],
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      ],
      [
        0.04993,
        -0.9884,
        -0.1434
      ],
      [
        0.85268,
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      ]
    ],
    "simulated_seconds_remaining": 2.64,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.005855947732925,
  "response": {
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      {
        "content": {
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.12,
                    "gripper": 0
                  },
                  "note": "Shifting to align with the handle and closing fingers on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.70807,
      -0.09362,
      0.42513,
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      -0.33978,
      3.50935,
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    "gripper_open": 0.0,
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      -0.09429
    ],
    "tcp_rotation_matrix": [
      [
        0.51994,
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      ],
      [
        0.04942,
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      ],
      [
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      ]
    ],
    "simulated_seconds_remaining": 1.716,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 3.002978234551847,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Final pull along -x to open the cabinet door if the handle is captured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.54292,
      -0.40917,
      0.05485,
      -2.83292,
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      3.55621,
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    "gripper_open": 0.0,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
      0.04495,
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    ],
    "tcp_rotation_matrix": [
      [
        0.51992,
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        0.84862
      ],
      [
        0.04939,
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        -0.14395
      ],
      [
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      ]
    ],
    "simulated_seconds_remaining": 0.66,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 4.005481693893671,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Spent too much of the time budget localizing the articulated object; ambiguous wrist-camera mapping led to failed handle grasps, and simulated time is now exhausted without opening the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 204,
  "house_index": 19,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 34,
  "api_calls": 35,
  "wall_seconds": 344.2075242996216,
  "usage": {
    "input_tokens": 70,
    "cache_creation_input_tokens": 34574,
    "cache_read_input_tokens": 588855,
    "output_tokens": 16272
  },
  "estimated_cost_usd": 0.917665
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdYgvkuaXh5brv3pDsj",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01M4gtFx7feTVu1UHMHXDfZ7",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1779,
      "cache_read_input_tokens": 0,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1779,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 105,
      "output_tokens_details": {
        "thinking_tokens": 81
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdYwtvdpxWRCsqnj1yk",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0156RT1YT1rQjNKbXMT9tGzh",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.25,
            "y": 0.0,
            "z": 1.15
          },
          "note": "Retract up to get a clearer wrist view of the scene and locate the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 537,
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        "ephemeral_5m_input_tokens": 537,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 257,
      "output_tokens_details": {
        "thinking_tokens": 140
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdZWZCiuZSUrb4gCtkG",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01RyTVuZAWtQaeeisfmNvC3C",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.4
          },
          "note": "Pitch wrist so camera looks forward to find the drawer front."
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{
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    "model": "claude-opus-5",
    "id": "msg_011CezdaTkZQwtsiHAa5uQxF",
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            "pitch": -0.7,
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          "note": "Smaller pitch change plus forward move; look ahead for drawer front."
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{
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  "response": {
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    "id": "msg_011CezdazHbxa9fPeGBitoS9",
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      {
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          "targets": {
            "pitch": -1.3
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          "note": "Continue pitching to look forward at the drawer fronts now partially visible."
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{
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          "targets": {
            "pitch": -1.2,
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          "note": "Lower and more forward to make the pitched orientation reachable and see drawer fronts."
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{
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          "note": "Keep current orientation, move forward and down toward drawer area."
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{
  "api_call": 8,
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          "targets": {
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          "note": "Try pitching to horizontal-facing from this lower forward pose."
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{
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          "note": "Shift left toward the cabinet to see the drawer fronts better."
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{
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          "note": "Lower toward the drawer handles seen in wrist view."
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{
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          "note": "Probe: shift +0.1 in y to learn image-motion mapping and center the handles."
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{
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          "note": "Go to a high pose with camera pointing straight down for an overhead map of the scene."
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{
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{
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          "note": "Return to the pose where the wrist saw drawer knobs, slightly lower, to line up a grasp."
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{
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          "note": "Test moving -y to see if gripper approaches the visible drawer knob."
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{
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          "note": "Center the knob (shift -y) and advance along the gripper's forward axis toward it."
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{
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          "note": "Small advance along forward axis toward the knob, nudging -y to center it."
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{
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          "note": "Tiny advance to avoid large joint jump."
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{
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        "input": {
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            "x": 0.525,
            "y": 0.065,
            "z": 0.75
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          "note": "Another small advance; knob is nearly centered in wrist view."
        },
        "caller": {
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdmwqKfqgDhYaHExZfK",
    "type": "message",
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        "input": {
          "targets": {
            "yaw": 0.3
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          "note": "Add yaw to escape the wrist joint limit that blocks further advance."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdnNFWUkkc7YjKJMrMw",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01MmY2ChYtH15KPjTt6Z58QR",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.522,
            "z": 0.757,
            "y": 0.07
          },
          "note": "Advance a small amount along the forward axis toward the knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_read_input_tokens": 19482,
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        "ephemeral_1h_input_tokens": 0
      },
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      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezdnje8GRLQ7KcUJDA2t",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TQNBAwSX5G4YLpf7m3rHko",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.03
          },
          "note": "Shift -y to center the knob between the fingers before closing."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens": 919,
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      "service_tier": "standard",
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  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdpD2vHdUGhWxMzGsmE",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Hctc2nJ3eCZ1cGhtu6QrJZ",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper to attempt grasping the knob/handle at current pose."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 803,
      "output_tokens_details": {
        "thinking_tokens": 705
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdqjWWvhT2JawrZ11bZ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Hy6WDGqN8Y6zk58A3DngvN",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "x": 0.483,
            "y": 0.05,
            "z": 0.741
          },
          "note": "Nothing was grasped; reopen and shift so the knob aligns with the finger gap."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 778,
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        "thinking_tokens": 650
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdrmoDMEbybbRU6bLGM",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Ap6hAtS4A7jgrQko3F9BZV",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "y": 0.02
          },
          "note": "Advance in +x toward the drawer front and align y with the knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_creation_input_tokens": 1269,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1685,
      "output_tokens_details": {
        "thinking_tokens": 1581
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdtpLKZPuPpNg7jNovf",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Hph2kBE7mgwG49LH4ds4xJ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.53
          },
          "note": "Continue advancing +x to bring the knob into the finger gap."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 2176,
      "cache_read_input_tokens": 24900,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 139,
      "output_tokens_details": {
        "thinking_tokens": 43
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezdu8XSn7nQNRsNbeH97",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014RsGc9ytLif59jeYgUB664",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Attempt grasp at this advanced pose."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
      "output_tokens": 408,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezduoD8YFQMUZFG3Qxud",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01DM4fVVTo8mV589B4FARzhL",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "pitch": -0.35,
            "yaw": 0,
            "x": 0.6,
            "z": 0.8
          },
          "note": "Reorient to a shallower pitch and extend further forward to reach the drawer front, which may be beyond previous reach."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_read_input_tokens": 27706,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1088,
      "output_tokens_details": {
        "thinking_tokens": 941
      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdwCf3pqGYnTdMQjPKZ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01CLQgB6pJZawoTg39HqeJNo",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "yaw": 0
          },
          "note": "Split motion: reopen gripper and remove yaw first."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
      "output_tokens": 120,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdwWFTpTnhUjzsrMDmC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LgwqxWTLNobx3w5u9uh5KE",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Knob appears right at the finger gap; close to grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 243,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdwvnbGujfJz4bM11bY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01V5q7ToKXbvVsNr1EhQuaRX",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "y": -0.02
          },
          "note": "Reopen and shift -y since the knob sits left of the finger gap in the wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdxVqwP81oyu7ZQueFd",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QXFrRnNjHRsvKopo1rKXqZ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.565,
            "z": 0.705
          },
          "note": "Knob centered in wrist view; advance along the gripper forward axis to surround it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 361,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezdy43wAQVshWpRXFQmu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FMFKvCF4E8k7wZrg7jHmQ6",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Final grasp attempt on the centered knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
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      "output_tokens_details": {
        "thinking_tokens": 59
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdyMhpbhiGwkcNxrZ5h",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015pvNrovD1okrbpYLBbboEM",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.46,
            "z": 0.72
          },
          "note": "Last-ditch pull backwards with closed gripper in case a handle is hooked."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
      "output_tokens": 202,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdymM7be8tJMMTftUUj",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "text",
        "text": "The drawer was never grasped — the gripper closed empty on every attempt, and I have essentially no simulated motion time left to re-localize the handle."
      },
      {
        "type": "tool_use",
        "id": "toolu_017areZfU2k6WUQ1TDiZRVHm",
        "name": "give_up",
        "input": {
          "note": "Could not localize the drawer handle reliably from the dim wrist views; repeated grasp attempts closed on empty air and simulated time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 141,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 10.408046471886337,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.0,
                    "z": 1.15
                  },
                  "note": "Retract up to get a clearer wrist view of the scene and locate the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01514,
      -0.83205,
      0.02483,
      -2.02367,
      -0.01773,
      1.24745,
      0.10971
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25063,
      -0.00017,
      1.14892
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.0003,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99189,
        -0.11427,
        0.05566
      ],
      [
        -0.11244,
        -0.99304,
        -0.03505
      ],
      [
        0.05927,
        0.0285,
        -0.99783
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 12.610288392752409,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Pitch wrist so camera looks forward to find the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01514,
      -0.83205,
      0.02483,
      -2.02367,
      -0.01773,
      1.24745,
      0.10971
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25063,
      -0.00017,
      1.14892
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.0003,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99189,
        -0.11427,
        0.05566
      ],
      [
        -0.11244,
        -0.99304,
        -0.03505
      ],
      [
        0.05927,
        0.0285,
        -0.99783
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.405174773186445,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "x": 0.35,
                    "z": 1.1
                  },
                  "note": "Smaller pitch change plus forward move; look ahead for drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01299,
      -1.20207,
      0.02467,
      -2.65296,
      -0.01914,
      2.20126,
      0.13675
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34938,
      -0.00018,
      1.10008
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.69513,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72398,
        -0.10606,
        0.68162
      ],
      [
        -0.11245,
        -0.99304,
        -0.03507
      ],
      [
        0.6806,
        -0.05126,
        -0.73086
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.403931140899658,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Continue pitching to look forward at the drawer fronts now partially visible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01299,
      -1.20207,
      0.02467,
      -2.65296,
      -0.01914,
      2.20126,
      0.13675
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34938,
      -0.00018,
      1.10008
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.69513,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72398,
        -0.10606,
        0.68162
      ],
      [
        -0.11245,
        -0.99304,
        -0.03507
      ],
      [
        0.6806,
        -0.05126,
        -0.73086
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.805823530070484,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "x": 0.4,
                    "z": 0.95
                  },
                  "note": "Lower and more forward to make the pitched orientation reachable and see drawer fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01299,
      -1.20207,
      0.02467,
      -2.65296,
      -0.01914,
      2.20126,
      0.13675
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34938,
      -0.00018,
      1.10008
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.69513,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72398,
        -0.10606,
        0.68162
      ],
      [
        -0.11245,
        -0.99304,
        -0.03507
      ],
      [
        0.6806,
        -0.05126,
        -0.73086
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.6093739196658134,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.95
                  },
                  "note": "Keep current orientation, move forward and down toward drawer area."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.03444,
      -0.80772,
      0.04534,
      -2.86909,
      -0.02785,
      2.81152,
      0.1592
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44924,
      -0.00019,
      0.95096
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.69472,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72425,
        -0.10611,
        0.68133
      ],
      [
        -0.11246,
        -0.99304,
        -0.0351
      ],
      [
        0.68031,
        -0.0512,
        -0.73114
      ]
    ],
    "simulated_seconds_remaining": 25.74,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 3.4030575389042497,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Try pitching to horizontal-facing from this lower forward pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.03444,
      -0.80772,
      0.04534,
      -2.86909,
      -0.02785,
      2.81152,
      0.1592
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44924,
      -0.00019,
      0.95096
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.69472,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72425,
        -0.10611,
        0.68133
      ],
      [
        -0.11246,
        -0.99304,
        -0.0351
      ],
      [
        0.68031,
        -0.0512,
        -0.73114
      ]
    ],
    "simulated_seconds_remaining": 25.74,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.409580066800117,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25,
                    "z": 1.0
                  },
                  "note": "Shift left toward the cabinet to see the drawer fronts better."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.10168,
      -0.69172,
      0.65899,
      -2.51487,
      -0.01637,
      2.58212,
      0.70978
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44923,
      0.24872,
      0.99978
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      -0.69482,
      0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.7242,
        -0.10591,
        0.6814
      ],
      [
        -0.11227,
        -0.99306,
        -0.03503
      ],
      [
        0.68038,
        -0.05113,
        -0.73107
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 10.008319104090333,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85
                  },
                  "note": "Lower toward the drawer handles seen in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.34537,
      -0.57609,
      0.98605,
      -2.73421,
      -0.09813,
      2.98317,
      0.92281
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44922,
      0.24866,
      0.85123
    ],
    "tcp_roll_pitch_yaw": [
      -0.00042,
      -0.69466,
      0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.72431,
        -0.106,
        0.68128
      ],
      [
        -0.1122,
        -0.99306,
        -0.03523
      ],
      [
        0.68029,
        -0.05092,
        -0.73117
      ]
    ],
    "simulated_seconds_remaining": 22.44,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 9.60681935492903,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.35
                  },
                  "note": "Probe: shift +0.1 in y to learn image-motion mapping and center the handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.54713,
      -0.56277,
      1.3146,
      -2.50581,
      -0.11162,
      2.85513,
      1.09358
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4492,
      0.34879,
      0.85127
    ],
    "tcp_roll_pitch_yaw": [
      -0.00044,
      -0.69475,
      0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.72426,
        -0.1058,
        0.68136
      ],
      [
        -0.11204,
        -0.99308,
        -0.03511
      ],
      [
        0.68036,
        -0.05091,
        -0.73111
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 19.214337520301342,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.0,
                    "z": 1.25,
                    "pitch": 0
                  },
                  "note": "Go to a high pose with camera pointing straight down for an overhead map of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.54713,
      -0.56277,
      1.3146,
      -2.50581,
      -0.11162,
      2.85513,
      1.09358
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4492,
      0.34879,
      0.85127
    ],
    "tcp_roll_pitch_yaw": [
      -0.00044,
      -0.69475,
      0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.72426,
        -0.1058,
        0.68136
      ],
      [
        -0.11204,
        -0.99308,
        -0.03511
      ],
      [
        0.68036,
        -0.05091,
        -0.73111
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 3.6032456047832966,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.0,
                    "z": 1.15,
                    "pitch": 0
                  },
                  "note": "High pose, camera down for overhead view (z within bounds)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 53,
    "motion_seconds": 3.498,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01821,
      -0.70314,
      0.02886,
      -1.95565,
      -0.01761,
      1.30972,
      0.11263
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30037,
      0.00071,
      1.1494
    ],
    "tcp_roll_pitch_yaw": [
      -0.0004,
      -0.00171,
      0.00044
    ],
    "tcp_rotation_matrix": [
      [
        0.99185,
        -0.1139,
        0.05708
      ],
      [
        -0.112,
        -0.99308,
        -0.03542
      ],
      [
        0.06072,
        0.02874,
        -0.99774
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 21.214673725888133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.25,
                    "z": 0.82,
                    "pitch": -0.69
                  },
                  "note": "Return to the pose where the wrist saw drawer knobs, slightly lower, to line up a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 49,
    "motion_seconds": 3.234,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.47387,
      -0.55951,
      1.13624,
      -2.75182,
      -0.06053,
      3.06455,
      0.93124
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44966,
      0.24936,
      0.82081
    ],
    "tcp_roll_pitch_yaw": [
      -0.001,
      -0.68848,
      0.00075
    ],
    "tcp_rotation_matrix": [
      [
        0.7285,
        -0.10627,
        0.67675
      ],
      [
        -0.11186,
        -0.99309,
        -0.03553
      ],
      [
        0.67585,
        -0.04982,
        -0.73535
      ]
    ],
    "simulated_seconds_remaining": 14.718,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.006621361710131,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15
                  },
                  "note": "Test moving -y to see if gripper approaches the visible drawer knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.34063,
      -0.53684,
      0.79557,
      -2.92191,
      -0.09351,
      3.19035,
      0.73053
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44968,
      0.15119,
      0.8208
    ],
    "tcp_roll_pitch_yaw": [
      -0.00093,
      -0.68842,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.72852,
        -0.10649,
        0.6767
      ],
      [
        -0.11205,
        -0.99306,
        -0.03564
      ],
      [
        0.6758,
        -0.04986,
        -0.7354
      ]
    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 17.01326089631766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.09,
                    "x": 0.5,
                    "z": 0.775
                  },
                  "note": "Center the knob (shift -y) and advance along the gripper's forward axis toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.94957,
      -0.32132,
      1.18158,
      -2.85904,
      -0.14734,
      3.44981,
      0.6074
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49928,
      0.0908,
      0.77559
    ],
    "tcp_roll_pitch_yaw": [
      -0.00103,
      -0.68823,
      0.00039
    ],
    "tcp_rotation_matrix": [
      [
        0.72863,
        -0.10666,
        0.67656
      ],
      [
        -0.11212,
        -0.99305,
        -0.0358
      ],
      [
        0.67567,
        -0.04977,
        -0.73552
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.005316189490259,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.07,
                    "z": 0.745
                  },
                  "note": "Small advance along forward axis toward the knob, nudging -y to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.94957,
      -0.32132,
      1.18158,
      -2.85904,
      -0.14734,
      3.44981,
      0.6074
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49928,
      0.0908,
      0.77559
    ],
    "tcp_roll_pitch_yaw": [
      -0.00103,
      -0.68823,
      0.00039
    ],
    "tcp_rotation_matrix": [
      [
        0.72863,
        -0.10666,
        0.67656
      ],
      [
        -0.11212,
        -0.99305,
        -0.0358
      ],
      [
        0.67567,
        -0.04977,
        -0.73552
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 5.404336534440517,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.51,
                    "y": 0.08,
                    "z": 0.765
                  },
                  "note": "Tiny advance to avoid large joint jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 6,
    "motion_seconds": 0.396,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.1487,
      -0.28929,
      1.35031,
      -2.83589,
      -0.13665,
      3.49196,
      0.57084
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50935,
      0.08065,
      0.76564
    ],
    "tcp_roll_pitch_yaw": [
      -0.00097,
      -0.6882,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.72865,
        -0.1067,
        0.67653
      ],
      [
        -0.11218,
        -0.99304,
        -0.0358
      ],
      [
        0.67564,
        -0.0498,
        -0.73555
      ]
    ],
    "simulated_seconds_remaining": 12.408,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.204222217202187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.525,
                    "y": 0.065,
                    "z": 0.75
                  },
                  "note": "Another small advance; knob is nearly centered in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.1487,
      -0.28929,
      1.35031,
      -2.83589,
      -0.13665,
      3.49196,
      0.57084
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50935,
      0.08065,
      0.76564
    ],
    "tcp_roll_pitch_yaw": [
      -0.00097,
      -0.6882,
      0.00031
    ],
    "tcp_rotation_matrix": [
      [
        0.72865,
        -0.1067,
        0.67653
      ],
      [
        -0.11218,
        -0.99304,
        -0.0358
      ],
      [
        0.67564,
        -0.0498,
        -0.73555
      ]
    ],
    "simulated_seconds_remaining": 12.408,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.404893743805587,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.3
                  },
                  "note": "Add yaw to escape the wrist joint limit that blocks further advance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.09363,
      -0.07162,
      1.07019,
      -2.80886,
      -0.56987,
      3.57102,
      0.44589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5095,
      0.08049,
      0.76574
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      -0.68835,
      0.29496
    ],
    "tcp_rotation_matrix": [
      [
        0.72976,
        0.18657,
        0.65776
      ],
      [
        0.10421,
        -0.98116,
        0.16269
      ],
      [
        0.67572,
        -0.05018,
        -0.73545
      ]
    ],
    "simulated_seconds_remaining": 11.682,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.003829951398075,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.522,
                    "z": 0.757,
                    "y": 0.07
                  },
                  "note": "Advance a small amount along the forward axis toward the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.09363,
      -0.07162,
      1.07019,
      -2.80886,
      -0.56987,
      3.57102,
      0.44589
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5095,
      0.08049,
      0.76574
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      -0.68835,
      0.29496
    ],
    "tcp_rotation_matrix": [
      [
        0.72976,
        0.18657,
        0.65776
      ],
      [
        0.10421,
        -0.98116,
        0.16269
      ],
      [
        0.67572,
        -0.05018,
        -0.73545
      ]
    ],
    "simulated_seconds_remaining": 11.682,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 19.416669027879834,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.03
                  },
                  "note": "Shift -y to center the knob between the fingers before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.15151,
      -0.03095,
      0.94207,
      -2.77994,
      -0.81468,
      3.58816,
      0.51135
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50956,
      0.03105,
      0.76576
    ],
    "tcp_roll_pitch_yaw": [
      -0.00039,
      -0.68842,
      0.2945
    ],
    "tcp_rotation_matrix": [
      [
        0.72977,
        0.1862,
        0.65785
      ],
      [
        0.10386,
        -0.98123,
        0.16251
      ],
      [
        0.67576,
        -0.05027,
        -0.73541
      ]
    ],
    "simulated_seconds_remaining": 11.022,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 20.213993915356696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close gripper to attempt grasping the knob/handle at current pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.15151,
      -0.03095,
      0.94207,
      -2.77994,
      -0.81468,
      3.58816,
      0.51135
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50956,
      0.03104,
      0.76576
    ],
    "tcp_roll_pitch_yaw": [
      -0.0004,
      -0.68842,
      0.29451
    ],
    "tcp_rotation_matrix": [
      [
        0.72977,
        0.1862,
        0.65785
      ],
      [
        0.10387,
        -0.98122,
        0.16251
      ],
      [
        0.67576,
        -0.05027,
        -0.73541
      ]
    ],
    "simulated_seconds_remaining": 10.098,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.414627223275602,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.483,
                    "y": 0.05,
                    "z": 0.741
                  },
                  "note": "Nothing was grasped; reopen and shift so the knob aligns with the finger gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.11313,
      -0.0,
      1.0292,
      -2.90367,
      -0.44938,
      3.66524,
      0.22606
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.48354,
      0.04965,
      0.74152
    ],
    "tcp_roll_pitch_yaw": [
      -0.00029,
      -0.68836,
      0.29458
    ],
    "tcp_rotation_matrix": [
      [
        0.72981,
        0.18634,
        0.65776
      ],
      [
        0.10393,
        -0.98119,
        0.16266
      ],
      [
        0.6757,
        -0.05035,
        -0.73546
      ]
    ],
    "simulated_seconds_remaining": 9.174,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 27.22202141303569,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.02
                  },
                  "note": "Advance in +x toward the drawer front and align y with the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.163,
      0.06824,
      0.98255,
      -2.84846,
      -0.52497,
      3.63296,
      0.18871
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49948,
      0.02093,
      0.74154
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      -0.68841,
      0.2943
    ],
    "tcp_rotation_matrix": [
      [
        0.72982,
        0.18611,
        0.65782
      ],
      [
        0.10371,
        -0.98123,
        0.16255
      ],
      [
        0.67573,
        -0.05042,
        -0.73542
      ]
    ],
    "simulated_seconds_remaining": 8.646,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 3.8035048227757215,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53
                  },
                  "note": "Continue advancing +x to bring the knob into the finger gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.08008,
      0.15083,
      0.94768,
      -2.77263,
      -0.38523,
      3.58095,
      0.05999
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.529,
      0.02094,
      0.74159
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.68853,
      0.29432
    ],
    "tcp_rotation_matrix": [
      [
        0.72973,
        0.18614,
        0.65791
      ],
      [
        0.1037,
        -0.98123,
        0.1626
      ],
      [
        0.67582,
        -0.05043,
        -0.73534
      ]
    ],
    "simulated_seconds_remaining": 8.118,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 8.42932540550828,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Attempt grasp at this advanced pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.08008,
      0.15083,
      0.94768,
      -2.77263,
      -0.38523,
      3.58095,
      0.05999
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52901,
      0.02094,
      0.74159
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.68853,
      0.29432
    ],
    "tcp_rotation_matrix": [
      [
        0.72974,
        0.18614,
        0.6579
      ],
      [
        0.1037,
        -0.98123,
        0.1626
      ],
      [
        0.67582,
        -0.05043,
        -0.73534
      ]
    ],
    "simulated_seconds_remaining": 7.194,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 19.01604923326522,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "pitch": -0.35,
                    "yaw": 0,
                    "x": 0.6,
                    "z": 0.8
                  },
                  "note": "Reorient to a shallower pitch and extend further forward to reach the drawer front, which may be beyond previous reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -1.08008,
      0.15083,
      0.94768,
      -2.77263,
      -0.38523,
      3.58095,
      0.05999
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52901,
      0.02094,
      0.74159
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.68853,
      0.29432
    ],
    "tcp_rotation_matrix": [
      [
        0.72974,
        0.18614,
        0.6579
      ],
      [
        0.1037,
        -0.98123,
        0.1626
      ],
      [
        0.67582,
        -0.05043,
        -0.73534
      ]
    ],
    "simulated_seconds_remaining": 7.194,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 3.6032783398404717,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "yaw": 0
                  },
                  "note": "Split motion: reopen gripper and remove yaw first."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.63292,
      0.12023,
      0.83029,
      -2.76672,
      0.49292,
      3.64159,
      -0.24736
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.52918,
      0.02116,
      0.74169
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.68888,
      0.00407
    ],
    "tcp_rotation_matrix": [
      [
        0.72865,
        -0.10252,
        0.67717
      ],
      [
        -0.10948,
        -0.99345,
        -0.03261
      ],
      [
        0.67608,
        -0.05038,
        -0.7351
      ]
    ],
    "simulated_seconds_remaining": 6.27,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.204688076861203,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Knob appears right at the finger gap; 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": [
      -0.63292,
      0.12023,
      0.83029,
      -2.76672,
      0.49292,
      3.64159,
      -0.24736
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52918,
      0.02115,
      0.74169
    ],
    "tcp_roll_pitch_yaw": [
      -0.00032,
      -0.68887,
      0.00401
    ],
    "tcp_rotation_matrix": [
      [
        0.72865,
        -0.10258,
        0.67716
      ],
      [
        -0.10952,
        -0.99345,
        -0.03264
      ],
      [
        0.67608,
        -0.05038,
        -0.73511
      ]
    ],
    "simulated_seconds_remaining": 5.346,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 7.005741165019572,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "y": -0.02
                  },
                  "note": "Reopen and shift -y since the knob sits left of the finger gap in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.79817,
      0.1048,
      0.82681,
      -2.79226,
      0.23292,
      3.62221,
      -0.13074
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.52917,
      -0.01918,
      0.74168
    ],
    "tcp_roll_pitch_yaw": [
      -0.0003,
      -0.68886,
      0.00381
    ],
    "tcp_rotation_matrix": [
      [
        0.72863,
        -0.10277,
        0.67715
      ],
      [
        -0.10967,
        -0.99343,
        -0.03276
      ],
      [
        0.67607,
        -0.05039,
        -0.73512
      ]
    ],
    "simulated_seconds_remaining": 4.422,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 7.005685991607606,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.565,
                    "z": 0.705
                  },
                  "note": "Knob centered in wrist view; advance along the gripper forward axis to surround it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
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    ],
    "simulated_seconds_remaining": 3.762,
    "calls_remaining_including_this": 26
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  "api_seconds": 3.603856887668371,
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                  "note": "Final grasp attempt on the centered knob."
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              }
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          ]
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              }
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          ]
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      }
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{
  "call": 34,
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    "instruction": "open the drawer.",
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                "name": "give_up",
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}

========================================================================
Opus 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
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  "benchmark_index": 7,
  "source_episode_index": 209,
  "house_index": 20,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 27,
  "api_calls": 28,
  "wall_seconds": 222.46737408638,
  "usage": {
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    "cache_creation_input_tokens": 25946,
    "cache_read_input_tokens": 354405,
    "output_tokens": 11082
  },
  "estimated_cost_usd": 0.616695
}


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.



MODEL RESPONSES


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          "note": "Retract and raise to get a wider view of the scene to locate the cabinet."
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      }
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          "note": "Pitching the wrist to look forward horizontally to find the cabinet and its handle."
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    ],
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          "note": "Smaller pitch to tilt camera forward for a better view."
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        },
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      }
    ],
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{
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  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezdzpEnLe3WVLche1Hqa",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
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          "targets": {
            "x": 0.4,
            "y": 0.0,
            "z": 0.8,
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          "note": "Lower the arm with modest tilt to inspect below the counter edge."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze1HCFhEewG5tgY1LLf",
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        "thinking": ""
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      {
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            "x": 0.35,
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          "note": "Look toward the large dark structure on the robot's right, a candidate cabinet."
        },
        "caller": {
          "type": "direct"
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    ],
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}

{
  "api_call": 16,
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          "note": "Hover over the black box in front to see its shape/handle from above."
        },
        "caller": {
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    ],
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}

{
  "api_call": 17,
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          "note": "Move in front of and level with the box front face to locate its handle."
        },
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      }
    ],
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}

{
  "api_call": 18,
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            "x": 0.53,
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          },
          "note": "Approach the front face/handle of the box to see the handle geometry up close."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 19,
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      },
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        "input": {
          "targets": {
            "x": 0.45,
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            "pitch": -0.9
          },
          "note": "Orient gripper more horizontally in front of the door face, ready to engage the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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    }
  }
}

{
  "api_call": 20,
  "response": {
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        "input": {
          "targets": {
            "x": 0.48,
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          },
          "note": "Smaller orientation step toward horizontal approach of the door handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 21,
  "response": {
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      },
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        "input": {
          "targets": {
            "x": 0.5,
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          },
          "note": "Tiny incremental change to avoid IK jump while tilting toward the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 22,
  "response": {
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      },
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        "input": {
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            "x": 0.58,
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          },
          "note": "Advance toward the handle strip at the top of the door face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 23,
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    "id": "msg_011Ceze6fJg2tH4NJD1TtLit",
    "type": "message",
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    "content": [
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      },
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        "input": {
          "targets": {
            "gripper": 0,
            "x": 0.63,
            "z": 0.76
          },
          "note": "Close gripper and press fingers into the handle region at the top of the door to hook it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze7feHcE4nQTg9Ki2NH",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.1
          },
          "note": "Shift right to align with the door face center/handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze853iAgeWDveDHRGK6",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01PtZ7dAA5yAYCxuCEdvHevx",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "y": -0.15,
            "x": 0.66,
            "z": 0.74
          },
          "note": "Open gripper and place it around the door's near edge/handle before pulling."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      "service_tier": "standard",
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  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze8pTdzEZ45odAAtxrN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01WAmvNKV1NswozpwTTpWWMf",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.72,
            "y": -0.12,
            "gripper": 0
          },
          "note": "Advance onto the door handle region and close the gripper to grab it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "service_tier": "standard",
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  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze9awaHwcShomT5U5gx",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01WLNZ2LHBf9CFuUyyyez6aW",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "z": 0.75
          },
          "note": "Pull back to attempt opening the door."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
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      },
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  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze9u8DW4kZidPQiA4wy",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01F8vWQvQpzMbNkhNe3usn5G",
        "name": "give_up",
        "input": {
          "note": "Could not reliably identify the cabinet's door handle in the cluttered low-resolution scene; grasp attempts on the candidate appliance door failed and simulated time is nearly exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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  }
}


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": 7.206673596054316,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 1.2
                  },
                  "note": "Retract and raise to get a wider view of the scene to locate the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01666,
      -0.82459,
      0.01005,
      -1.90094,
      0.0759,
      1.23761,
      0.02726
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25079,
      0.02896,
      1.19899
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.00032,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98695,
        0.03251,
        0.1577
      ],
      [
        0.02197,
        -0.99744,
        0.06811
      ],
      [
        0.15951,
        -0.06376,
        -0.98514
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 11.2104871859774,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Pitching the wrist to look forward horizontally to find the cabinet and its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01666,
      -0.82459,
      0.01005,
      -1.90094,
      0.0759,
      1.23761,
      0.02726
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25079,
      0.02896,
      1.19899
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.00032,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98695,
        0.03251,
        0.1577
      ],
      [
        0.02197,
        -0.99744,
        0.06811
      ],
      [
        0.15951,
        -0.06376,
        -0.98514
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.0032099168747663,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8,
                    "x": 0.35,
                    "z": 1.15
                  },
                  "note": "Smaller pitch to tilt camera forward for a better view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01806,
      -1.27805,
      0.03481,
      -2.6778,
      0.0911,
      2.35378,
      -0.0429
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3495,
      0.02899,
      1.15003
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.79504,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.57751,
        0.06835,
        0.81352
      ],
      [
        0.02204,
        -0.99743,
        0.06816
      ],
      [
        0.81609,
        -0.02143,
        -0.57753
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.809506317600608,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4,
                    "z": 1.25
                  },
                  "note": "Adjust view angle upward-forward at higher z to see cabinet fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01806,
      -1.27805,
      0.03481,
      -2.6778,
      0.0911,
      2.35378,
      -0.0429
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3495,
      0.02899,
      1.15003
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.79504,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.57751,
        0.06835,
        0.81352
      ],
      [
        0.02204,
        -0.99743,
        0.06816
      ],
      [
        0.81609,
        -0.02143,
        -0.57753
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.2037958716973662,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4,
                    "z": 1.18
                  },
                  "note": "Retry within workspace bounds: view slightly forward-down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00838,
      -0.947,
      0.02148,
      -2.22655,
      0.07454,
      1.84375,
      -0.01514
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34962,
      0.029,
      1.17973
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -0.40479,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.84454,
        0.05506,
        0.53265
      ],
      [
        0.02203,
        -0.99743,
        0.06817
      ],
      [
        0.53503,
        -0.04584,
        -0.84359
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.205439406447113,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.8
                  },
                  "note": "Yaw left to scan the left part of the scene for a cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.37726,
      -0.84653,
      -0.32895,
      -2.08853,
      0.15938,
      1.66992,
      -0.71619
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34965,
      0.02897,
      1.17972
    ],
    "tcp_roll_pitch_yaw": [
      0.00025,
      -0.40472,
      0.79543
    ],
    "tcp_rotation_matrix": [
      [
        0.57553,
        0.75086,
        0.324
      ],
      [
        0.61852,
        -0.65885,
        0.42819
      ],
      [
        0.53498,
        -0.04603,
        -0.84361
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.204533730633557,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.8
                  },
                  "note": "Yaw right to scan the right side of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.3689,
      -0.91829,
      0.3724,
      -2.11811,
      -0.01707,
      1.71543,
      0.68845
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34966,
      0.029,
      1.17971
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      -0.40469,
      -0.7953
    ],
    "tcp_rotation_matrix": [
      [
        0.60696,
        -0.67376,
        0.42148
      ],
      [
        -0.58773,
        -0.73752,
        -0.33261
      ],
      [
        0.53495,
        -0.04583,
        -0.84364
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 8.207775503396988,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0,
                    "pitch": -0.2,
                    "x": 0.45,
                    "z": 1.1
                  },
                  "note": "Return to forward view and approach the counter objects to inspect the black box (possible cabinet) ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.08244,
      -0.58957,
      0.08273,
      -2.13124,
      0.12071,
      1.90096,
      -0.05375
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44949,
      0.02893,
      1.10032
    ],
    "tcp_roll_pitch_yaw": [
      -0.00024,
      -0.20065,
      -0.00452
    ],
    "tcp_rotation_matrix": [
      [
        0.93556,
        0.03998,
        0.35089
      ],
      [
        0.01778,
        -0.99764,
        0.06626
      ],
      [
        0.35271,
        -0.05576,
        -0.93407
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.007690094411373,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 1.02,
                    "pitch": -0.2
                  },
                  "note": "Move closer to the black box ahead to determine if it is the cabinet with a door handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.08972,
      -0.31154,
      0.10659,
      -2.10261,
      0.11085,
      2.14986,
      -0.05608
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54891,
      0.02892,
      1.02071
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -0.19965,
      -0.00454
    ],
    "tcp_rotation_matrix": [
      [
        0.93592,
        0.0399,
        0.34996
      ],
      [
        0.01776,
        -0.99764,
        0.06627
      ],
      [
        0.35178,
        -0.05581,
        -0.93442
      ]
    ],
    "simulated_seconds_remaining": 19.998,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.608939580619335,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.1,
                    "z": 0.97,
                    "pitch": -0.5
                  },
                  "note": "Move left and down, tilting to view the front face of the black box for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03112,
      -0.5785,
      0.2403,
      -2.60092,
      0.14657,
      2.68957,
      0.06461
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50041,
      0.09944,
      0.97038
    ],
    "tcp_roll_pitch_yaw": [
      -0.00042,
      -0.49672,
      -0.00425
    ],
    "tcp_rotation_matrix": [
      [
        0.79195,
        0.0545,
        0.60814
      ],
      [
        0.01867,
        -0.9977,
        0.06509
      ],
      [
        0.6103,
        -0.04019,
        -0.79115
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 16.213352446444333,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.0,
                    "z": 0.7,
                    "pitch": -1.0
                  },
                  "note": "Drop low and look forward to inspect the under-counter area for cabinet doors."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03112,
      -0.5785,
      0.2403,
      -2.60092,
      0.14657,
      2.68957,
      0.06461
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50041,
      0.09944,
      0.97038
    ],
    "tcp_roll_pitch_yaw": [
      -0.00042,
      -0.49672,
      -0.00425
    ],
    "tcp_rotation_matrix": [
      [
        0.79195,
        0.0545,
        0.60814
      ],
      [
        0.01867,
        -0.9977,
        0.06509
      ],
      [
        0.6103,
        -0.04019,
        -0.79115
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 3.0037691285833716,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.0,
                    "z": 0.8,
                    "pitch": -0.7
                  },
                  "note": "Intermediate lower pose with forward tilt to see below counter level."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.03112,
      -0.5785,
      0.2403,
      -2.60092,
      0.14657,
      2.68957,
      0.06461
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50041,
      0.09944,
      0.97038
    ],
    "tcp_roll_pitch_yaw": [
      -0.00042,
      -0.49672,
      -0.00425
    ],
    "tcp_rotation_matrix": [
      [
        0.79195,
        0.0545,
        0.60814
      ],
      [
        0.01867,
        -0.9977,
        0.06509
      ],
      [
        0.6103,
        -0.04019,
        -0.79115
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.4051478849723935,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.0,
                    "z": 0.8,
                    "pitch": -0.2
                  },
                  "note": "Lower the arm with modest tilt to inspect below the counter edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02308,
      -0.592,
      0.01229,
      -2.92507,
      0.17619,
      2.6862,
      -0.18622
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40044,
      0.00043,
      0.80071
    ],
    "tcp_roll_pitch_yaw": [
      -0.0004,
      -0.20121,
      -0.00434
    ],
    "tcp_rotation_matrix": [
      [
        0.93536,
        0.04015,
        0.3514
      ],
      [
        0.01797,
        -0.99765,
        0.06617
      ],
      [
        0.35323,
        -0.05558,
        -0.93388
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.406428731046617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": -0.3,
                    "z": 0.9,
                    "pitch": -0.3
                  },
                  "note": "Look toward the large dark structure on the robot's right, a candidate cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.20836,
      -0.57589,
      -0.60712,
      -2.55187,
      0.07019,
      2.3482,
      -0.85751
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35021,
      -0.29879,
      0.89962
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -0.29969,
      -0.00456
    ],
    "tcp_rotation_matrix": [
      [
        0.89611,
        0.04519,
        0.44153
      ],
      [
        0.01794,
        -0.99768,
        0.0657
      ],
      [
        0.44348,
        -0.05096,
        -0.89484
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 14.212381747551262,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.0,
                    "z": 0.85,
                    "pitch": 0
                  },
                  "note": "Hover over the black box in front to see its shape/handle from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 44,
    "motion_seconds": 2.904,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07588,
      0.05651,
      -0.10095,
      -2.06103,
      0.10043,
      2.27279,
      -0.10656
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59913,
      -0.00093,
      0.85013
    ],
    "tcp_roll_pitch_yaw": [
      -0.00039,
      -0.00098,
      -0.0043
    ],
    "tcp_rotation_matrix": [
      [
        0.98693,
        0.02826,
        0.15863
      ],
      [
        0.01779,
        -0.99759,
        0.06702
      ],
      [
        0.16015,
        -0.06332,
        -0.98506
      ]
    ],
    "simulated_seconds_remaining": 11.88,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.208831316791475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.75,
                    "pitch": -0.5
                  },
                  "note": "Move in front of and level with the box front face to locate its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.6641,
      -0.26593,
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      -3.00015,
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    "gripper_open": 0.9966,
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      -0.00033,
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    "tcp_rotation_matrix": [
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      [
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      [
        0.61019,
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    ],
    "simulated_seconds_remaining": 10.362,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.808866550214589,
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      {
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                  "note": "Approach the front face/handle of the box to see the handle geometry up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
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                  "note": "Orient gripper more horizontally in front of the door face, ready to engage the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
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{
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                  "note": "Smaller orientation step toward horizontal approach of the door handle."
                }
              }
            }
          ]
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{
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                  "note": "Tiny incremental change to avoid IK jump while tilting toward the handle."
                }
              }
            }
          ]
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      }
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{
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                  "note": "Advance toward the handle strip at the top of the door face."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
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                  "note": "Close gripper and press fingers into the handle region at the top of the door to hook it."
                }
              }
            }
          ]
        }
      }
    ]
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{
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                  "note": "Shift right to align with the door face center/handle."
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              }
            }
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{
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                  "note": "Open gripper and place it around the door's near edge/handle before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
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                  "note": "Advance onto the door handle region and close the gripper to grab it."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
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  },
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                  "note": "Pull back to attempt opening the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
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    ],
    "tcp_rotation_matrix": [
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      ],
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        -0.08051,
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    "simulated_seconds_remaining": 3.102,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not reliably identify the cabinet's door handle in the cluttered low-resolution scene; grasp attempts on the candidate appliance door failed and simulated time is nearly exhausted."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 235,
  "house_index": 21,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 27,
  "api_calls": 28,
  "wall_seconds": 319.68610167503357,
  "usage": {
    "input_tokens": 56,
    "cache_creation_input_tokens": 24515,
    "cache_read_input_tokens": 408447,
    "output_tokens": 14121
  },
  "estimated_cost_usd": 0.71074725
}


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.



MODEL RESPONSES


{
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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze1kmhnx9QrSL4P4Af3",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0134KkcEyqGhCFVQ5PzuV1fu",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_read_input_tokens": 0,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 71,
      "output_tokens_details": {
        "thinking_tokens": 47
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze1xAo1qXDKj9cSnpnJ",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01THPyLsK4DKw6MZuAeoXoAF",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.15,
            "y": -0.05,
            "z": 1.15
          },
          "note": "Retract up to get a wider view of the oven front and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "output_tokens_details": {
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze2PmBBH5W4uSRAdTbK",
    "type": "message",
    "role": "assistant",
    "content": [
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        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01VitfRgUNFbPBcsfLem9ixi",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.2
          },
          "note": "Pitch the wrist so its camera looks forward instead of down, to locate the oven door and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 915,
      "output_tokens_details": {
        "thinking_tokens": 806
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze3b6Lag39VSEoNX7u5",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015RyHcoQTKgy2BUtkaoeQ6g",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": 1.0
          },
          "note": "Try opposite pitch sign to aim wrist camera forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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        "thinking_tokens": 17
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  }
}

{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze3qUXJBBGBsnRcuaQr",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_016Mvb8Pmq8t13TM4NPkp8Dk",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.35,
            "y": 0.05,
            "z": 1.05
          },
          "note": "Move forward/left toward the oven to see its door and handle from closer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze4dxkjQFMPyApLuBKg",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_019RMDEfC7VmxcmUnM3npeWN",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.98
          },
          "note": "Descend toward the bright bar seen in wrist view, likely the oven door handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze57EM74uUx8KeHMQkc",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_019yu8cKh5UKuLVrZByEGxwV",
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        "input": {
          "targets": {
            "x": 0.42,
            "z": 1.02
          },
          "note": "Advance slightly forward at the same height to see the handle bar better in wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze5peE5ZgmebhA1r6uM",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Pii1V7B6ocK33115RdsGEd",
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        "input": {
          "targets": {
            "x": 0.3,
            "z": 1.08,
            "yaw": 1.57
          },
          "note": "Back off and rotate yaw 90° so fingers straddle a horizontal handle bar; also raise to look down on the door."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze6xMMZP1BmDsmftCvp",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 0.95
          },
          "note": "Lower to door-handle height to inspect the handle bar in the wrist view."
        },
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          "type": "direct"
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      }
    ],
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  }
}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze7Wvv7fBHZBFscXi9w",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.34,
            "z": 1.12
          },
          "note": "Rise above the suspected handle at x=0.34 to then probe downward and find the handle top by contact."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 0.9
          },
          "note": "Probe straight down at x=0.34 to detect the handle by contact/stall height."
        },
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          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceze9jN6JkCmZ56ntaxZe",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.26,
            "z": 0.95,
            "roll": 0
          },
          "note": "Retract to free space in front of the door at z=0.95 to run a horizontal probe next."
        },
        "caller": {
          "type": "direct"
        }
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    ],
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}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeATLxKQfVSU9ott7EJ",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.36
          },
          "note": "Horizontal probe forward at z=0.96 to locate the door/handle surface by contact."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeAtpdV4WcQPKzTCf9p",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.3,
            "z": 1.09
          },
          "note": "Lift clear of the door, preparing to come down onto the handle from above."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeBqr5EKWWNQAbwRvAp",
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      {
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            "x": 0.385,
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          },
          "note": "Position gripper above the handle x-location (~0.39) before descending to straddle it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 16,
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    "model": "claude-opus-5",
    "id": "msg_011CezeC81v6HJDYT9Y4s8r9",
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        "thinking": ""
      },
      {
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            "x": 0.28,
            "z": 1.0,
            "roll": 1.57,
            "pitch": 0,
            "yaw": -1.57
          },
          "note": "Reorient gripper to point forward with fingers opening vertically, to grasp the horizontal handle bar from the front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 17,
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    "model": "claude-opus-5",
    "id": "msg_011CezeHtuJF5Jn48ZF2qftg",
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        "thinking": ""
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        "input": {
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            "x": 0.3,
            "z": 1.02,
            "roll": -0.8
          },
          "note": "Gradually roll toward forward-pointing orientation (roll -1.57, yaw +1.57) which is closer to current wrist config."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 18,
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    "id": "msg_011CezeJWn3xRvMqVPJz3JKg",
    "type": "message",
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    "content": [
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "roll": -1.5,
            "z": 0.96,
            "x": 0.3
          },
          "note": "Complete roll so gripper points forward with vertical finger opening, at handle height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 19,
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    "id": "msg_011CezeK2B81RJdaHtcQLkkc",
    "type": "message",
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        "thinking": ""
      },
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        "input": {
          "targets": {
            "roll": -1.2,
            "z": 0.99
          },
          "note": "Intermediate roll; aim for near-forward gripper with near-vertical finger opening."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeKimtSqcCZevef6Ebv",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "id": "toolu_01DY4W9yVn1U6GT5BRGF1RZy",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 0,
            "x": 0.36,
            "z": 1.02
          },
          "note": "Return to downward-pointing gripper with fingers spanning x, above the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeLbZ6GmQjMe4LwEj7n",
    "type": "message",
    "role": "assistant",
    "content": [
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        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01VUPN23LEGFt77JB1BsTCVY",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.93
          },
          "note": "Descend to straddle the handle bar with the two fingers (front finger ahead of bar, rear finger in gap)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 852,
      "cache_read_input_tokens": 22720,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 852,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 155,
      "output_tokens_details": {
        "thinking_tokens": 43
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeM6wv7LydgCBGwC5kq",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01WSCgdmtvQfcKCThpuB8842",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close the gripper here to see if the handle bar is captured between the fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 644,
      "cache_read_input_tokens": 23572,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 644,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 417,
      "output_tokens_details": {
        "thinking_tokens": 318
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeMn1RfHn6c7PJr8fGS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013tpxA5R8nzjBRqiDRNjx8g",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.26,
            "z": 0.93
          },
          "note": "Gripper closed on an object (~2.4cm, the handle). Pull back along -x to start swinging the oven door open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 908,
      "cache_read_input_tokens": 24216,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 908,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 249,
      "output_tokens_details": {
        "thinking_tokens": 127
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeNbqm1zStMztrjsbM5",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019dTErPv3s83ZFzvY4Pv698",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.2,
            "z": 0.87
          },
          "note": "Continue pulling the handle out and down along the door's hinge arc."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 739,
      "cache_read_input_tokens": 25124,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 739,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 196,
      "output_tokens_details": {
        "thinking_tokens": 91
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezePBs9K86YHcVf9YrAL",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017vSvgkgqffHJK9SKwAWZRX",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.25,
            "z": 0.9
          },
          "note": "Smaller pull step (previous target unreachable): continue drawing handle out and down."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 686,
      "cache_read_input_tokens": 25863,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 686,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 142,
      "output_tokens_details": {
        "thinking_tokens": 32
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezePYcpW4ypg5Bn1JtGo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Phwu8KMofSAETkJM5x3pkY",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "z": 0.88,
            "x": 0.27
          },
          "note": "Re-close grip firmly and pull down/out in a small step along the door arc."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 632,
      "cache_read_input_tokens": 26549,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 632,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 389,
      "output_tokens_details": {
        "thinking_tokens": 273
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeQFrnJrxYNuLzUhF9q",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0167YTWgs4PojVLAGBVbKQ3J",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "roll": 0,
            "x": 0.27,
            "z": 0.95
          },
          "note": "Reset wrist roll to free IK and pull the handle straight back toward the robot."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 879,
      "cache_read_input_tokens": 27181,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 879,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 362,
      "output_tokens_details": {
        "thinking_tokens": 237
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeQqwPFVVZskk7x73KE",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FANMAvdrtKefNpFMeJm1AN",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.2
          },
          "note": "Continue pulling the grasped handle straight back at constant height to open the door."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 853,
      "cache_read_input_tokens": 28060,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 853,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 213,
      "output_tokens_details": {
        "thinking_tokens": 114
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 7.607165285386145,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.15,
                    "y": -0.05,
                    "z": 1.15
                  },
                  "note": "Retract up to get a wider view of the oven front and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      -0.03216,
      -0.92474,
      -0.04792,
      -2.01523,
      -0.11928,
      0.96486,
      0.04059
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15077,
      -0.04993,
      1.14895
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.00028,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.979,
        -0.15542,
        -0.13195
      ],
      [
        -0.16342,
        -0.98518,
        -0.05205
      ],
      [
        -0.12191,
        0.07252,
        -0.98989
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 16.01423060055822,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Pitch the wrist so its camera looks forward instead of down, to locate the oven door and 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": [
      -0.03216,
      -0.92474,
      -0.04792,
      -2.01523,
      -0.11928,
      0.96486,
      0.04059
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15077,
      -0.04993,
      1.14895
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.00028,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.979,
        -0.15542,
        -0.13195
      ],
      [
        -0.16342,
        -0.98518,
        -0.05205
      ],
      [
        -0.12191,
        0.07252,
        -0.98989
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.20357505697757,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.0
                  },
                  "note": "Try opposite pitch sign to aim wrist camera forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.03216,
      -0.92474,
      -0.04792,
      -2.01523,
      -0.11928,
      0.96486,
      0.04059
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15077,
      -0.04993,
      1.14895
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.00028,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.979,
        -0.15542,
        -0.13195
      ],
      [
        -0.16342,
        -0.98518,
        -0.05205
      ],
      [
        -0.12191,
        0.07252,
        -0.98989
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.408876604400575,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.05,
                    "z": 1.05
                  },
                  "note": "Move forward/left toward the oven to see its door and handle from closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      -0.01663,
      -0.50918,
      0.13032,
      -2.04833,
      0.02411,
      1.4057,
      0.25616
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34888,
      0.04945,
      1.05048
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -1e-05,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.97897,
        -0.15535,
        -0.13222
      ],
      [
        -0.16337,
        -0.98519,
        -0.0521
      ],
      [
        -0.12217,
        0.0726,
        -0.98985
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.805553055368364,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "Descend toward the bright bar seen in wrist view, likely the oven door handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      -0.01168,
      -0.6036,
      0.13535,
      -2.21804,
      0.0259,
      1.57486,
      0.25986
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.35057,
      0.05011,
      1.01812
    ],
    "tcp_roll_pitch_yaw": [
      -0.00273,
      -0.09409,
      0.00144
    ],
    "tcp_rotation_matrix": [
      [
        0.9863,
        -0.16036,
        -0.03859
      ],
      [
        -0.16233,
        -0.98521,
        -0.05479
      ],
      [
        -0.02923,
        0.0603,
        -0.99775
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.212362448684871,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 1.02
                  },
                  "note": "Advance slightly forward at the same height to see the handle bar better in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      -0.02733,
      -0.40804,
      0.14277,
      -2.03786,
      0.00723,
      1.42957,
      0.25972
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37022,
      0.04663,
      1.01957
    ],
    "tcp_roll_pitch_yaw": [
      -0.01734,
      0.06514,
      -0.00157
    ],
    "tcp_rotation_matrix": [
      [
        0.96886,
        -0.15077,
        -0.19643
      ],
      [
        -0.16703,
        -0.98354,
        -0.06888
      ],
      [
        -0.18281,
        0.09954,
        -0.9781
      ]
    ],
    "simulated_seconds_remaining": 24.882,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 14.41360473074019,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.08,
                    "yaw": 1.57
                  },
                  "note": "Back off and rotate yaw 90° so fingers straddle a horizontal handle bar; also raise to look down on the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.35597,
      -0.75806,
      -0.00722,
      -2.18501,
      -0.21687,
      1.42687,
      -1.08611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30018,
      0.04664,
      1.07988
    ],
    "tcp_roll_pitch_yaw": [
      -0.01751,
      0.06506,
      1.56535
    ],
    "tcp_rotation_matrix": [
      [
        0.1708,
        0.98294,
        0.06828
      ],
      [
        0.96822,
        -0.15458,
        -0.19661
      ],
      [
        -0.1827,
        0.09969,
        -0.9781
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.808664361014962,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "Lower to door-handle height to inspect the handle bar in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.35985,
      -0.85062,
      -0.02396,
      -2.54606,
      -0.23598,
      1.74648,
      -1.02741
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.3115,
      0.05031,
      0.96604
    ],
    "tcp_roll_pitch_yaw": [
      -0.07199,
      0.05052,
      1.56893
    ],
    "tcp_rotation_matrix": [
      [
        0.17359,
        0.97714,
        0.12276
      ],
      [
        0.97183,
        -0.14978,
        -0.18196
      ],
      [
        -0.15941,
        0.15088,
        -0.97561
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 18.81582288723439,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "z": 1.12
                  },
                  "note": "Rise above the suspected handle at x=0.34 to then probe downward and find the handle top by contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.34982,
      -0.65218,
      -0.02009,
      -2.03031,
      -0.22793,
      1.4397,
      -1.10975
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33978,
      0.05031,
      1.11871
    ],
    "tcp_roll_pitch_yaw": [
      -0.07216,
      0.05046,
      1.56893
    ],
    "tcp_rotation_matrix": [
      [
        0.17361,
        0.97711,
        0.12292
      ],
      [
        0.97184,
        -0.14979,
        -0.18191
      ],
      [
        -0.15933,
        0.15104,
        -0.9756
      ]
    ],
    "simulated_seconds_remaining": 19.998,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.208748381584883,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "Probe straight down at x=0.34 to detect the handle by contact/stall height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.34173,
      -0.92218,
      -0.05564,
      -2.6216,
      -0.30359,
      2.09936,
      -1.00118
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37368,
      0.05774,
      1.0006
    ],
    "tcp_roll_pitch_yaw": [
      -0.40614,
      -0.03531,
      1.59734
    ],
    "tcp_rotation_matrix": [
      [
        0.17231,
        0.88062,
        0.44137
      ],
      [
        0.98495,
        -0.14808,
        -0.08909
      ],
      [
        -0.0131,
        0.45008,
        -0.89289
      ]
    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.408091207966208,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "z": 0.95,
                    "roll": 0
                  },
                  "note": "Retract to free space in front of the door at z=0.95 to run a horizontal probe next."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.39929,
      -0.9939,
      -0.0538,
      -2.61775,
      -0.17539,
      1.68441,
      -1.05026
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.27021,
      0.05547,
      0.962
    ],
    "tcp_roll_pitch_yaw": [
      -0.04923,
      -0.03141,
      1.59931
    ],
    "tcp_rotation_matrix": [
      [
        0.14116,
        0.98456,
        0.10352
      ],
      [
        0.98648,
        -0.1311,
        -0.09829
      ],
      [
        -0.0832,
        0.11599,
        -0.98976
      ]
    ],
    "simulated_seconds_remaining": 17.094,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.4046931536868215,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36
                  },
                  "note": "Horizontal probe forward at z=0.96 to locate the door/handle surface by contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.39481,
      -0.71405,
      -0.11143,
      -2.44922,
      -0.2036,
      1.7733,
      -1.09372
    ],
    "gripper_open": 0.9804,
    "tcp_xyz": [
      0.34604,
      0.05607,
      0.96606
    ],
    "tcp_roll_pitch_yaw": [
      -0.01978,
      -0.02163,
      1.60333
    ],
    "tcp_rotation_matrix": [
      [
        0.13379,
        0.98816,
        0.07516
      ],
      [
        0.98618,
        -0.12527,
        -0.10843
      ],
      [
        -0.09773,
        0.08863,
        -0.99126
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 12.209651205688715,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.09
                  },
                  "note": "Lift clear of the door, preparing to come down onto the handle from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.4019,
      -0.76597,
      -0.05852,
      -2.16204,
      -0.17051,
      1.4319,
      -1.10792
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3005,
      0.05609,
      1.08885
    ],
    "tcp_roll_pitch_yaw": [
      -0.02007,
      -0.02172,
      1.60336
    ],
    "tcp_rotation_matrix": [
      [
        0.13379,
        0.98813,
        0.07545
      ],
      [
        0.98619,
        -0.12526,
        -0.10834
      ],
      [
        -0.0976,
        0.0889,
        -0.99125
      ]
    ],
    "simulated_seconds_remaining": 14.982,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 3.4033782463520765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.385,
                    "z": 1.06
                  },
                  "note": "Position gripper above the handle x-location (~0.39) before descending to straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.40143,
      -0.57443,
      -0.11233,
      -2.08832,
      -0.18498,
      1.53553,
      -1.14638
    ],
    "gripper_open": 0.9974,
    "tcp_xyz": [
      0.37039,
      0.05633,
      1.06747
    ],
    "tcp_roll_pitch_yaw": [
      0.00163,
      -0.01812,
      1.60583
    ],
    "tcp_rotation_matrix": [
      [
        0.12875,
        0.99018,
        0.05439
      ],
      [
        0.98613,
        -0.12205,
        -0.11244
      ],
      [
        -0.1047,
        0.06811,
        -0.99217
      ]
    ],
    "simulated_seconds_remaining": 14.058,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 55.249022951349616,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "z": 1.0,
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": -1.57
                  },
                  "note": "Reorient gripper to point forward with fingers opening vertically, to grasp the horizontal handle bar from the 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 oven.",
    "joint_positions": [
      0.40143,
      -0.57443,
      -0.11233,
      -2.08832,
      -0.18498,
      1.53553,
      -1.14638
    ],
    "gripper_open": 0.9974,
    "tcp_xyz": [
      0.37039,
      0.05633,
      1.06747
    ],
    "tcp_roll_pitch_yaw": [
      0.00163,
      -0.01812,
      1.60583
    ],
    "tcp_rotation_matrix": [
      [
        0.12875,
        0.99018,
        0.05439
      ],
      [
        0.98613,
        -0.12205,
        -0.11244
      ],
      [
        -0.1047,
        0.06811,
        -0.99217
      ]
    ],
    "simulated_seconds_remaining": 14.058,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 30.62960367742926,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.02,
                    "roll": -0.8
                  },
                  "note": "Gradually roll toward forward-pointing orientation (roll -1.57, yaw +1.57) which is closer to current wrist config."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.36195,
      -1.5157,
      0.06717,
      -2.97018,
      -0.3912,
      2.1906,
      -0.88235
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30029,
      0.05633,
      1.02025
    ],
    "tcp_roll_pitch_yaw": [
      -0.79567,
      -0.01799,
      1.60586
    ],
    "tcp_rotation_matrix": [
      [
        0.16723,
        0.64315,
        0.74726
      ],
      [
        0.98471,
        -0.14649,
        -0.09428
      ],
      [
        0.04883,
        0.7516,
        -0.65781
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.806351341307163,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.5,
                    "z": 0.96,
                    "x": 0.3
                  },
                  "note": "Complete roll so gripper points forward with vertical finger opening, at handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.36195,
      -1.5157,
      0.06717,
      -2.97018,
      -0.3912,
      2.1906,
      -0.88235
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30029,
      0.05633,
      1.02025
    ],
    "tcp_roll_pitch_yaw": [
      -0.79567,
      -0.01799,
      1.60586
    ],
    "tcp_rotation_matrix": [
      [
        0.16723,
        0.64315,
        0.74726
      ],
      [
        0.98471,
        -0.14649,
        -0.09428
      ],
      [
        0.04883,
        0.7516,
        -0.65781
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 9.408854518085718,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.2,
                    "z": 0.99
                  },
                  "note": "Intermediate roll; aim for near-forward gripper with near-vertical finger opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.36195,
      -1.5157,
      0.06717,
      -2.97018,
      -0.3912,
      2.1906,
      -0.88235
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30029,
      0.05633,
      1.02025
    ],
    "tcp_roll_pitch_yaw": [
      -0.79567,
      -0.01799,
      1.60586
    ],
    "tcp_rotation_matrix": [
      [
        0.16723,
        0.64315,
        0.74726
      ],
      [
        0.98471,
        -0.14649,
        -0.09428
      ],
      [
        0.04883,
        0.7516,
        -0.65781
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.209812778048217,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "x": 0.36,
                    "z": 1.02
                  },
                  "note": "Return to downward-pointing gripper with fingers spanning x, above the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.40785,
      -0.65357,
      -0.11037,
      -2.25098,
      -0.19274,
      1.60991,
      -1.12002
    ],
    "gripper_open": 0.9737,
    "tcp_xyz": [
      0.35132,
      0.05625,
      1.02558
    ],
    "tcp_roll_pitch_yaw": [
      0.00725,
      -0.01496,
      1.60718
    ],
    "tcp_rotation_matrix": [
      [
        0.12674,
        0.99072,
        0.04909
      ],
      [
        0.98596,
        -0.1204,
        -0.11569
      ],
      [
        -0.10871,
        0.06307,
        -0.99207
      ]
    ],
    "simulated_seconds_remaining": 11.286,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.405955306254327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "Descend to straddle the handle bar with the two fingers (front finger ahead of bar, rear finger in gap)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.40166,
      -0.83744,
      -0.12448,
      -2.47959,
      -0.21506,
      1.90247,
      -1.0893
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.36185,
      0.06035,
      1.0091
    ],
    "tcp_roll_pitch_yaw": [
      -0.22955,
      -0.09205,
      1.62855
    ],
    "tcp_rotation_matrix": [
      [
        0.12991,
        0.95176,
        0.27798
      ],
      [
        0.99149,
        -0.12711,
        -0.02816
      ],
      [
        0.00853,
        0.27928,
        -0.96017
      ]
    ],
    "simulated_seconds_remaining": 10.362,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 8.607760396786034,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close the gripper here to see if the handle bar is captured between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.40235,
      -0.84041,
      -0.12305,
      -2.47935,
      -0.21358,
      1.83861,
      -1.09002
    ],
    "gripper_open": 0.2985,
    "tcp_xyz": [
      0.34757,
      0.05523,
      1.00116
    ],
    "tcp_roll_pitch_yaw": [
      -0.17149,
      -0.07573,
      1.61815
    ],
    "tcp_rotation_matrix": [
      [
        0.13513,
        0.96547,
        0.22272
      ],
      [
        0.99066,
        -0.12752,
        -0.04825
      ],
      [
        -0.01818,
        0.22716,
        -0.97369
      ]
    ],
    "simulated_seconds_remaining": 9.438,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.609499048441648,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "z": 0.93
                  },
                  "note": "Gripper closed on an object (~2.4cm, the handle). Pull back along -x to start swinging the oven door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the oven.",
    "joint_positions": [
      0.40166,
      -1.19141,
      -0.06418,
      -2.78854,
      -0.22661,
      1.89147,
      -1.03515
    ],
    "gripper_open": 0.3008,
    "tcp_xyz": [
      0.28276,
      0.05597,
      0.95622
    ],
    "tcp_roll_pitch_yaw": [
      -0.28079,
      -0.07623,
      1.63636
    ],
    "tcp_rotation_matrix": [
      [
        0.12615,
        0.93637,
        0.32756
      ],
      [
        0.99201,
        -0.11995,
        -0.03914
      ],
      [
        0.00264,
        0.32988,
        -0.94402
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    ],
    "simulated_seconds_remaining": 8.382,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.8071879697963595,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 0.87
                  },
                  "note": "Continue pulling the handle out and down along the door's hinge arc."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
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  "state": {
    "instruction": "open the oven.",
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    "gripper_open": 0.3008,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
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      1.63636
    ],
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                  },
                  "note": "Smaller pull step (previous target unreachable): continue drawing handle out and down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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{
  "call": 25,
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    "instruction": "open the oven.",
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      ],
      [
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    ],
    "simulated_seconds_remaining": 7.656,
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  "api_seconds": 9.611151938326657,
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                  "targets": {
                    "gripper": 0,
                    "z": 0.88,
                    "x": 0.27
                  },
                  "note": "Re-close grip firmly and pull down/out in a small step along the door arc."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the oven.",
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      -1.38341,
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      -2.95758,
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      1.68371
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  },
  "api_seconds": 7.20686353277415,
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      {
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            {
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                "args": {
                  "targets": {
                    "gripper": 0,
                    "roll": 0,
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                    "z": 0.95
                  },
                  "note": "Reset wrist roll to free IK and pull the handle straight back toward the robot."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
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{
  "call": 27,
  "state": {
    "instruction": "open the oven.",
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      0.45874,
      -0.97299,
      -0.11086,
      -2.62484,
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    "gripper_open": 0.2777,
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      -0.05484,
      1.68586
    ],
    "tcp_rotation_matrix": [
      [
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      ],
      [
        0.99647,
        -0.04533,
        -0.07066
      ],
      [
        -0.06742,
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        -0.9953
      ]
    ],
    "simulated_seconds_remaining": 6.732,
    "calls_remaining_including_this": 31
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  "api_seconds": 7.00684903934598,
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    "candidates": [
      {
        "content": {
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          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2
                  },
                  "note": "Continue pulling the grasped handle straight back at constant height to open the door."
                }
              }
            }
          ]
        }
      }
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  "execution": {
    "steps": 12,
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    "status": "executing; next observation shows actual arrival"
  }
}

========================================================================
Opus 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,
  "source_episode_index": 401,
  "house_index": 22,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 15,
  "api_calls": 16,
  "wall_seconds": 167.38220477104187,
  "usage": {
    "input_tokens": 32,
    "cache_creation_input_tokens": 16311,
    "cache_read_input_tokens": 124493,
    "output_tokens": 7641
  },
  "estimated_cost_usd": 0.35537525
}


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.



MODEL RESPONSES


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{
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    "model": "claude-opus-5",
    "id": "msg_011CezeBttNyrbdpcGGvXQo6",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "y": 0.25,
            "z": 1.0
          },
          "note": "Moving forward-left toward the cabinet seen on the left side to get a better view of its handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
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    "model": "claude-opus-5",
    "id": "msg_011CezeCRFVdmgTgQeVbe3uc",
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            "z": 1.05
          },
          "note": "Continue left to bring the grey cabinet door with yellow handle into wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeCtsB9BuV35BnGBwHr",
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        "input": {
          "targets": {
            "pitch": -1.57
          },
          "note": "Pitching the gripper to point forward so the wrist camera shows what's ahead, to find the cabinet door handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeDqVneeoFAqhozdXZh",
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          "note": "Moving further left and slightly down to search for the yellow handle on the grey cabinet door."
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{
  "api_call": 6,
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    "id": "msg_011CezeEZacHgUAfQVipUSdy",
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        "input": {
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          "note": "Approaching the cabinet face to better resolve the yellow handle features seen in wrist view."
        },
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        }
      }
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{
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    "model": "claude-opus-5",
    "id": "msg_011CezeF3yexjshDZjBUCUh1",
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          },
          "note": "Backing off and raising to get a wider wrist view of the cabinet front and locate the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeG37MWGDcWTG7MxcXu",
    "type": "message",
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        "input": {
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          "note": "Yellow handle marks appeared to the image right, which maps to smaller y; moving right to center them."
        },
        "caller": {
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        }
      }
    ],
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{
  "api_call": 9,
  "response": {
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    "id": "msg_011CezeHHDCFeyVTVexJ8h7U",
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          "note": "Handle appears between y=0.35 and 0.6; centering at y=0.47 and slightly lower to look at it."
        },
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{
  "api_call": 10,
  "response": {
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          "type": "direct"
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{
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          "note": "Exterior view shows the yellow handle left of and below the gripper; moving to y=0.65,z=1.0 facing forward to inspect it closely."
        },
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    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1757,
      "cache_read_input_tokens": 10069,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1757,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 386,
      "output_tokens_details": {
        "thinking_tokens": 236
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeLVrHgRGzt7sdL3CeV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019gnBsLgfCCrSqiAKHLmzDm",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.62,
            "z": 1.05,
            "x": 0.55
          },
          "note": "Two vertical handles with yellow tips visible; approaching the nearer left one at ~y=0.62, z=1.05."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 877,
      "cache_read_input_tokens": 11826,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 877,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 559,
      "output_tokens_details": {
        "thinking_tokens": 428
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeML8BGfrP2U6SfQfRf",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01G8zujEtfcz26pvgWzQBCGh",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.58,
            "z": 0.98
          },
          "note": "Yellow handle tip appears slightly right and below center; shifting to y=0.58, z=0.98 to align the fingers with the vertical handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1049,
      "cache_read_input_tokens": 12703,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1049,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 389,
      "output_tokens_details": {
        "thinking_tokens": 258
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeN4cYkCxtPBS9u7EKh",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01BDCYZNyLmouwarcicXvMDj",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.58,
            "y": 0.6,
            "z": 1.0,
            "pitch": -1.57,
            "yaw": 0.0,
            "roll": 0.0,
            "gripper": 1
          },
          "note": "Resetting orientation forward and advancing to the estimated handle location to attempt a grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 881,
      "cache_read_input_tokens": 13752,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 881,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 409,
      "output_tokens_details": {
        "thinking_tokens": 251
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeNeRHz2kcdBNVRPDiF",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_011czRyeruKyrUCqc4cJanqZ",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.93,
            "y": 0.57
          },
          "note": "Cannot advance further in x (likely at door face); moving down-right where the yellow handle tip appears in wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 899,
      "cache_read_input_tokens": 14633,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 899,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 287,
      "output_tokens_details": {
        "thinking_tokens": 166
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezePJiQFPT2LuQRr7Ahi",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MUgN4LTMV2UUvwnQZfZZXi",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "y": 0.6,
            "z": 0.98,
            "roll": 0,
            "pitch": -1.57,
            "yaw": 0
          },
          "note": "Backing away to clear the collision and restore a clean forward-facing orientation before re-approaching the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 779,
      "cache_read_input_tokens": 15532,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 779,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 447,
      "output_tokens_details": {
        "thinking_tokens": 297
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 9.60811987798661,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.25,
                    "z": 1.0
                  },
                  "note": "Moving forward-left toward the cabinet seen on the left side to get a better view of its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07402,
      -0.2657,
      0.41504,
      -1.95287,
      0.11323,
      1.65355,
      0.441
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39939,
      0.24879,
      1.00006
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00011,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.99847,
        0.02011,
        -0.05148
      ],
      [
        0.01917,
        -0.99964,
        -0.01876
      ],
      [
        -0.05184,
        0.01775,
        -0.9985
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.805548744276166,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.45,
                    "z": 1.05
                  },
                  "note": "Continue left to bring the grey cabinet door with yellow handle into wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.37468,
      0.42814,
      0.59819,
      -1.03742,
      -0.21051,
      1.35584,
      0.87443
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44963,
      0.44881,
      1.04963
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00025,
      0.00045
    ],
    "tcp_rotation_matrix": [
      [
        0.99846,
        0.02042,
        -0.05162
      ],
      [
        0.01947,
        -0.99963,
        -0.01876
      ],
      [
        -0.05198,
        0.01773,
        -0.99849
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.00961123779416,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Pitching the gripper to point forward so the wrist camera shows what's ahead, to find the cabinet door handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.23185,
      -0.14738,
      0.83036,
      -2.19928,
      -1.69466,
      2.07872,
      2.12406
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44965,
      0.44871,
      1.04933
    ],
    "tcp_roll_pitch_yaw": [
      -0.08783,
      -1.56482,
      0.08774
    ],
    "tcp_rotation_matrix": [
      [
        0.05767,
        -0.01765,
        0.99818
      ],
      [
        0.01954,
        -0.99963,
        -0.01881
      ],
      [
        0.99814,
        0.02059,
        -0.05731
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.408078375272453,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.6,
                    "z": 0.95
                  },
                  "note": "Moving further left and slightly down to search for the yellow handle on the grey cabinet door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.54529,
      0.55993,
      0.84031,
      -1.78378,
      -1.9949,
      1.58397,
      2.10355
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44963,
      0.59891,
      0.95063
    ],
    "tcp_roll_pitch_yaw": [
      -0.09731,
      -1.5646,
      0.09734
    ],
    "tcp_rotation_matrix": [
      [
        0.05788,
        -0.01752,
        0.99817
      ],
      [
        0.01963,
        -0.99963,
        -0.01868
      ],
      [
        0.99813,
        0.02067,
        -0.05752
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.205177014693618,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Approaching the cabinet face to better resolve the yellow handle features seen in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.50731,
      0.66075,
      0.78255,
      -1.61826,
      -2.08281,
      1.70571,
      2.03916
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.53319,
      0.60355,
      0.95059
    ],
    "tcp_roll_pitch_yaw": [
      0.05838,
      -1.5577,
      -0.059
    ],
    "tcp_rotation_matrix": [
      [
        0.0648,
        -0.01805,
        0.99774
      ],
      [
        0.01822,
        -0.99965,
        -0.01926
      ],
      [
        0.99773,
        0.01943,
        -0.06444
      ]
    ],
    "simulated_seconds_remaining": 21.252,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 12.810110829770565,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.15
                  },
                  "note": "Backing off and raising to get a wider wrist view of the cabinet front and locate the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.5127,
      0.33942,
      0.97073,
      -1.61174,
      -1.80072,
      1.61399,
      1.77782
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40061,
      0.60362,
      1.14904
    ],
    "tcp_roll_pitch_yaw": [
      0.07585,
      -1.55783,
      -0.07626
    ],
    "tcp_rotation_matrix": [
      [
        0.06465,
        -0.01784,
        0.99775
      ],
      [
        0.01802,
        -0.99966,
        -0.01904
      ],
      [
        0.99775,
        0.01921,
        -0.0643
      ]
    ],
    "simulated_seconds_remaining": 19.338,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 16.216593354009092,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.35
                  },
                  "note": "Yellow handle marks appeared to the image right, which maps to smaller y; moving right to center them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.36383,
      -0.63417,
      0.53205,
      -2.39624,
      -1.42774,
      2.38363,
      1.84588
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40065,
      0.3513,
      1.14908
    ],
    "tcp_roll_pitch_yaw": [
      0.07409,
      -1.55793,
      -0.07469
    ],
    "tcp_rotation_matrix": [
      [
        0.06455,
        -0.01803,
        0.99775
      ],
      [
        0.01803,
        -0.99965,
        -0.01923
      ],
      [
        0.99775,
        0.01924,
        -0.0642
      ]
    ],
    "simulated_seconds_remaining": 17.358,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.807457013987005,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.47,
                    "z": 1.08
                  },
                  "note": "Handle appears between y=0.35 and 0.6; centering at y=0.47 and slightly lower to look at it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.26209,
      -0.22114,
      0.88742,
      -2.17131,
      -1.5506,
      2.04546,
      2.02849
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40065,
      0.46886,
      1.08059
    ],
    "tcp_roll_pitch_yaw": [
      0.05925,
      -1.55778,
      -0.05971
    ],
    "tcp_rotation_matrix": [
      [
        0.06471,
        -0.01789,
        0.99774
      ],
      [
        0.01822,
        -0.99965,
        -0.0191
      ],
      [
        0.99774,
        0.01942,
        -0.06436
      ]
    ],
    "simulated_seconds_remaining": 16.17,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 22.2158517902717,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "yaw": 0.6
                  },
                  "note": "Backing off and yawing the wrist to the left to survey the cabinet doors and handles in one view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.4773,
      -0.49348,
      0.43755,
      -2.37173,
      -2.39423,
      2.82458,
      2.62227
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35035,
      0.46893,
      1.08075
    ],
    "tcp_roll_pitch_yaw": [
      0.10775,
      -1.55817,
      0.54698
    ],
    "tcp_rotation_matrix": [
      [
        0.04021,
        0.59491,
        0.80278
      ],
      [
        0.05314,
        -0.80357,
        0.59283
      ],
      [
        0.99778,
        0.01883,
        -0.06393
      ]
    ],
    "simulated_seconds_remaining": 14.982,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.208142586052418,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.65,
                    "z": 1.0,
                    "yaw": 0.0,
                    "x": 0.45
                  },
                  "note": "Exterior view shows the yellow handle left of and below the gripper; moving to y=0.65,z=1.0 facing forward to inspect it closely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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      -1.55798,
      -0.0008
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    "tcp_rotation_matrix": [
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      [
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      [
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    "calls_remaining_including_this": 47
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  "api_seconds": 11.009017915464938,
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                  "note": "Two vertical handles with yellow tips visible; approaching the nearer left one at ~y=0.62, z=1.05."
                }
              }
            }
          ]
        }
      }
    ]
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{
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  "state": {
    "instruction": "open the cabinet.",
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              }
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{
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                    "gripper": 1
                  },
                  "note": "Resetting orientation forward and advancing to the estimated handle location to attempt a grasp."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 14,
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      -2.73304
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    "tcp_rotation_matrix": [
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                    "z": 0.93,
                    "y": 0.57
                  },
                  "note": "Cannot advance further in x (likely at door face); moving down-right where the yellow handle tip appears in wrist view."
                }
              }
            }
          ]
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      }
    ]
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{
  "call": 15,
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    "instruction": "open the cabinet.",
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      -3.1354
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    "tcp_rotation_matrix": [
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        -0.24416,
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      [
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    ],
    "simulated_seconds_remaining": 9.57,
    "calls_remaining_including_this": 43
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  "api_seconds": 10.008766048587859,
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      {
        "content": {
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                    "x": 0.42,
                    "y": 0.6,
                    "z": 0.98,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0
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                  "note": "Backing away to clear the collision and restore a clean forward-facing orientation before re-approaching the handle."
                }
              }
            }
          ]
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  }
}

========================================================================
Opus 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,
  "source_episode_index": 493,
  "house_index": 24,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 26,
  "api_calls": 27,
  "wall_seconds": 184.57097053527832,
  "usage": {
    "input_tokens": 54,
    "cache_creation_input_tokens": 22705,
    "cache_read_input_tokens": 289567,
    "output_tokens": 8266
  },
  "estimated_cost_usd": 0.49360975
}


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.



MODEL RESPONSES


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{
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        "thinking": ""
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          "note": "Retract and raise to get a wider view of the cabinet."
        },
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        }
      }
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          "note": "Raise higher to clear the obstruction and see the cabinet front."
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          "note": "Rotate gripper from downward to forward-facing to see and grasp a cabinet handle."
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{
  "api_call": 11,
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    "id": "msg_011CezeVJf68wCiEAgaXybeb",
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          "note": "Try larger pitch now in new arm configuration."
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{
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          "note": "Combine small pitch increase with slight lowering."
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{
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          "note": "Advance toward the wooden cabinet front to inspect for a handle."
        },
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{
  "api_call": 14,
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          "note": "Look toward the left side where wooden cabinet panels appear in the exterior view."
        },
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}

{
  "api_call": 15,
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          "note": "Raise and turn gripper camera left-forward to survey the scene for the cabinet."
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{
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          "note": "Return in front, lower below the countertop to inspect the cabinet door and handle."
        },
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{
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          },
          "note": "Move closer to the surface ahead to identify the handle before grasping."
        },
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{
  "api_call": 18,
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          },
          "note": "Back off from contact and aim more forward to view the front face and its vertical handle."
        },
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      }
    ],
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{
  "api_call": 19,
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          },
          "note": "Back off from contact with a modest forward-facing pitch that IK can handle."
        },
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      }
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}

{
  "api_call": 20,
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          "note": "Lower to inspect lower portion of the front face for a handle."
        },
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      }
    ],
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}

{
  "api_call": 21,
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        "input": {
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          "note": "Approach the front face at mid height to look for a handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 22,
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        "input": {
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          },
          "note": "Scan to the right along the front face looking for a handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 23,
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    "type": "message",
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            "y": 0.2,
            "z": 0.97,
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          },
          "note": "Scan to the left side of the front face for a handle."
        },
        "caller": {
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        }
      }
    ],
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}

{
  "api_call": 24,
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    "id": "msg_011CezedAG3oqQHu1wBdqE8g",
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        "thinking": ""
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        "input": {
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            "x": 0.45,
            "y": 0.1,
            "z": 1.0,
            "pitch": -0.3,
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          },
          "note": "Rotate fingers to open vertically and place them around the front edge/handle of the object."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezee6b4rVZ9CArxw7QnT",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
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            "z": 0.99,
            "pitch": -0.5,
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            "yaw": 0.0,
            "gripper": 1
          },
          "note": "Return to front face edge with fingers open to attempt grasping the handle/edge."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeejLuZVXMzGS4QNUBV",
    "type": "message",
    "role": "assistant",
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          },
          "note": "Last attempt: close on the edge/handle and pull backward to open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 27,
  "response": {
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    "id": "msg_011Cezef9BruR5HnpQ4YQ2CS",
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      {
        "type": "tool_use",
        "id": "toolu_01VptnUHvYvAnUwpSUTMfrxa",
        "name": "give_up",
        "input": {
          "note": "Could not localize the cabinet handle in the dim scene; repeated IK failures and collisions consumed the motion budget without opening anything."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}


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": 6.609335400164127,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.2
                  },
                  "note": "Retract and raise to get a wider view of the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00281,
      -0.82566,
      -0.02508,
      -1.90316,
      0.04782,
      0.9406,
      0.14033
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17438,
      0.00537,
      1.17127
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      0.12697,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.98214,
        -0.13019,
        -0.13586
      ],
      [
        -0.12319,
        -0.99064,
        0.0588
      ],
      [
        -0.14224,
        -0.04101,
        -0.98898
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.60500312782824,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.15,
                    "y": 0.0,
                    "z": 1.35
                  },
                  "note": "Raise higher to clear the obstruction and see the cabinet front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00281,
      -0.82566,
      -0.02508,
      -1.90316,
      0.04782,
      0.9406,
      0.14033
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17438,
      0.00537,
      1.17127
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      0.12697,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.98214,
        -0.13019,
        -0.13586
      ],
      [
        -0.12319,
        -0.99064,
        0.0588
      ],
      [
        -0.14224,
        -0.04101,
        -0.98898
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.009242239408195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Rotate gripper from downward to forward-facing to see and grasp a cabinet handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00281,
      -0.82566,
      -0.02508,
      -1.90316,
      0.04782,
      0.9406,
      0.14033
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17438,
      0.00537,
      1.17127
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      0.12697,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.98214,
        -0.13019,
        -0.13586
      ],
      [
        -0.12319,
        -0.99064,
        0.0588
      ],
      [
        -0.14224,
        -0.04101,
        -0.98898
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.20290354359895,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "z": 1.1
                  },
                  "note": "Smaller pitch step downward-forward, slightly lower, to stay reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01617,
      -1.69224,
      -0.02772,
      -2.64185,
      0.04984,
      1.63393,
      0.09434
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17428,
      0.00537,
      1.10036
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      -0.69557,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.77267,
        -0.05683,
        0.63226
      ],
      [
        -0.1243,
        -0.99025,
        0.06289
      ],
      [
        0.62252,
        -0.12718,
        -0.7722
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.403246876783669,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Continue rotating gripper 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 cabinet.",
    "joint_positions": [
      -0.01617,
      -1.69224,
      -0.02772,
      -2.64185,
      0.04984,
      1.63393,
      0.09434
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17428,
      0.00537,
      1.10036
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      -0.69557,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.77267,
        -0.05683,
        0.63226
      ],
      [
        -0.1243,
        -0.99025,
        0.06289
      ],
      [
        0.62252,
        -0.12718,
        -0.7722
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.0028479881584644,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1,
                    "z": 1.0,
                    "x": 0.25
                  },
                  "note": "Combine modest pitch with lower/forward position to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01617,
      -1.69224,
      -0.02772,
      -2.64185,
      0.04984,
      1.63393,
      0.09434
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17428,
      0.00537,
      1.10036
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      -0.69557,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.77267,
        -0.05683,
        0.63226
      ],
      [
        -0.1243,
        -0.99025,
        0.06289
      ],
      [
        0.62252,
        -0.12718,
        -0.7722
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.003609591163695,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Small incremental pitch to probe IK limit."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01617,
      -1.69224,
      -0.02772,
      -2.64185,
      0.04984,
      1.63393,
      0.09434
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17428,
      0.00537,
      1.10036
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      -0.69557,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.77267,
        -0.05683,
        0.63226
      ],
      [
        -0.1243,
        -0.99025,
        0.06289
      ],
      [
        0.62252,
        -0.12718,
        -0.7722
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.0041881231591105,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 0.9
                  },
                  "note": "Move forward and down to change arm configuration away from joint limit."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01617,
      -1.69224,
      -0.02772,
      -2.64185,
      0.04984,
      1.63393,
      0.09434
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.17428,
      0.00537,
      1.10036
    ],
    "tcp_roll_pitch_yaw": [
      0.00103,
      -0.69557,
      0.00532
    ],
    "tcp_rotation_matrix": [
      [
        0.77267,
        -0.05683,
        0.63226
      ],
      [
        -0.1243,
        -0.99025,
        0.06289
      ],
      [
        0.62252,
        -0.12718,
        -0.7722
      ]
    ],
    "simulated_seconds_remaining": 27.06,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 3.604146777652204,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25
                  },
                  "note": "Small forward step to test reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00984,
      -1.48253,
      -0.02253,
      -2.65751,
      0.05533,
      1.85886,
      0.08573
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.24869,
      0.00537,
      1.10028
    ],
    "tcp_roll_pitch_yaw": [
      0.00104,
      -0.69525,
      0.00533
    ],
    "tcp_rotation_matrix": [
      [
        0.77287,
        -0.05686,
        0.63201
      ],
      [
        -0.12429,
        -0.99025,
        0.0629
      ],
      [
        0.62227,
        -0.12717,
        -0.7724
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 3.4048487823456526,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Try larger pitch now in new arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00984,
      -1.48253,
      -0.02253,
      -2.65751,
      0.05533,
      1.85886,
      0.08573
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.24869,
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      1.10028
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    "tcp_roll_pitch_yaw": [
      0.00104,
      -0.69525,
      0.00533
    ],
    "tcp_rotation_matrix": [
      [
        0.77287,
        -0.05686,
        0.63201
      ],
      [
        -0.12429,
        -0.99025,
        0.0629
      ],
      [
        0.62227,
        -0.12717,
        -0.7724
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.204671151004732,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "z": 1.05
                  },
                  "note": "Combine small pitch increase with slight lowering."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00984,
      -1.48253,
      -0.02253,
      -2.65751,
      0.05533,
      1.85886,
      0.08573
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.24869,
      0.00537,
      1.10028
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    "tcp_roll_pitch_yaw": [
      0.00104,
      -0.69525,
      0.00533
    ],
    "tcp_rotation_matrix": [
      [
        0.77287,
        -0.05686,
        0.63201
      ],
      [
        -0.12429,
        -0.99025,
        0.0629
      ],
      [
        0.62227,
        -0.12717,
        -0.7724
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 10.007872210815549,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.05
                  },
                  "note": "Advance toward the wooden cabinet front to inspect for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00933,
      -1.01479,
      -0.02185,
      -2.67569,
      0.06988,
      2.34446,
      0.06252
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39875,
      0.00537,
      1.05031
    ],
    "tcp_roll_pitch_yaw": [
      0.00105,
      -0.69494,
      0.00533
    ],
    "tcp_rotation_matrix": [
      [
        0.77307,
        -0.05689,
        0.63176
      ],
      [
        -0.12429,
        -0.99025,
        0.06291
      ],
      [
        0.62202,
        -0.12716,
        -0.7726
      ]
    ],
    "simulated_seconds_remaining": 24.882,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 7.806240839883685,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.35,
                    "z": 1.05,
                    "pitch": -0.3
                  },
                  "note": "Look toward the left side where wooden cabinet panels appear in the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 41,
    "motion_seconds": 2.706,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07142,
      -0.65371,
      0.64222,
      -2.13255,
      0.25519,
      1.85612,
      0.73534
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30036,
      0.34874,
      1.04999
    ],
    "tcp_roll_pitch_yaw": [
      0.001,
      -0.30153,
      0.00549
    ],
    "tcp_rotation_matrix": [
      [
        0.95253,
        -0.10074,
        0.2873
      ],
      [
        -0.12318,
        -0.9905,
        0.06107
      ],
      [
        0.27842,
        -0.09356,
        -0.95589
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.206722502596676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.15,
                    "pitch": -0.6,
                    "yaw": 0.6
                  },
                  "note": "Raise and turn gripper camera left-forward to survey the scene for the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.31169,
      -0.75628,
      0.37621,
      -2.17443,
      0.30866,
      2.04757,
      0.12626
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30037,
      0.34873,
      1.14943
    ],
    "tcp_roll_pitch_yaw": [
      0.00197,
      -0.5982,
      0.59544
    ],
    "tcp_rotation_matrix": [
      [
        0.75828,
        0.49423,
        0.42514
      ],
      [
        0.35863,
        -0.86083,
        0.36105
      ],
      [
        0.54441,
        -0.12131,
        -0.83
      ]
    ],
    "simulated_seconds_remaining": 20.988,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.606813282705843,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.0,
                    "z": 0.95,
                    "pitch": -0.7,
                    "yaw": 0.0
                  },
                  "note": "Return in front, lower below the countertop to inspect the cabinet door and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      -1.00857,
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      -2.9283,
      0.17889,
      2.60259,
      -0.03472
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
      0.00199,
      -0.69954,
      0.00144
    ],
    "tcp_rotation_matrix": [
      [
        0.76978,
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      ],
      [
        -0.12728,
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      ],
      [
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    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.205623670481145,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Move closer to the surface ahead to identify the handle before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
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      -2.70517,
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      2.52937,
      0.0792
    ],
    "gripper_open": 0.9994,
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    ],
    "tcp_roll_pitch_yaw": [
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      -0.4862,
      -0.11716
    ],
    "tcp_rotation_matrix": [
      [
        0.86955,
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      ],
      [
        -0.22934,
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      [
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    ],
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  },
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      {
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                    "x": 0.35,
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                    "pitch": -1.0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Back off from contact and aim more forward to view the front face and its vertical handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
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    ],
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  },
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      {
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                  "note": "Back off from contact with a modest forward-facing pitch that IK can handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
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    "instruction": "open the cabinet.",
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  },
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      {
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                  "note": "Lower to inspect lower portion of the front face for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
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    "instruction": "open the cabinet.",
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    ],
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  },
  "api_seconds": 12.22995803784579,
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                  "note": "Approach the front face at mid height to look for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
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    ],
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  },
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    "candidates": [
      {
        "content": {
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            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "y": -0.25
                  },
                  "note": "Scan to the right along the front face looking for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 22,
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    "instruction": "open the cabinet.",
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    ],
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      ],
      [
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      ],
      [
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    ],
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    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.40845657326281,
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      {
        "content": {
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                    "x": 0.38,
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                    "roll": 0
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                  "note": "Scan to the left side of the front face for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
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    ],
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  },
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      {
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                    "x": 0.45,
                    "y": 0.1,
                    "z": 1.0,
                    "pitch": -0.3,
                    "roll": 1.57
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                  "note": "Rotate fingers to open vertically and place them around the front edge/handle of the object."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 24,
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    ],
    "tcp_rotation_matrix": [
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      ],
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      ],
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      ]
    ],
    "simulated_seconds_remaining": 7.722,
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  },
  "api_seconds": 6.805490245111287,
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      {
        "content": {
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            {
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                    "y": 0.05,
                    "z": 0.99,
                    "pitch": -0.5,
                    "roll": 0.0,
                    "yaw": 0.0,
                    "gripper": 1
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                  "note": "Return to front face edge with fingers open to attempt grasping the handle/edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 52,
    "motion_seconds": 3.4320000000000004,
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}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
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      -0.89659,
      0.43117,
      -2.59355,
      0.53542,
      2.19444,
      -0.17752
    ],
    "gripper_open": 0.9966,
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    "tcp_roll_pitch_yaw": [
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      -0.49961,
      0.00147
    ],
    "tcp_rotation_matrix": [
      [
        0.87877,
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      ],
      [
        -0.12707,
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      [
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    ],
    "simulated_seconds_remaining": 4.29,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 4.80398132558912,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0,
                    "x": 0.28
                  },
                  "note": "Last attempt: close on the edge/handle and pull backward to open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.32766,
      -1.42277,
      0.28213,
      -2.80687,
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    "gripper_open": 0.0,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
      0.00346,
      -0.49985,
      0.00152
    ],
    "tcp_rotation_matrix": [
      [
        0.87867,
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      ],
      [
        -0.12703,
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      ],
      [
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    ],
    "simulated_seconds_remaining": 3.036,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 3.6031334586441517,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the cabinet handle in the dim scene; repeated IK failures and collisions consumed the motion budget without opening anything."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 273,
  "house_index": 213,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 29,
  "api_calls": 30,
  "wall_seconds": 235.71172761917114,
  "usage": {
    "input_tokens": 60,
    "cache_creation_input_tokens": 26423,
    "cache_read_input_tokens": 396768,
    "output_tokens": 10531
  },
  "estimated_cost_usd": 0.62710275
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeT3FLUuCEPyQgyamVY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EvJjuQWHR3w74zr3JQRCPS",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1779,
      "cache_read_input_tokens": 0,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1779,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 70,
      "output_tokens_details": {
        "thinking_tokens": 46
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeTFSpCdgDZjvQ8xoDk",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017BGpwJxispiZBYhCmBuXtX",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "y": 0.2,
            "z": 0.9
          },
          "note": "Moving forward-left toward the wooden dresser to inspect drawer fronts and handles."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 502,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 284,
      "output_tokens_details": {
        "thinking_tokens": 163
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeTuuMRLfPatq3G3coo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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          "targets": {
            "x": 0.4,
            "y": 0.45,
            "z": 1.0
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          "note": "Move further left and up to see the dresser top/front from above with the downward-looking wrist camera."
        },
        "caller": {
          "type": "direct"
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      "service_tier": "standard",
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{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeUrQ3NA38qYPqnNvmt",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
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      {
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          "targets": {
            "pitch": -1.2
          },
          "note": "Pitch the wrist so its camera looks horizontally to survey the dresser front face."
        },
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{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
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          "targets": {
            "pitch": -1.57,
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          "note": "Fully face the dresser front and approach to look for drawer handles."
        },
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{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeVqwXY7tJpx2jJFqwQ",
    "type": "message",
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    "content": [
      {
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "z": 0.8
          },
          "note": "Lower to drawer height to search for handles on the dresser front."
        },
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    ],
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{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
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      {
        "type": "thinking",
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      },
      {
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        "input": {
          "targets": {
            "x": 0.3
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          "note": "Back off to widen the wrist view of the dresser front and locate handles."
        },
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{
  "api_call": 8,
  "response": {
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    "content": [
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      {
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        "input": {
          "targets": {
            "z": 0.95,
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          "note": "Survey higher drawers from a bit further back to spot handles/knobs."
        },
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{
  "api_call": 9,
  "response": {
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    "id": "msg_011CezeXQD2FDXyge9ZveP5s",
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        "input": {
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            "yaw": 1.4,
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            "y": 0.3,
            "z": 0.9
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          "note": "Rotate camera to look in +y direction to check whether the dresser front faces that way."
        },
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{
  "api_call": 10,
  "response": {
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    "content": [
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        "input": {
          "targets": {
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            "y": 0.1,
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          "note": "Scan along the dresser face toward the robot's center to look for a handle."
        },
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeYqU5fFtBNWZF7sKxA",
    "type": "message",
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    "content": [
      {
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "x": 0.32,
            "y": 0.3,
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          "note": "Smaller step along the face toward center; searching for a drawer handle."
        },
        "caller": {
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    ],
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{
  "api_call": 12,
  "response": {
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      {
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        "input": {
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          "note": "Approach the face to gauge distance and spot any protruding handle up close."
        },
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{
  "api_call": 13,
  "response": {
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        "input": {
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          "note": "Continue approaching the dresser face to determine its exact x and inspect the bright spot that may be a handle."
        },
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{
  "api_call": 14,
  "response": {
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    "id": "msg_011CezeaMY7pPDzxs5LfofEi",
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      {
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            "z": 1.15,
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            "roll": 0,
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          "note": "Retreat and raise, tilting camera to survey the whole dresser front for handles."
        },
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{
  "api_call": 15,
  "response": {
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          "note": "Center the suspected handle: look horizontally at the drawer front near y=0.25, z=0.95."
        },
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{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezecDSmBLtpcLrvq62n6",
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      {
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        "input": {
          "targets": {
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          "note": "Shift right/up toward the bright horizontal handle spotted in the wrist view."
        },
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      }
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{
  "api_call": 17,
  "response": {
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    "id": "msg_011CezecggMU44ZHAD7QGGHh",
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      {
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        "input": {
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          "note": "Smaller shift right/up toward the handle (previous target unreachable)."
        },
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{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezedkdGPDzg5SzVJ9AyE",
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      {
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        "input": {
          "targets": {
            "z": 1.0
          },
          "note": "Raise slightly first to test reachability at handle height."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezee4z5SQiqhs8tRGsG1",
    "type": "message",
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    "content": [
      {
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.21,
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          },
          "note": "Step right along the drawer face toward the bright handle-like feature."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezef1ncTPirrdmw93F5f",
    "type": "message",
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    "content": [
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      {
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        "name": "move_to",
        "input": {
          "targets": {
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          },
          "note": "Rotate fingers to open vertically (for a horizontal bar handle) and approach the drawer front."
        },
        "caller": {
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        }
      }
    ],
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        "ephemeral_5m_input_tokens": 1126,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 547,
      "output_tokens_details": {
        "thinking_tokens": 430
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezefkBXw2GCHdZpGyRJF",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_014gx3rdn3c7eqF99ex3zsyk",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 0.8
          },
          "note": "Split rotation: roll halfway toward vertical finger opening."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1037,
      "cache_read_input_tokens": 18315,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1037,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 96,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezefxFpAYXxHyphXo2cq",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018Hss5bHE3inCkSj5a5gMj6",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": -0.8
          },
          "note": "Try rolling the other direction to avoid wrist joint limit."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 586,
      "cache_read_input_tokens": 19352,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 586,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 164,
      "output_tokens_details": {
        "thinking_tokens": 67
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezegHPFyywxHNXWkXaEU",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FJ8MCGXiFHUN8XX55ckrVg",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": -1.5,
            "x": 0.45
          },
          "note": "Complete roll to vertical finger opening and approach the drawer front for a grasp attempt."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 662,
      "cache_read_input_tokens": 19938,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 662,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 163,
      "output_tokens_details": {
        "thinking_tokens": 49
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezegfak3K7fG38ea2hWD",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TqPnn1DiWPHvXjvXdQd2wJ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.53
          },
          "note": "Advance until fingers straddle the drawer front/handle region."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 661,
      "cache_read_input_tokens": 20600,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 661,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 247,
      "output_tokens_details": {
        "thinking_tokens": 152
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezeh9VmaSmDmMNFkPcsR",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TYheBTBRxBNvXZPHhvLHp4",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper on the contacted drawer handle/edge."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 744,
      "cache_read_input_tokens": 21261,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 744,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 189,
      "output_tokens_details": {
        "thinking_tokens": 95
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezehVK8PHdDWjCpdEwJD",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Jh5h9AWWo5Nfr5hXgXx3Yw",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.36
          },
          "note": "Attempt to pull back; check whether the closed fingers caught the drawer lip."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 680,
      "cache_read_input_tokens": 22005,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 680,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 306,
      "output_tokens_details": {
        "thinking_tokens": 204
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezehwoqPbxUaSXaGRPuS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017uqLTnpj8k4gi6fqGD3EYT",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "x": 0.52,
            "z": 0.93
          },
          "note": "Open fingers and advance onto the top drawer face just below the overhanging top, to straddle its handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 797,
      "cache_read_input_tokens": 22685,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 797,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 754,
      "output_tokens_details": {
        "thinking_tokens": 630
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeiwcwtFkn2J3BVWnvF",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MgKriL4bqhjKZqWy9vjZrP",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.35
          },
          "note": "Slide left along the drawer face to where the handle-like bright feature was seen."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1246,
      "cache_read_input_tokens": 23482,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1246,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 595,
      "output_tokens_details": {
        "thinking_tokens": 495
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezejn3WaetsjXGnG87L8",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01HyP6SwSHJt5AGtfF8bvW71",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "x": 0.38
          },
          "note": "Close on the drawer edge/handle and pull backward to open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1087,
      "cache_read_input_tokens": 24728,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1087,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 117,
      "output_tokens_details": {
        "thinking_tokens": 14
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezek862ZYu3PJTW94SSy",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01DN7zgtBFPbKzptKDTBipCU",
        "name": "give_up",
        "input": {
          "note": "Could not locate a graspable handle on the dresser front; repeated contacts at the drawer face and closes captured nothing, and simulated time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 608,
      "cache_read_input_tokens": 25815,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 608,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 135,
      "output_tokens_details": {
        "thinking_tokens": 40
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 11.810588918626308,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.2,
                    "z": 0.9
                  },
                  "note": "Moving forward-left toward the wooden dresser to inspect drawer fronts and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.0479,
      -0.39894,
      0.36858,
      -2.35151,
      0.17021,
      2.01341,
      0.32201
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39946,
      0.19906,
      0.90078
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      0.0002,
      -0.00021
    ],
    "tcp_rotation_matrix": [
      [
        0.99944,
        0.00099,
        0.03349
      ],
      [
        5e-05,
        -0.9996,
        0.02822
      ],
      [
        0.0335,
        -0.02821,
        -0.99904
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 12.010892340913415,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.45,
                    "z": 1.0
                  },
                  "note": "Move further left and up to see the dresser top/front from above with the downward-looking wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.20043,
      0.11609,
      0.6903,
      -1.59566,
      -0.08286,
      1.728,
      0.89629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39994,
      0.44882,
      0.9995
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00024,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99944,
        0.00125,
        0.03344
      ],
      [
        0.0003,
        -0.9996,
        0.02827
      ],
      [
        0.03346,
        -0.02825,
        -0.99904
      ]
    ],
    "simulated_seconds_remaining": 26.004,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.207019266672432,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Pitch the wrist so its camera looks horizontally to survey the dresser front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.09843,
      -0.45621,
      1.07121,
      -2.29808,
      -1.15673,
      2.49808,
      1.88842
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39986,
      0.44882,
      0.99951
    ],
    "tcp_roll_pitch_yaw": [
      -0.00068,
      -1.19561,
      0.00046
    ],
    "tcp_rotation_matrix": [
      [
        0.33488,
        0.0266,
        0.94189
      ],
      [
        0.00043,
        -0.99961,
        0.02808
      ],
      [
        0.94226,
        -0.009,
        -0.33476
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.405230584554374,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57,
                    "x": 0.5
                  },
                  "note": "Fully face the dresser front and approach to look for drawer handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.72801,
      -0.53236,
      1.5583,
      -2.16867,
      -1.73749,
      2.44406,
      2.46923
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49919,
      0.44873,
      0.99961
    ],
    "tcp_roll_pitch_yaw": [
      -0.03438,
      -1.56713,
      0.03374
    ],
    "tcp_rotation_matrix": [
      [
        -0.03004,
        0.02767,
        0.99917
      ],
      [
        0.0004,
        -0.99962,
        0.02769
      ],
      [
        0.99955,
        0.00123,
        0.03002
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.405461560934782,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.8
                  },
                  "note": "Lower to drawer height to search for handles on the dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -1.07949,
      -0.86803,
      2.01592,
      -2.15031,
      -1.71869,
      2.40242,
      2.8817
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49915,
      0.44874,
      0.80126
    ],
    "tcp_roll_pitch_yaw": [
      -0.09302,
      -1.56709,
      0.09244
    ],
    "tcp_rotation_matrix": [
      [
        -0.03001,
        0.02772,
        0.99916
      ],
      [
        0.00062,
        -0.99961,
        0.02776
      ],
      [
        0.99955,
        0.00145,
        0.02999
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.005727589130402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3
                  },
                  "note": "Back off to widen the wrist view of the dresser front and locate handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.58428,
      -0.64982,
      2.0282,
      -2.41377,
      -1.39788,
      2.09209,
      2.70799
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30122,
      0.44886,
      0.80122
    ],
    "tcp_roll_pitch_yaw": [
      -0.08973,
      -1.567,
      0.08946
    ],
    "tcp_rotation_matrix": [
      [
        -0.02992,
        0.02804,
        0.99916
      ],
      [
        0.0006,
        -0.99961,
        0.02807
      ],
      [
        0.99955,
        0.00144,
        0.0299
      ]
    ],
    "simulated_seconds_remaining": 19.8,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.207508904859424,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "x": 0.25
                  },
                  "note": "Survey higher drawers from a bit further back to spot handles/knobs."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.18165,
      -0.34301,
      1.34905,
      -2.46868,
      -1.42028,
      1.84794,
      2.38288
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25042,
      0.44893,
      0.94876
    ],
    "tcp_roll_pitch_yaw": [
      -0.06262,
      -1.56723,
      0.06243
    ],
    "tcp_rotation_matrix": [
      [
        -0.03014,
        0.02812,
        0.99915
      ],
      [
        0.00048,
        -0.9996,
        0.02815
      ],
      [
        0.99955,
        0.00133,
        0.03012
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 14.012146609835327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.4,
                    "x": 0.35,
                    "y": 0.3,
                    "z": 0.9
                  },
                  "note": "Rotate camera to look in +y direction to check whether the dresser front faces that way."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.18165,
      -0.34301,
      1.34905,
      -2.46868,
      -1.42028,
      1.84794,
      2.38288
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25042,
      0.44893,
      0.94876
    ],
    "tcp_roll_pitch_yaw": [
      -0.06262,
      -1.56723,
      0.06243
    ],
    "tcp_rotation_matrix": [
      [
        -0.03014,
        0.02812,
        0.99915
      ],
      [
        0.00048,
        -0.9996,
        0.02815
      ],
      [
        0.99955,
        0.00133,
        0.03012
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.205032842233777,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.1,
                    "z": 0.9
                  },
                  "note": "Scan along the dresser face toward the robot's center to look for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.18165,
      -0.34301,
      1.34905,
      -2.46868,
      -1.42028,
      1.84794,
      2.38288
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25042,
      0.44893,
      0.94876
    ],
    "tcp_roll_pitch_yaw": [
      -0.06262,
      -1.56723,
      0.06243
    ],
    "tcp_rotation_matrix": [
      [
        -0.03014,
        0.02812,
        0.99915
      ],
      [
        0.00048,
        -0.9996,
        0.02815
      ],
      [
        0.99955,
        0.00133,
        0.03012
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 3.403399096801877,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.3,
                    "z": 0.9
                  },
                  "note": "Smaller step along the face toward center; searching for a drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.35773,
      -0.60653,
      0.96861,
      -2.88372,
      -1.62559,
      2.14601,
      2.62181
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3195,
      0.30109,
      0.90036
    ],
    "tcp_roll_pitch_yaw": [
      -0.08749,
      -1.56725,
      0.08715
    ],
    "tcp_rotation_matrix": [
      [
        -0.03017,
        0.02796,
        0.99915
      ],
      [
        0.00058,
        -0.99961,
        0.02799
      ],
      [
        0.99954,
        0.00142,
        0.03014
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.60842330288142,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Approach the face to gauge distance and spot any protruding handle up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.0072,
      -0.27805,
      0.9199,
      -2.6885,
      -2.0917,
      2.07699,
      2.74361
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44874,
      0.30102,
      0.90035
    ],
    "tcp_roll_pitch_yaw": [
      -0.06709,
      -1.56716,
      0.06648
    ],
    "tcp_rotation_matrix": [
      [
        -0.03008,
        0.02769,
        0.99916
      ],
      [
        0.00052,
        -0.99962,
        0.02772
      ],
      [
        0.99955,
        0.00135,
        0.03005
      ]
    ],
    "simulated_seconds_remaining": 15.84,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.405318857170641,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56
                  },
                  "note": "Continue approaching the dresser face to determine its exact x and inspect the bright spot that may be a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03519,
      0.03176,
      0.88566,
      -2.47303,
      -2.09407,
      1.88798,
      2.67241
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5231,
      0.30531,
      0.90141
    ],
    "tcp_roll_pitch_yaw": [
      1.38254,
      -1.47263,
      -1.52619
    ],
    "tcp_rotation_matrix": [
      [
        -0.02895,
        -0.1153,
        0.99291
      ],
      [
        -0.09281,
        -0.98872,
        -0.11752
      ],
      [
        0.99526,
        -0.09555,
        0.01792
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 9.20748626627028,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.15,
                    "pitch": -1.0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Retreat and raise, tilting camera to survey the whole dresser front for handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.70157,
      -0.85271,
      0.31918,
      -2.41268,
      -0.68445,
      2.16027,
      1.20262
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30068,
      0.30537,
      1.14942
    ],
    "tcp_roll_pitch_yaw": [
      0.00092,
      -1.00218,
      -0.0013
    ],
    "tcp_rotation_matrix": [
      [
        0.50976,
        0.02398,
        0.85998
      ],
      [
        -0.00044,
        -0.9996,
        0.02813
      ],
      [
        0.86031,
        -0.01472,
        -0.50955
      ]
    ],
    "simulated_seconds_remaining": 12.276,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 14.611218562349677,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.25,
                    "z": 0.95,
                    "pitch": -1.57
                  },
                  "note": "Center the suspected handle: look horizontally at the drawer front near y=0.25, z=0.95."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.18521,
      -1.00105,
      0.85604,
      -2.95469,
      -1.74281,
      2.58058,
      2.58769
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34978,
      0.25016,
      0.9508
    ],
    "tcp_roll_pitch_yaw": [
      -0.20452,
      -1.56693,
      0.20344
    ],
    "tcp_rotation_matrix": [
      [
        -0.02992,
        0.02724,
        0.99918
      ],
      [
        0.00107,
        -0.99963,
        0.02728
      ],
      [
        0.99955,
        0.00189,
        0.02988
      ]
    ],
    "simulated_seconds_remaining": 10.56,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.405438521876931,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.17,
                    "z": 0.99
                  },
                  "note": "Shift right/up toward the bright horizontal handle spotted in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.18521,
      -1.00105,
      0.85604,
      -2.95469,
      -1.74281,
      2.58058,
      2.58769
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34978,
      0.25016,
      0.9508
    ],
    "tcp_roll_pitch_yaw": [
      -0.20452,
      -1.56693,
      0.20344
    ],
    "tcp_rotation_matrix": [
      [
        -0.02992,
        0.02724,
        0.99918
      ],
      [
        0.00107,
        -0.99963,
        0.02728
      ],
      [
        0.99955,
        0.00189,
        0.02988
      ]
    ],
    "simulated_seconds_remaining": 10.56,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 14.411608268506825,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.2,
                    "z": 0.99
                  },
                  "note": "Smaller shift right/up toward the handle (previous target unreachable)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.18521,
      -1.00105,
      0.85604,
      -2.95469,
      -1.74281,
      2.58058,
      2.58769
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34978,
      0.25016,
      0.9508
    ],
    "tcp_roll_pitch_yaw": [
      -0.20452,
      -1.56693,
      0.20344
    ],
    "tcp_rotation_matrix": [
      [
        -0.02992,
        0.02724,
        0.99918
      ],
      [
        0.00107,
        -0.99963,
        0.02728
      ],
      [
        0.99955,
        0.00189,
        0.02988
      ]
    ],
    "simulated_seconds_remaining": 10.56,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.003553190268576,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Raise slightly first to test reachability at handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.20602,
      -1.07852,
      0.72151,
      -2.92328,
      -1.70289,
      2.66135,
      2.41187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34979,
      0.25018,
      0.9987
    ],
    "tcp_roll_pitch_yaw": [
      -0.14499,
      -1.56708,
      0.14388
    ],
    "tcp_rotation_matrix": [
      [
        -0.03002,
        0.0272,
        0.99918
      ],
      [
        0.00083,
        -0.99963,
        0.02724
      ],
      [
        0.99955,
        0.00164,
        0.02999
      ]
    ],
    "simulated_seconds_remaining": 9.966,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 12.410018619149923,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.21,
                    "z": 0.95
                  },
                  "note": "Step right along the drawer face toward the bright handle-like feature."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.20602,
      -1.07852,
      0.72151,
      -2.92328,
      -1.70289,
      2.66135,
      2.41187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34979,
      0.25018,
      0.9987
    ],
    "tcp_roll_pitch_yaw": [
      -0.14499,
      -1.56708,
      0.14388
    ],
    "tcp_rotation_matrix": [
      [
        -0.03002,
        0.0272,
        0.99918
      ],
      [
        0.00083,
        -0.99963,
        0.02724
      ],
      [
        0.99955,
        0.00164,
        0.02999
      ]
    ],
    "simulated_seconds_remaining": 9.966,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 10.208422645926476,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57,
                    "x": 0.47
                  },
                  "note": "Rotate fingers to open vertically (for a horizontal bar handle) and approach the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.20602,
      -1.07852,
      0.72151,
      -2.92328,
      -1.70289,
      2.66135,
      2.41187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34979,
      0.25018,
      0.9987
    ],
    "tcp_roll_pitch_yaw": [
      -0.14499,
      -1.56708,
      0.14388
    ],
    "tcp_rotation_matrix": [
      [
        -0.03002,
        0.0272,
        0.99918
      ],
      [
        0.00083,
        -0.99963,
        0.02724
      ],
      [
        0.99955,
        0.00164,
        0.02999
      ]
    ],
    "simulated_seconds_remaining": 9.966,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 2.802416223101318,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.8
                  },
                  "note": "Split rotation: roll halfway toward vertical finger opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.20602,
      -1.07852,
      0.72151,
      -2.92328,
      -1.70289,
      2.66135,
      2.41187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34979,
      0.25018,
      0.9987
    ],
    "tcp_roll_pitch_yaw": [
      -0.14499,
      -1.56708,
      0.14388
    ],
    "tcp_rotation_matrix": [
      [
        -0.03002,
        0.0272,
        0.99918
      ],
      [
        0.00083,
        -0.99963,
        0.02724
      ],
      [
        0.99955,
        0.00164,
        0.02999
      ]
    ],
    "simulated_seconds_remaining": 9.966,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.005692019127309,
  "response": {
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{
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{
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              }
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{
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                  "note": "Attempt to pull back; check whether the closed fingers caught the drawer lip."
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              }
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{
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                  "note": "Open fingers and advance onto the top drawer face just below the overhanging top, to straddle its handle."
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              }
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{
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                  "note": "Slide left along the drawer face to where the handle-like bright feature was seen."
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              }
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{
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                  "note": "Close on the drawer edge/handle and pull backward to open."
                }
              }
            }
          ]
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    ]
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{
  "call": 29,
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    "instruction": "open the dresser.",
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  "api_seconds": 4.204167095012963,
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      {
        "content": {
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            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not locate a graspable handle on the dresser front; repeated contacts at the drawer face and closes captured nothing, and simulated time is exhausted."
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              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 296,
  "house_index": 216,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 36,
  "api_calls": 37,
  "wall_seconds": 340.9508304595947,
  "usage": {
    "input_tokens": 74,
    "cache_creation_input_tokens": 35039,
    "cache_read_input_tokens": 635196,
    "output_tokens": 15836
  },
  "estimated_cost_usd": 0.93286175
}


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.



MODEL RESPONSES


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{
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        "thinking": ""
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            "x": 0.2,
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          },
          "note": "Retreat and raise to get a wider view of the table and locate the drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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{
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          "note": "Move forward over the table to see the top surface and locate the drawer via wrist camera looking down."
        },
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          "type": "direct"
        }
      }
    ],
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          "note": "Pitch gripper to point forward (+x) and lower below tabletop to see the table's front face/drawer with the wrist camera."
        },
        "caller": {
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{
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            "pitch": -1.4
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          "note": "Rotate gripper to point forward in place first, to avoid IK failure from combined motion."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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          "note": "Return to the previously reachable retracted pose to reset before reorienting."
        },
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      {
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        "id": "toolu_01WEL1FWrQaBeMahx7gRLZTw",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.0
          },
          "note": "Tilt gripper toward forward-facing orientation from the retracted pose."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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        "thinking_tokens": 16
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      "service_tier": "standard",
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}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezem6eE4VqRMnrfj1dij",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_019D88REaNzF7hfAP2jZnTxR",
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          "targets": {
            "pitch": -1.5
          },
          "note": "Complete rotation to point straight forward to view the drawer front squarely."
        },
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          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezemRakuZVbTZCwBX8ke",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_016K64rA5wM8BXp5zo5Nd1u5",
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        "input": {
          "targets": {
            "z": 1.0,
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          },
          "note": "Lower while rotating fully forward; lower pose may be IK-reachable."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezemvBxZQgJpYVR3np6D",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 1.0
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          "note": "Lower straight down keeping current forward-tilted orientation to approach drawer-handle height."
        },
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezenWSEYj6VKhbU2EyNN",
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 1.12
          },
          "note": "Small downward step to test reachability from this configuration."
        },
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        }
      }
    ],
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{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezenzsmSejfAU8wuCzMa",
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        "type": "thinking",
        "thinking": ""
      },
      {
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          "targets": {
            "pitch": -0.5
          },
          "note": "Rotate back partway; current configuration seems near a singularity blocking all motion."
        },
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          "type": "direct"
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      }
    ],
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{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeoMcCHcEA8jGXPHkzf",
    "type": "message",
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      {
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.3,
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          },
          "note": "Move forward and down toward the yellow drawer handle seen in wrist view."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeozkMkQTAAY3oudCee",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.34,
            "z": 1.0
          },
          "note": "Continue approaching the yellow handle, descending slightly."
        },
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          "type": "direct"
        }
      }
    ],
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{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezepbsEKKy8eT29CRU8x",
    "type": "message",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 0.94
          },
          "note": "Descend to bring the yellow handle to the center of the gripper view."
        },
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          "type": "direct"
        }
      }
    ],
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{
  "api_call": 16,
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    "model": "claude-opus-5",
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        "thinking": ""
      },
      {
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          "targets": {
            "x": 0.4,
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          },
          "note": "Return to handle height and push forward to see/reach the yellow handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezerin1Gz8GH6KSFWBxi",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "pitch": -0.9
          },
          "note": "Tilt gripper more forward so fingers can straddle the drawer handle on the vertical face."
        },
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          "type": "direct"
        }
      }
    ],
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{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezeshsxSJ4CiyF4ZyDvo",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.4,
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          },
          "note": "Lower slightly to bring the fingers around the yellow handle knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezetToexyzo9KsLCDRae",
    "type": "message",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
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          "note": "Handle appears below fingers; descend further to finger level."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezetoxc4WnFVVQrvgJ3a",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.35,
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          },
          "note": "Back off and look straight down from high to map the table and handle locations."
        },
        "caller": {
          "type": "direct"
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      }
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{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezeup8o7xs5uDaQN41CY",
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        "thinking": ""
      },
      {
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          "targets": {
            "x": 0.3,
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          "note": "Rise to near max height, looking straight down, to survey the table."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 22,
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    "id": "msg_011Cezev7tu3tqyqbSnzffgq",
    "type": "message",
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        "thinking": ""
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        "input": {
          "targets": {
            "y": 0.12
          },
          "note": "Shift left 0.12 m to calibrate how image coordinates map to world axes using the yellow handle's apparent motion."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 23,
  "response": {
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    "id": "msg_011CezewjamdgGR4CwuDh9Ki",
    "type": "message",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.26,
            "y": -0.02,
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          "note": "Move above the estimated handle position and descend to refine its location."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezextQMmoQUE11wBW2VT",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "id": "toolu_01FpE8UUBzCA5XasWe3Jy8eZ",
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        "input": {
          "targets": {
            "x": 0.26,
            "y": -0.03,
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          "note": "Descend onto the estimated handle location to see it between the fingers."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezezHkaskKPTJJ3oF4sz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019SYPCgUgAHM1TNSomNKweg",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 0.8
          },
          "note": "Roll the wrist to look toward +y, where the table body appears to be, to find the drawer face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1460,
      "cache_read_input_tokens": 23012,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1460,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 941,
      "output_tokens_details": {
        "thinking_tokens": 834
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf1UbE3Wy58fd9FnRAK",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MAHeKv8FEvjzE1LpxPxdKW",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.25,
            "y": 0.25,
            "z": 1.05,
            "roll": 0.0,
            "pitch": -0.5
          },
          "note": "Move left over the table's near face where a drawer panel appears in the exterior view, looking forward-down."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1429,
      "cache_read_input_tokens": 24472,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1429,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 676,
      "output_tokens_details": {
        "thinking_tokens": 534
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf2PqWPpuchjgNTwFMj",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_016nh5wkYsgUwct16LZFJVXE",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.29,
            "y": 0.0,
            "z": 0.96
          },
          "note": "Move to the estimated handle location with fingers open, forward-down orientation, ready to close."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1165,
      "cache_read_input_tokens": 25901,
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        "ephemeral_5m_input_tokens": 1165,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 855,
      "output_tokens_details": {
        "thinking_tokens": 735
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf3ZYh6eHuC19XCgGEP",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XhgawB4co6yBu7fgbQ1jhc",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.02,
            "z": 0.92
          },
          "note": "Handle appears just below and slightly right of the fingers; descend onto it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1350,
      "cache_read_input_tokens": 27066,
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        "ephemeral_5m_input_tokens": 1350,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 235,
      "output_tokens_details": {
        "thinking_tokens": 128
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf3vYVM6SRW91JSLWRq",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017rQqFB5hiTMvzCChTX67Q9",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close the gripper at the estimated handle position to attempt a grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 730,
      "cache_read_input_tokens": 28416,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 730,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 151,
      "output_tokens_details": {
        "thinking_tokens": 51
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf4LuCvVhyT7TTgfDHh",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01N7u6JGnbBRYUnZV9E8dSUo",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.25,
            "gripper": 1.0
          },
          "note": "Empty close; reopen and shift slightly toward the robot where the handle protrudes."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 640,
      "cache_read_input_tokens": 29146,
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        "ephemeral_5m_input_tokens": 640,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 327,
      "output_tokens_details": {
        "thinking_tokens": 214
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf51KWj76T72q13nosR",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JHRD1gfHXQ4ddRETwcy3A2",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1.0,
            "z": 0.89
          },
          "note": "Reopen fingers and descend 3 cm to try grasping the handle slightly lower."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 816,
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      },
      "output_tokens": 446,
      "output_tokens_details": {
        "thinking_tokens": 332
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf5bLtLyBFzB3EpNhaH",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014Hm7WSLU86VdPKt56SzAsC",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 1.0,
            "gripper": 1.0
          },
          "note": "Arm is at a joint limit; raise up and reopen fingers to regain maneuverability."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
      "cache_creation_input_tokens": 935,
      "cache_read_input_tokens": 30602,
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      },
      "output_tokens": 163,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf633TiKuaEooPmrvQz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01HTvFSBpX2AqyHzopZpCa41",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.02,
            "z": 0.93
          },
          "note": "Retry grasp slightly to the left (+y) at handle height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 653,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 467,
      "output_tokens_details": {
        "thinking_tokens": 363
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf6zC6NPMNmYMEaPMYv",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01PAgF81WkLNbbnohdu58gGi",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close fingers hoping to capture the handle at this slightly shifted position."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 962,
      "cache_read_input_tokens": 32190,
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        "ephemeral_5m_input_tokens": 962,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 100,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf7Cx3mGCW7Use5vmbW",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01954QgZGdzk2ANJ4gNqKd7z",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.2
          },
          "note": "Last attempt: pull backwards with closed fingers in case they hook the drawer handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
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      "cache_read_input_tokens": 33152,
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      },
      "output_tokens": 211,
      "output_tokens_details": {
        "thinking_tokens": 107
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 36,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf7aSd74NgyrkJnbKR2",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01V2S4kmwEzMgY8mS31koKb8",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.26,
            "z": 0.95
          },
          "note": "Small backward/upward pull attempt within IK limits to try to catch the drawer handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 699,
      "cache_read_input_tokens": 33740,
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        "ephemeral_5m_input_tokens": 699,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 111,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 37,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezf7pxzVQ6wGTRkQQrtt",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MMPJqFdrkwtYZVkmcS8Xhk",
        "name": "give_up",
        "input": {
          "note": "Could not localize/grasp the table drawer handle; repeated closes caught nothing and IK limits plus exhausted motion time prevent further attempts."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_creation_input_tokens": 600,
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        "ephemeral_5m_input_tokens": 600,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 122,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
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  }
}


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": 11.411697654984891,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.15
                  },
                  "note": "Retreat and raise to get a wider view of the table and locate the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02114,
      -0.91163,
      -0.04154,
      -2.04482,
      0.10553,
      1.12957,
      -0.04579
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20086,
      0.01184,
      1.149
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00032,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99902,
        0.04418,
        -0.0002
      ],
      [
        0.04385,
        -0.9908,
        0.12802
      ],
      [
        0.00545,
        -0.1279,
        -0.99177
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 10.609570568427444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.0,
                    "z": 1.05
                  },
                  "note": "Move forward over the table to see the top surface and locate the drawer via wrist camera looking down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01131,
      -0.46388,
      -0.05983,
      -1.90527,
      0.11281,
      1.22619,
      -0.10869
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.33347,
      0.00475,
      1.0914
    ],
    "tcp_roll_pitch_yaw": [
      0.02692,
      0.20252,
      0.04501
    ],
    "tcp_rotation_matrix": [
      [
        0.97692,
        0.05657,
        -0.20599
      ],
      [
        0.08775,
        -0.98545,
        0.14554
      ],
      [
        -0.19476,
        -0.16026,
        -0.96767
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 18.414378257468343,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.0,
                    "z": 0.85,
                    "pitch": -1.57
                  },
                  "note": "Pitch gripper to point forward (+x) and lower below tabletop to see the table's front face/drawer with the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01131,
      -0.46388,
      -0.05983,
      -1.90527,
      0.11281,
      1.22619,
      -0.10869
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.33347,
      0.00475,
      1.0914
    ],
    "tcp_roll_pitch_yaw": [
      0.02692,
      0.20252,
      0.04501
    ],
    "tcp_rotation_matrix": [
      [
        0.97692,
        0.05657,
        -0.20599
      ],
      [
        0.08775,
        -0.98545,
        0.14554
      ],
      [
        -0.19476,
        -0.16026,
        -0.96767
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.204653740860522,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Rotate gripper to point forward in place first, to avoid IK failure from combined motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01131,
      -0.46388,
      -0.05983,
      -1.90527,
      0.11281,
      1.22619,
      -0.10869
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.33347,
      0.00475,
      1.0914
    ],
    "tcp_roll_pitch_yaw": [
      0.02692,
      0.20252,
      0.04501
    ],
    "tcp_rotation_matrix": [
      [
        0.97692,
        0.05657,
        -0.20599
      ],
      [
        0.08775,
        -0.98545,
        0.14554
      ],
      [
        -0.19476,
        -0.16026,
        -0.96767
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.00531442463398,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "z": 1.15,
                    "pitch": 0.0
                  },
                  "note": "Return to the previously reachable retracted pose to reset before reorienting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02507,
      -0.85264,
      -0.06567,
      -2.01797,
      0.1147,
      1.14951,
      -0.11088
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22089,
      0.00474,
      1.14966
    ],
    "tcp_roll_pitch_yaw": [
      0.02691,
      0.00128,
      0.04499
    ],
    "tcp_rotation_matrix": [
      [
        0.99606,
        0.0883,
        -0.00874
      ],
      [
        0.08859,
        -0.98403,
        0.15441
      ],
      [
        0.00503,
        -0.15458,
        -0.98797
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.0030828779563308,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Tilt gripper toward forward-facing orientation from the retracted pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.06549,
      -1.71751,
      -0.10271,
      -2.73062,
      0.19376,
      1.97264,
      -0.2602
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22085,
      0.00476,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      0.02693,
      -0.99562,
      0.04504
    ],
    "tcp_rotation_matrix": [
      [
        0.53565,
        0.19798,
        0.82091
      ],
      [
        0.06789,
        -0.97908,
        0.19183
      ],
      [
        0.84171,
        -0.04702,
        -0.53788
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.404117829166353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Complete rotation to point straight forward to view the drawer front squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.06549,
      -1.71751,
      -0.10271,
      -2.73062,
      0.19376,
      1.97264,
      -0.2602
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22085,
      0.00476,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      0.02693,
      -0.99562,
      0.04504
    ],
    "tcp_rotation_matrix": [
      [
        0.53565,
        0.19798,
        0.82091
      ],
      [
        0.06789,
        -0.97908,
        0.19183
      ],
      [
        0.84171,
        -0.04702,
        -0.53788
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.605135815218091,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0,
                    "pitch": -1.5
                  },
                  "note": "Lower while rotating fully forward; lower pose may be IK-reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.06549,
      -1.71751,
      -0.10271,
      -2.73062,
      0.19376,
      1.97264,
      -0.2602
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22085,
      0.00476,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      0.02693,
      -0.99562,
      0.04504
    ],
    "tcp_rotation_matrix": [
      [
        0.53565,
        0.19798,
        0.82091
      ],
      [
        0.06789,
        -0.97908,
        0.19183
      ],
      [
        0.84171,
        -0.04702,
        -0.53788
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.806777906604111,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Lower straight down keeping current forward-tilted orientation to approach drawer-handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.06549,
      -1.71751,
      -0.10271,
      -2.73062,
      0.19376,
      1.97264,
      -0.2602
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22085,
      0.00476,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      0.02693,
      -0.99562,
      0.04504
    ],
    "tcp_rotation_matrix": [
      [
        0.53565,
        0.19798,
        0.82091
      ],
      [
        0.06789,
        -0.97908,
        0.19183
      ],
      [
        0.84171,
        -0.04702,
        -0.53788
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.605665354989469,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.12
                  },
                  "note": "Small downward step to test reachability from this configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.06549,
      -1.71751,
      -0.10271,
      -2.73062,
      0.19376,
      1.97264,
      -0.2602
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22085,
      0.00476,
      1.14962
    ],
    "tcp_roll_pitch_yaw": [
      0.02693,
      -0.99562,
      0.04504
    ],
    "tcp_rotation_matrix": [
      [
        0.53565,
        0.19798,
        0.82091
      ],
      [
        0.06789,
        -0.97908,
        0.19183
      ],
      [
        0.84171,
        -0.04702,
        -0.53788
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.604514770209789,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5
                  },
                  "note": "Rotate back partway; current configuration seems near a singularity blocking all motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.04582,
      -1.27508,
      -0.07803,
      -2.35737,
      0.14314,
      1.56207,
      -0.17984
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22091,
      0.00476,
      1.1496
    ],
    "tcp_roll_pitch_yaw": [
      0.02696,
      -0.50407,
      0.04503
    ],
    "tcp_rotation_matrix": [
      [
        0.86887,
        0.15764,
        0.46927
      ],
      [
        0.0829,
        -0.98089,
        0.17601
      ],
      [
        0.48805,
        -0.11402,
        -0.86534
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.406424781307578,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.05
                  },
                  "note": "Move forward and down toward the yellow drawer handle seen in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.04381,
      -1.21459,
      -0.07199,
      -2.63661,
      0.15813,
      1.89802,
      -0.22929
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29915,
      0.00477,
      1.05097
    ],
    "tcp_roll_pitch_yaw": [
      0.027,
      -0.50373,
      0.04506
    ],
    "tcp_rotation_matrix": [
      [
        0.86903,
        0.15764,
        0.46897
      ],
      [
        0.08293,
        -0.98088,
        0.17604
      ],
      [
        0.48775,
        -0.11409,
        -0.86549
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.006188560277224,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "z": 1.0
                  },
                  "note": "Continue approaching the yellow handle, descending slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03118,
      -1.11582,
      -0.07118,
      -2.73581,
      0.17327,
      2.09461,
      -0.258
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33917,
      0.00479,
      1.0009
    ],
    "tcp_roll_pitch_yaw": [
      0.02704,
      -0.50338,
      0.04508
    ],
    "tcp_rotation_matrix": [
      [
        0.8692,
        0.15765,
        0.46866
      ],
      [
        0.08296,
        -0.98087,
        0.17608
      ],
      [
        0.48746,
        -0.11417,
        -0.86565
      ]
    ],
    "simulated_seconds_remaining": 20.724,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.004180586896837,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94
                  },
                  "note": "Descend to bring the yellow handle to the center of the gripper view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.0301,
      -1.13934,
      -0.07737,
      -2.89566,
      0.18269,
      2.22882,
      -0.28616
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33915,
      0.0048,
      0.94113
    ],
    "tcp_roll_pitch_yaw": [
      0.02708,
      -0.50316,
      0.0451
    ],
    "tcp_rotation_matrix": [
      [
        0.86931,
        0.15765,
        0.46846
      ],
      [
        0.08298,
        -0.98087,
        0.17611
      ],
      [
        0.48726,
        -0.11422,
        -0.86575
      ]
    ],
    "simulated_seconds_remaining": 19.998,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 23.21823088079691,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.99
                  },
                  "note": "Return to handle height and push forward to see/reach the yellow handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00641,
      -0.89206,
      -0.07965,
      -2.66792,
      0.18749,
      2.15124,
      -0.27429
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37821,
      0.00697,
      0.9709
    ],
    "tcp_roll_pitch_yaw": [
      0.04337,
      -0.40662,
      0.05282
    ],
    "tcp_rotation_matrix": [
      [
        0.91121,
        0.1599,
        0.37964
      ],
      [
        0.09183,
        -0.97725,
        0.1912
      ],
      [
        0.40158,
        -0.13936,
        -0.90516
      ]
    ],
    "simulated_seconds_remaining": 19.206,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 13.210780386812985,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Tilt gripper more forward so fingers can straddle the drawer handle on the vertical face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00641,
      -0.89206,
      -0.07965,
      -2.66792,
      0.18749,
      2.15124,
      -0.27429
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37821,
      0.00697,
      0.9709
    ],
    "tcp_roll_pitch_yaw": [
      0.04337,
      -0.40662,
      0.05282
    ],
    "tcp_rotation_matrix": [
      [
        0.91121,
        0.1599,
        0.37964
      ],
      [
        0.09183,
        -0.97725,
        0.1912
      ],
      [
        0.40158,
        -0.13936,
        -0.90516
      ]
    ],
    "simulated_seconds_remaining": 19.206,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 10.00857672933489,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.95
                  },
                  "note": "Lower slightly to bring the fingers around the yellow handle knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00071,
      -0.84556,
      -0.09021,
      -2.66762,
      0.19325,
      2.15213,
      -0.29208
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38086,
      0.00702,
      0.95387
    ],
    "tcp_roll_pitch_yaw": [
      0.05388,
      -0.36548,
      0.06242
    ],
    "tcp_rotation_matrix": [
      [
        0.92584,
        0.16704,
        0.339
      ],
      [
        0.10147,
        -0.97395,
        0.20278
      ],
      [
        0.36404,
        -0.15334,
        -0.91867
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.4037379352375865,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "Handle appears below fingers; descend further to finger level."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00682,
      -0.85727,
      -0.10049,
      -2.77042,
      0.20905,
      2.28902,
      -0.32826
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38456,
      0.0055,
      0.92366
    ],
    "tcp_roll_pitch_yaw": [
      0.05052,
      -0.41381,
      0.06446
    ],
    "tcp_rotation_matrix": [
      [
        0.90705,
        0.175,
        0.38292
      ],
      [
        0.10218,
        -0.97383,
        0.20301
      ],
      [
        0.40843,
        -0.14502,
        -0.9012
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 13.610681011341512,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 1.25,
                    "pitch": 0.0
                  },
                  "note": "Back off and look straight down from high to map the table and handle locations."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00682,
      -0.85727,
      -0.10049,
      -2.77042,
      0.20905,
      2.28902,
      -0.32826
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38456,
      0.0055,
      0.92366
    ],
    "tcp_roll_pitch_yaw": [
      0.05052,
      -0.41381,
      0.06446
    ],
    "tcp_rotation_matrix": [
      [
        0.90705,
        0.175,
        0.38292
      ],
      [
        0.10218,
        -0.97383,
        0.20301
      ],
      [
        0.40843,
        -0.14502,
        -0.9012
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 3.603856770321727,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.18,
                    "pitch": 0.0
                  },
                  "note": "Rise to near max height, looking straight down, to survey the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00235,
      -0.59887,
      -0.08507,
      -1.79136,
      0.14048,
      1.17528,
      -0.12327
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30038,
      0.0055,
      1.17909
    ],
    "tcp_roll_pitch_yaw": [
      0.05052,
      -0.00185,
      0.06444
    ],
    "tcp_rotation_matrix": [
      [
        0.99413,
        0.1077,
        -0.01017
      ],
      [
        0.10778,
        -0.97817,
        0.17765
      ],
      [
        0.00919,
        -0.1777,
        -0.98404
      ]
    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 21.41516119800508,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.12
                  },
                  "note": "Shift left 0.12 m to calibrate how image coordinates map to world axes using the yellow handle's apparent motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03582,
      -0.59321,
      0.09855,
      -1.79708,
      0.24832,
      1.22713,
      0.09539
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30038,
      0.11873,
      1.17908
    ],
    "tcp_roll_pitch_yaw": [
      0.05045,
      -0.00185,
      0.06467
    ],
    "tcp_rotation_matrix": [
      [
        0.99411,
        0.10792,
        -0.0102
      ],
      [
        0.10801,
        -0.97816,
        0.17758
      ],
      [
        0.00918,
        -0.17763,
        -0.98405
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 15.41311552003026,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "y": -0.02,
                    "z": 1.05
                  },
                  "note": "Move above the estimated handle position and descend to refine its location."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02686,
      -0.87588,
      -0.12547,
      -2.3077,
      0.08129,
      1.40688,
      -0.20282
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.26028,
      -0.01907,
      1.05089
    ],
    "tcp_roll_pitch_yaw": [
      0.05052,
      -0.00176,
      0.06452
    ],
    "tcp_rotation_matrix": [
      [
        0.99412,
        0.10776,
        -0.01026
      ],
      [
        0.10786,
        -0.97817,
        0.17764
      ],
      [
        0.0091,
        -0.1777,
        -0.98404
      ]
    ],
    "simulated_seconds_remaining": 13.266,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 18.816741794347763,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26,
                    "y": -0.03,
                    "z": 0.98
                  },
                  "note": "Descend onto the estimated handle location to see it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.04547,
      -0.93061,
      -0.15209,
      -2.51429,
      0.05376,
      1.55462,
      -0.24358
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25998,
      -0.02981,
      0.98118
    ],
    "tcp_roll_pitch_yaw": [
      0.05057,
      -0.00156,
      0.0645
    ],
    "tcp_rotation_matrix": [
      [
        0.99413,
        0.10771,
        -0.01047
      ],
      [
        0.10785,
        -0.97816,
        0.17767
      ],
      [
        0.0089,
        -0.17776,
        -0.98403
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 15.81223479192704,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.8
                  },
                  "note": "Roll the wrist to look toward +y, where the table body appears to be, to find the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.04037,
      -0.74385,
      -0.63644,
      -2.47802,
      0.4074,
      1.40808,
      -0.49444
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25996,
      -0.02982,
      0.98111
    ],
    "tcp_roll_pitch_yaw": [
      0.79584,
      -0.00132,
      0.06451
    ],
    "tcp_rotation_matrix": [
      [
        0.99516,
        0.08391,
        -0.05118
      ],
      [
        0.09136,
        -0.5977,
        0.7965
      ],
      [
        0.03624,
        -0.79732,
        -0.60247
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 11.809933976270258,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.25,
                    "z": 1.05,
                    "roll": 0.0,
                    "pitch": -0.5
                  },
                  "note": "Move left over the table's near face where a drawer panel appears in the exterior view, looking forward-down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02342,
      -1.27212,
      0.5148,
      -2.51356,
      0.40939,
      1.82265,
      0.13292
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.25084,
      0.21791,
      1.05505
    ],
    "tcp_roll_pitch_yaw": [
      -0.1378,
      -0.51486,
      0.10536
    ],
    "tcp_rotation_matrix": [
      [
        0.86051,
        0.13867,
        0.4902
      ],
      [
        0.13539,
        -0.98989,
        0.04235
      ],
      [
        0.49111,
        0.02993,
        -0.87058
      ]
    ],
    "simulated_seconds_remaining": 8.91,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 15.41225750464946,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.29,
                    "y": 0.0,
                    "z": 0.96
                  },
                  "note": "Move to the estimated handle location with fingers open, forward-down orientation, ready to close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13435,
      -1.39322,
      0.06221,
      -2.92631,
      0.17482,
      2.03598,
      -0.29288
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28979,
      0.0012,
      0.9605
    ],
    "tcp_roll_pitch_yaw": [
      -0.13766,
      -0.51474,
      0.10518
    ],
    "tcp_rotation_matrix": [
      [
        0.86059,
        0.13857,
        0.49009
      ],
      [
        0.13525,
        -0.9899,
        0.04239
      ],
      [
        0.49102,
        0.0298,
        -0.87064
      ]
    ],
    "simulated_seconds_remaining": 6.996,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.803450709208846,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.02,
                    "z": 0.92
                  },
                  "note": "Handle appears just below and slightly right of the fingers; descend onto it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.16228,
      -1.42194,
      0.01062,
      -3.03489,
      0.15133,
      2.10955,
      -0.34965
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28977,
      -0.01943,
      0.92105
    ],
    "tcp_roll_pitch_yaw": [
      -0.13758,
      -0.51458,
      0.1051
    ],
    "tcp_rotation_matrix": [
      [
        0.86068,
        0.13853,
        0.48994
      ],
      [
        0.13518,
        -0.98991,
        0.04242
      ],
      [
        0.49088,
        0.02972,
        -0.87072
      ]
    ],
    "simulated_seconds_remaining": 6.402,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.2044823709875345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close the gripper at the estimated handle position to attempt a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.16228,
      -1.42194,
      0.01062,
      -3.03489,
      0.15133,
      2.10955,
      -0.34965
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28977,
      -0.01944,
      0.92104
    ],
    "tcp_roll_pitch_yaw": [
      -0.13758,
      -0.51458,
      0.1051
    ],
    "tcp_rotation_matrix": [
      [
        0.86068,
        0.13853,
        0.48994
      ],
      [
        0.13518,
        -0.98991,
        0.04242
      ],
      [
        0.49088,
        0.02973,
        -0.87072
      ]
    ],
    "simulated_seconds_remaining": 5.478,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 9.012178637087345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "gripper": 1.0
                  },
                  "note": "Empty close; reopen and shift slightly toward the robot where the handle protrudes."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.16228,
      -1.42194,
      0.01062,
      -3.03489,
      0.15133,
      2.10955,
      -0.34965
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28977,
      -0.01944,
      0.92104
    ],
    "tcp_roll_pitch_yaw": [
      -0.13758,
      -0.51458,
      0.1051
    ],
    "tcp_rotation_matrix": [
      [
        0.86068,
        0.13853,
        0.48994
      ],
      [
        0.13518,
        -0.98991,
        0.04242
      ],
      [
        0.49088,
        0.02973,
        -0.87072
      ]
    ],
    "simulated_seconds_remaining": 5.478,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 8.005850163288414,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1.0,
                    "z": 0.89
                  },
                  "note": "Reopen fingers and descend 3 cm to try grasping the handle slightly lower."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.16228,
      -1.42194,
      0.01062,
      -3.03489,
      0.15133,
      2.10955,
      -0.34965
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28977,
      -0.01944,
      0.92104
    ],
    "tcp_roll_pitch_yaw": [
      -0.13758,
      -0.51458,
      0.1051
    ],
    "tcp_rotation_matrix": [
      [
        0.86068,
        0.13853,
        0.48994
      ],
      [
        0.13518,
        -0.98991,
        0.04242
      ],
      [
        0.49088,
        0.02973,
        -0.87072
      ]
    ],
    "simulated_seconds_remaining": 5.478,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 5.404335920698941,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0,
                    "gripper": 1.0
                  },
                  "note": "Arm is at a joint limit; raise up and reopen fingers to regain maneuverability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.16775,
      -1.33365,
      0.00467,
      -2.81098,
      0.13863,
      1.97466,
      -0.33448
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.28979,
      -0.01944,
      0.99896
    ],
    "tcp_roll_pitch_yaw": [
      -0.13761,
      -0.51474,
      0.10511
    ],
    "tcp_rotation_matrix": [
      [
        0.8606,
        0.13852,
        0.49008
      ],
      [
        0.13519,
        -0.98991,
        0.0424
      ],
      [
        0.49101,
        0.02976,
        -0.87064
      ]
    ],
    "simulated_seconds_remaining": 4.554,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 13.009346095845103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.02,
                    "z": 0.93
                  },
                  "note": "Retry grasp slightly to the left (+y) at handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.09778,
      -1.43178,
      0.12524,
      -3.00952,
      0.21842,
      2.08495,
      -0.25343
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28978,
      0.01941,
      0.93101
    ],
    "tcp_roll_pitch_yaw": [
      -0.13764,
      -0.51458,
      0.1052
    ],
    "tcp_rotation_matrix": [
      [
        0.86067,
        0.13859,
        0.48995
      ],
      [
        0.13527,
        -0.9899,
        0.0424
      ],
      [
        0.49087,
        0.02978,
        -0.87072
      ]
    ],
    "simulated_seconds_remaining": 3.696,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 2.802766179665923,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close fingers hoping to capture the handle at this slightly shifted position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
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      -1.43178,
      0.12524,
      -3.00952,
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    "gripper_open": 0.0,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
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      ],
      [
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      ],
      [
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        -0.87072
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    ],
    "simulated_seconds_remaining": 2.772,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 4.804049553349614,
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      {
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                    "x": 0.2
                  },
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                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the table.",
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                  },
                  "note": "Small backward/upward pull attempt within IK limits to try to catch the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
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  }
}

{
  "call": 36,
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    "instruction": "open the table.",
    "joint_positions": [
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      0.1048,
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    "tcp_rotation_matrix": [
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      ],
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      [
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    ],
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    "calls_remaining_including_this": 22
  },
  "api_seconds": 3.602934878319502,
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      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "give_up",
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                  "note": "Could not localize/grasp the table drawer handle; repeated closes caught nothing and IK limits plus exhausted motion time prevent further attempts."
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              }
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          ]
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      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 323,
  "house_index": 217,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 34,
  "api_calls": 35,
  "wall_seconds": 324.0066657066345,
  "usage": {
    "input_tokens": 70,
    "cache_creation_input_tokens": 30843,
    "cache_read_input_tokens": 512164,
    "output_tokens": 13504
  },
  "estimated_cost_usd": 0.78680075
}


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.



MODEL RESPONSES


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      }
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          "note": "Approach dresser front slowly to locate handle in wrist view."
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{
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          "note": "Face straight forward for a clearer view of the drawer front."
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{
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          "note": "Shift left toward the visible drawer handles to calibrate image-space motion."
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{
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{
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{
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          "note": "Lower slightly to calibrate vertical direction in wrist image."
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{
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{
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{
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          "note": "Shift left toward the small drawer handles seen in exterior view."
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{
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          "note": "Level the gripper to look straight at the drawer face and see handles."
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{
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          "note": "Raise toward the bright handle bar which appears above the fingers."
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{
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          "note": "Small upward step toward handle height."
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{
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{
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          "note": "Advance so the handle passes between the fingers."
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{
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          "note": "Retreat and lower to inspect the lower drawer fronts for handles."
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{
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          "note": "Return to handle height and push slightly deeper so fingers straddle the handle bar."
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{
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          "note": "Reset to clean forward-facing pose just below dresser top, in front of drawer."
        },
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{
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          "note": "Rise to bar height and push in so the bar lies between fingers."
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{
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    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014Z9cCNUTHiVUwyRwDi7qCG",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.82,
            "x": 0.75
          },
          "note": "Lower drawers are within better reach; move down and deeper to find a lower handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 805,
      "cache_read_input_tokens": 27730,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 805,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 848,
      "output_tokens_details": {
        "thinking_tokens": 739
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfACweA2Aq3RNmTrScp",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TsYFGBxyhGeJSsKWFg38u6",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": 1.29,
            "yaw": 0,
            "x": 0.7,
            "y": 0.13,
            "z": 0.95
          },
          "note": "Return to the forward-facing pose at the bar height at maximum reach."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1343,
      "cache_read_input_tokens": 28535,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1343,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 636,
      "output_tokens_details": {
        "thinking_tokens": 504
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfB5n4SFEfrREmGvKYk",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01DHAb3C3NTzMK1nnQXCLx54",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper to attempt grasping the handle bar in front of the fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1126,
      "cache_read_input_tokens": 29878,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1126,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 270,
      "output_tokens_details": {
        "thinking_tokens": 170
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfBYZP5aPfHPQcWSv3s",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018pDsCzyavmuGjkcSGuqDCD",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "x": 0.62
          },
          "note": "Keep gripper closed and pull back to test whether the handle is caught."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 761,
      "cache_read_input_tokens": 31004,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 761,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 181,
      "output_tokens_details": {
        "thinking_tokens": 75
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 16.81443371064961,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57,
                    "x": 0.3,
                    "z": 0.95
                  },
                  "note": "Rotate gripper to point forward (+x) to approach dresser drawer front horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01101,
      -0.77225,
      0.02406,
      -2.41378,
      -0.0809,
      1.6051,
      0.13552
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30638,
      -0.01101,
      0.98819
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99428,
        -0.10144,
        -0.03357
      ],
      [
        -0.10429,
        -0.98966,
        -0.09846
      ],
      [
        -0.02324,
        0.1014,
        -0.99457
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 3.603656523860991,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Incremental pitch rotation toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01227,
      -1.54388,
      0.02616,
      -3.03438,
      -0.11373,
      2.24654,
      0.20386
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30634,
      -0.01102,
      0.98814
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79561,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.71244,
        -0.14345,
        0.68692
      ],
      [
        -0.1043,
        -0.98966,
        -0.0985
      ],
      [
        0.69394,
        -0.00146,
        -0.72003
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.0030647730454803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Continue rotating to face forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01227,
      -1.54388,
      0.02616,
      -3.03438,
      -0.11373,
      2.24654,
      0.20386
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30634,
      -0.01102,
      0.98814
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79561,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.71244,
        -0.14345,
        0.68692
      ],
      [
        -0.1043,
        -0.98966,
        -0.0985
      ],
      [
        0.69394,
        -0.00146,
        -0.72003
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.003256171010435,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "z": 0.9
                  },
                  "note": "Try lower z and moderate pitch to find reachable forward-facing pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01227,
      -1.54388,
      0.02616,
      -3.03438,
      -0.11373,
      2.24654,
      0.20386
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30634,
      -0.01102,
      0.98814
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79561,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.71244,
        -0.14345,
        0.68692
      ],
      [
        -0.1043,
        -0.98966,
        -0.0985
      ],
      [
        0.69394,
        -0.00146,
        -0.72003
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.2032267758622766,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.95
                  },
                  "note": "Small incremental pitch step to probe 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 dresser.",
    "joint_positions": [
      0.01227,
      -1.54388,
      0.02616,
      -3.03438,
      -0.11373,
      2.24654,
      0.20386
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30634,
      -0.01102,
      0.98814
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79561,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.71244,
        -0.14345,
        0.68692
      ],
      [
        -0.1043,
        -0.98966,
        -0.0985
      ],
      [
        0.69394,
        -0.00146,
        -0.72003
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.404002486728132,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "pitch": -0.95
                  },
                  "note": "Move forward while pitching; extension may help IK."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01227,
      -1.54388,
      0.02616,
      -3.03438,
      -0.11373,
      2.24654,
      0.20386
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30634,
      -0.01102,
      0.98814
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.79561,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.71244,
        -0.14345,
        0.68692
      ],
      [
        -0.1043,
        -0.98966,
        -0.0985
      ],
      [
        0.69394,
        -0.00146,
        -0.72003
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.005871643312275,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.95
                  },
                  "note": "Move forward toward dresser with current 45° tilt to see handles in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.07094,
      -0.81122,
      0.06083,
      -2.87793,
      -0.15119,
      2.82585,
      0.25829
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44872,
      -0.01104,
      0.95029
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79537,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.71259,
        -0.14351,
        0.68674
      ],
      [
        -0.10432,
        -0.98965,
        -0.09857
      ],
      [
        0.69378,
        -0.0014,
        -0.72019
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.605988271534443,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Retry rotating to forward-facing orientation from new arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.07094,
      -0.81122,
      0.06083,
      -2.87793,
      -0.15119,
      2.82585,
      0.25829
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44872,
      -0.01104,
      0.95029
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79537,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.71259,
        -0.14351,
        0.68674
      ],
      [
        -0.10432,
        -0.98965,
        -0.09857
      ],
      [
        0.69378,
        -0.0014,
        -0.72019
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.807914852164686,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 3.14,
                    "pitch": 0
                  },
                  "note": "Flip wrist by 180° roll to get different joint configuration, keeping gripper pointing up/down, to allow pitching forward later."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 68,
    "motion_seconds": 4.488,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.5831,
      -1.7837,
      -2.02382,
      -2.22262,
      1.01786,
      1.40628,
      -0.67911
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44867,
      -0.01081,
      0.95033
    ],
    "tcp_roll_pitch_yaw": [
      3.13551,
      -4e-05,
      -0.00099
    ],
    "tcp_rotation_matrix": [
      [
        0.99438,
        -0.10045,
        -0.03351
      ],
      [
        0.10344,
        0.98913,
        0.10454
      ],
      [
        0.02264,
        -0.10741,
        0.99396
      ]
    ],
    "simulated_seconds_remaining": 22.836,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 3.4037009999156,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.5
                  },
                  "note": "Pitch to point gripper forward (+x) toward dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      1.5831,
      -1.7837,
      -2.02382,
      -2.22262,
      1.01786,
      1.40628,
      -0.67911
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44867,
      -0.01081,
      0.95033
    ],
    "tcp_roll_pitch_yaw": [
      3.13551,
      -4e-05,
      -0.00099
    ],
    "tcp_rotation_matrix": [
      [
        0.99438,
        -0.10045,
        -0.03351
      ],
      [
        0.10344,
        0.98913,
        0.10454
      ],
      [
        0.02264,
        -0.10741,
        0.99396
      ]
    ],
    "simulated_seconds_remaining": 22.836,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 2.6026836410164833,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0.7
                  },
                  "note": "Smaller pitch step in the flipped configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.17621,
      -1.44821,
      -2.01031,
      -2.78823,
      1.60979,
      1.83558,
      -0.706
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44866,
      -0.01087,
      0.9505
    ],
    "tcp_roll_pitch_yaw": [
      3.13528,
      0.69537,
      -0.00125
    ],
    "tcp_rotation_matrix": [
      [
        0.77802,
        -0.14561,
        0.61114
      ],
      [
        0.10346,
        0.98918,
        0.10397
      ],
      [
        -0.61966,
        -0.01766,
        0.78467
      ]
    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 3.403413807041943,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.3
                  },
                  "note": "Continue pitching toward forward-facing in flipped config."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.77743,
      -1.30568,
      -1.41772,
      -3.02549,
      2.5465,
      2.36658,
      -0.73978
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44875,
      -0.01097,
      0.95063
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    "tcp_roll_pitch_yaw": [
      3.13275,
      1.29517,
      -0.0039
    ],
    "tcp_rotation_matrix": [
      [
        0.29247,
        -0.12973,
        0.94743
      ],
      [
        0.10335,
        0.98924,
        0.10355
      ],
      [
        -0.95067,
        0.06764,
        0.30273
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.606930521316826,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
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                  "note": "Approach dresser front slowly to locate handle in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.1871,
      -1.2028,
      -1.5136,
      -2.73997,
      2.61001,
      2.24527,
      -0.76446
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54872,
      -0.01098,
      0.95065
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    "tcp_roll_pitch_yaw": [
      3.13275,
      1.29513,
      -0.00389
    ],
    "tcp_rotation_matrix": [
      [
        0.2925,
        -0.12975,
        0.94742
      ],
      [
        0.10336,
        0.98924,
        0.10357
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      [
        -0.95066,
        0.06763,
        0.30277
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    ],
    "simulated_seconds_remaining": 19.47,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.407226283103228,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.57
                  },
                  "note": "Face straight forward for a clearer view of the drawer 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 dresser.",
    "joint_positions": [
      1.1871,
      -1.2028,
      -1.5136,
      -2.73997,
      2.61001,
      2.24527,
      -0.76446
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54872,
      -0.01098,
      0.95065
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    "tcp_roll_pitch_yaw": [
      3.13275,
      1.29513,
      -0.00389
    ],
    "tcp_rotation_matrix": [
      [
        0.2925,
        -0.12975,
        0.94742
      ],
      [
        0.10336,
        0.98924,
        0.10357
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      [
        -0.95066,
        0.06763,
        0.30277
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    ],
    "simulated_seconds_remaining": 19.47,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 33.62738933507353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.07
                  },
                  "note": "Shift left toward the visible drawer handles to calibrate image-space motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.40092,
      -1.17778,
      -1.5302,
      -2.78171,
      2.74855,
      2.0334,
      -0.9015
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54868,
      0.06888,
      0.95065
    ],
    "tcp_roll_pitch_yaw": [
      3.13277,
      1.29512,
      -0.00354
    ],
    "tcp_rotation_matrix": [
      [
        0.29248,
        -0.13007,
        0.94738
      ],
      [
        0.10346,
        0.98919,
        0.10388
      ],
      [
        -0.95066,
        0.06763,
        0.30278
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    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 8.607520607300103,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Creep forward toward the drawer face to judge distance to handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.54317,
      -1.16008,
      -1.57726,
      -2.62537,
      2.75313,
      2.05268,
      -0.88005
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59883,
      0.06886,
      0.95068
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    "tcp_roll_pitch_yaw": [
      3.13278,
      1.29507,
      -0.00356
    ],
    "tcp_rotation_matrix": [
      [
        0.29253,
        -0.13004,
        0.94737
      ],
      [
        0.10345,
        0.9892,
        0.10384
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      [
        -0.95064,
        0.06763,
        0.30283
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.408720880746841,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.98
                  },
                  "note": "Raise slightly to calibrate vertical image direction relative to the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      1.54317,
      -1.16008,
      -1.57726,
      -2.62537,
      2.75313,
      2.05268,
      -0.88005
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59883,
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      0.95068
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    "tcp_roll_pitch_yaw": [
      3.13278,
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      -0.00356
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    "tcp_rotation_matrix": [
      [
        0.29253,
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        0.94737
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      [
        0.10345,
        0.9892,
        0.10384
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      [
        -0.95064,
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        0.30283
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    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 3.0030681770294905,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
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                  "note": "Lower slightly to calibrate vertical direction in wrist image."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
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      1.60965,
      -1.17173,
      -1.72833,
      -2.62078,
      2.62937,
      1.97675,
      -0.85175
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59884,
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      0.90111
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    "tcp_roll_pitch_yaw": [
      3.13295,
      1.29524,
      -0.00342
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    "tcp_rotation_matrix": [
      [
        0.29237,
        -0.13001,
        0.94742
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      [
        0.10349,
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        0.10381
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      [
        -0.95069,
        0.0677,
        0.30267
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    ],
    "simulated_seconds_remaining": 17.292,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 10.208826337940991,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96,
                    "x": 0.62
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                  "note": "Align height with the handle bar and creep forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.59011,
      -1.15217,
      -1.57399,
      -2.55777,
      2.77374,
      2.07728,
      -0.87468
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61961,
      0.06884,
      0.9589
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    "tcp_roll_pitch_yaw": [
      3.13272,
      1.29504,
      -0.00369
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    "tcp_rotation_matrix": [
      [
        0.29256,
        -0.12998,
        0.94737
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      [
        0.10342,
        0.98921,
        0.10378
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      [
        -0.95064,
        0.06761,
        0.30285
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    ],
    "simulated_seconds_remaining": 16.566,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 9.81407267600298,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.67
                  },
                  "note": "Creep forward to bring the handle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.71655,
      -1.1465,
      -1.62532,
      -2.40063,
      2.76885,
      2.1137,
      -0.85148
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    "gripper_open": 1.0,
    "tcp_xyz": [
      0.66743,
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      0.95778
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    "tcp_roll_pitch_yaw": [
      3.1306,
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      -0.00701
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    "tcp_rotation_matrix": [
      [
        0.29176,
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        0.9478
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      [
        0.1025,
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        0.10275
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      [
        -0.95098,
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        0.30186
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    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 14.412501809187233,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.12
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                  "note": "Shift left toward the small drawer handles seen in exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
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      1.83593,
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      -1.63145,
      -2.39199,
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      -0.0074
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    "tcp_rotation_matrix": [
      [
        0.29246,
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      [
        0.1024,
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      [
        -0.95078,
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    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 13.011195951141417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.55
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                  "note": "Level the gripper to look straight at the drawer face and see handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
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      -1.63145,
      -2.39199,
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      2.04274,
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      -0.0074
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    "tcp_rotation_matrix": [
      [
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      [
        0.1024,
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      [
        -0.95078,
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    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.811831342056394,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
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                  "note": "Raise toward the bright handle bar which appears above the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
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      -2.39199,
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      -0.0074
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    "tcp_rotation_matrix": [
      [
        0.29246,
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      [
        0.1024,
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        0.10331
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      [
        -0.95078,
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    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 3.6033338885754347,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.975
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                  "note": "Small upward step toward handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
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      -1.63145,
      -2.39199,
      2.80637,
      2.04274,
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    "tcp_rotation_matrix": [
      [
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      [
        0.1024,
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      [
        -0.95078,
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    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 7.806977581232786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.99
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                  "note": "Retract slightly to gain reach margin, then rise to handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
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      -2.39199,
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      2.04274,
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    "tcp_rotation_matrix": [
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      [
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      [
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    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.40594560559839,
  "response": {
    "candidates": [
      {
        "content": {
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          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.71
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                  "note": "Advance so the handle passes between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.91947,
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      -1.66456,
      -2.28961,
      2.7961,
      2.04692,
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{
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{
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                  "note": "Reset to clean forward-facing pose just below dresser top, in front of drawer."
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              }
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          ]
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{
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                  "note": "Rise to bar height and push in so the bar lies between fingers."
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              }
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          ]
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{
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                  "note": "Lower drawers are within better reach; move down and deeper to find a lower handle."
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          ]
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{
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                  "note": "Return to the forward-facing pose at the bar height at maximum reach."
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          ]
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{
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                  "note": "Close gripper to attempt grasping the handle bar in front of the fingers."
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              }
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    ]
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{
  "call": 34,
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    "instruction": "open the dresser.",
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                  "note": "Keep gripper closed and pull back to test whether the handle is caught."
                }
              }
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          ]
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}

========================================================================
Opus 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,
  "source_episode_index": 352,
  "house_index": 218,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 25,
  "api_calls": 26,
  "wall_seconds": 267.45127725601196,
  "usage": {
    "input_tokens": 52,
    "cache_creation_input_tokens": 26946,
    "cache_read_input_tokens": 335979,
    "output_tokens": 13025
  },
  "estimated_cost_usd": 0.662287
}


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.



MODEL RESPONSES


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        "name": "observe",
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      }
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{
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        "thinking": ""
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            "x": 0.42,
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          },
          "note": "Move forward and down toward the dresser front to see the drawer handle better."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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          "note": "Pitch gripper up toward horizontal to view the dresser's front face and handles."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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        "input": {
          "targets": {
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          },
          "note": "Try smaller pitch change to tilt view forward."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 5,
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          "note": "Back up and raise to get a wider overview of the dresser from the wrist camera."
        },
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{
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          "note": "Pitch more to look horizontally forward at dresser front face."
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{
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          },
          "note": "Moderate pitch increase with slight reposition to view the front face."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfDw32nDWk4YXnMKyQS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
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        "id": "toolu_01Q3aEn6vYiTVzgFVxr8WAgB",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.38,
            "y": -0.02
          },
          "note": "Approach the drawer handle seen slightly right of center in wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfESCUeMPMmkJGoauYd",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01Pv16y8CCUpSJvB6GvJjyXZ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "y": -0.07
          },
          "note": "Handle appears right of center; shift right and forward to center it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfF7LwACHHVexLfdesW",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01NNjFYrbuMFJLcZLv6FaS5o",
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        "input": {
          "targets": {
            "y": 0.03
          },
          "note": "Pure lateral test move (+y) to determine image-axis mapping for centering on the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfFoRCz2ALA6WJEVYWb",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.5,
            "y": 0.06
          },
          "note": "Move forward and slightly left to bring handle toward image center for grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 12,
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    "model": "claude-opus-5",
    "id": "msg_011CezfGzR1j8KKNWG357nKc",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
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      {
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        "input": {
          "targets": {
            "pitch": 0.0,
            "x": 0.45,
            "z": 1.05,
            "y": 0.02
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          "note": "Point gripper straight down to view the surface containing the handle from above."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfJDDUn6reUm2A2kNbS",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 1.3
          },
          "note": "Raise up for a wider top-down overview of the dresser and handle layout."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfJxvn2S3yZTxRLxjok",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "input": {
          "targets": {
            "x": 0.42,
            "y": 0.0,
            "z": 0.93
          },
          "note": "Descend above estimated handle location (x0.42,y0) for a close look at the handle geometry."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 15,
  "response": {
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    "id": "msg_011CezfMPjpx5ARsbLA46uZm",
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        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "input": {
          "targets": {
            "x": 0.44,
            "y": -0.03,
            "z": 0.87
          },
          "note": "Center over the handle and descend closer to judge its height and orientation."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 16,
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    "id": "msg_011CezfN29qZZqFND4hvqHwt",
    "type": "message",
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        "thinking": ""
      },
      {
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          "targets": {
            "z": 1.0,
            "yaw": 1.57,
            "pitch": 0.0,
            "roll": 0.0,
            "x": 0.466,
            "y": -0.032
          },
          "note": "Lift clear and rotate gripper 90° so fingers straddle the handle bar (whose axis runs along y), positioned above the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 17,
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        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XcjuVKxDxzAUAof6bEUWEm",
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          "targets": {
            "roll": 0,
            "pitch": 0,
            "yaw": -1.57,
            "x": 0.4,
            "y": -0.03,
            "z": 1.0
          },
          "note": "Recover orientation: try -90° yaw instead so fingers align along x, hovering near handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 18,
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    "id": "msg_011CezfQA8rXL7tKYNTY6DUS",
    "type": "message",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.466,
            "y": -0.032,
            "z": 0.925
          },
          "note": "Descend onto the handle with fingers straddling along x."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfQXbwndPK1dex2HHKQ",
    "type": "message",
    "role": "assistant",
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "yaw": 0,
            "x": 0.46,
            "y": -0.03,
            "z": 0.94
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          "note": "Return to downward orientation and hover just above the handle before closing the gripper on it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfRsucKy1h8RKp6RpHT",
    "type": "message",
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.5,
            "y": -0.05,
            "z": 0.9,
            "gripper": 1
          },
          "note": "Move over the handle (up-right in view) and down to handle level for grasping."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfSPWqHYYE6aA5R7AMQ",
    "type": "message",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.55,
            "z": 1.02,
            "yaw": 0
          },
          "note": "Blocked by surface; lift and move forward over the handle area, restoring straight-down orientation."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfTHWhKFJ5tJYSVA2zz",
    "type": "message",
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    "content": [
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        "thinking": ""
      },
      {
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        "input": {
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            "x": 0.48,
            "y": -0.06,
            "z": 0.95,
            "roll": 0,
            "pitch": 0,
            "yaw": 0
          },
          "note": "Reset to clean downward pose just above the handle for a final grasp attempt."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfU48pUmQATA7omBcZd",
    "type": "message",
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      {
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        "input": {
          "targets": {
            "x": 0.48,
            "y": -0.05,
            "z": 0.93
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          "note": "Lower onto the handle for the final grasp attempt."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfUbHoNHxEGuXuZ39Vx",
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      {
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        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper where it rests against the handle/edge to attempt a hook grip."
        },
        "caller": {
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      }
    ],
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      "output_tokens_details": {
        "thinking_tokens": 93
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfUzADkjMfaN78P695F",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018uRk9JDBArHjn7DtteGpC5",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.32
          },
          "note": "Pull straight back toward robot in case closed fingers caught the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 684,
      "cache_read_input_tokens": 25590,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 684,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 182,
      "output_tokens_details": {
        "thinking_tokens": 84
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfVM54gBy7ojq6bp5dR",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01SSbnYEzV7iGqAdh5uj8y37",
        "name": "give_up",
        "input": {
          "note": "Could not localize/grasp the dresser drawer handle before running out of simulated motion time; repeated collisions with the dresser surface blocked approach."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 672,
      "cache_read_input_tokens": 26274,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 672,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 120,
      "output_tokens_details": {
        "thinking_tokens": 27
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 14.811679735779762,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.95
                  },
                  "note": "Move forward and down toward the dresser front to see the drawer handle better."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02988,
      -0.57355,
      0.08795,
      -2.42624,
      0.00092,
      2.01816,
      0.13698
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41914,
      0.02047,
      0.95092
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00035,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98209,
        -0.09123,
        0.16485
      ],
      [
        -0.08593,
        -0.99554,
        -0.03898
      ],
      [
        0.16767,
        0.02411,
        -0.98555
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.608352079056203,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0,
                    "x": 0.35,
                    "z": 1.0
                  },
                  "note": "Pitch gripper up toward horizontal to view the dresser's front face and 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": [
      -0.02988,
      -0.57355,
      0.08795,
      -2.42624,
      0.00092,
      2.01816,
      0.13698
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41914,
      0.02047,
      0.95092
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00035,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98209,
        -0.09123,
        0.16485
      ],
      [
        -0.08593,
        -0.99554,
        -0.03898
      ],
      [
        0.16767,
        0.02411,
        -0.98555
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.0029502538964152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5
                  },
                  "note": "Try smaller pitch change to tilt view forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02273,
      -0.90521,
      0.10371,
      -2.86219,
      -9e-05,
      2.61792,
      0.16888
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4191,
      0.02047,
      0.95078
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.49548,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78405,
        -0.09174,
        0.61388
      ],
      [
        -0.08591,
        -0.99554,
        -0.03905
      ],
      [
        0.61472,
        -0.02212,
        -0.78843
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.408777471631765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 1.15
                  },
                  "note": "Back up and raise to get a wider overview of the dresser from the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00895,
      -1.34937,
      0.06599,
      -2.47532,
      -0.00266,
      1.78633,
      0.14468
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25088,
      0.02048,
      1.14909
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.4958,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.78386,
        -0.09171,
        0.61413
      ],
      [
        -0.0859,
        -0.99554,
        -0.03902
      ],
      [
        0.61497,
        -0.02217,
        -0.78824
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.406405126675963,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Pitch more to look horizontally forward at dresser front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.00895,
      -1.34937,
      0.06599,
      -2.47532,
      -0.00266,
      1.78633,
      0.14468
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25088,
      0.02048,
      1.14909
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.4958,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.78386,
        -0.09171,
        0.61413
      ],
      [
        -0.0859,
        -0.99554,
        -0.03902
      ],
      [
        0.61497,
        -0.02217,
        -0.78824
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.40603543817997,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "z": 1.1,
                    "x": 0.3
                  },
                  "note": "Moderate pitch increase with slight reposition to view the front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01641,
      -1.64141,
      0.09496,
      -2.94889,
      -0.00182,
      2.36643,
      0.17475
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29953,
      0.02048,
      1.10028
    ],
    "tcp_roll_pitch_yaw": [
      -0.00015,
      -0.89533,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.4829,
        -0.07594,
        0.87238
      ],
      [
        -0.08589,
        -0.99554,
        -0.03911
      ],
      [
        0.87145,
        -0.05604,
        -0.48726
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.407464052550495,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": -0.02
                  },
                  "note": "Approach the drawer handle seen slightly right of center in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02971,
      -1.27993,
      -0.0227,
      -2.887,
      -0.03964,
      2.66863,
      0.08476
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37888,
      -0.01942,
      1.10021
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.89508,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.48312,
        -0.07594,
        0.87226
      ],
      [
        -0.08595,
        -0.99553,
        -0.03906
      ],
      [
        0.87133,
        -0.0561,
        -0.48749
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 8.806962920352817,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": -0.07
                  },
                  "note": "Handle appears right of center; shift right and forward to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02357,
      -1.08547,
      -0.16068,
      -2.81373,
      -0.06443,
      2.79221,
      -0.02537
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41919,
      -0.06899,
      1.10018
    ],
    "tcp_roll_pitch_yaw": [
      0.00023,
      -0.89495,
      -0.00029
    ],
    "tcp_rotation_matrix": [
      [
        0.48323,
        -0.07595,
        0.87219
      ],
      [
        -0.08609,
        -0.99552,
        -0.03899
      ],
      [
        0.87125,
        -0.05625,
        -0.4876
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.806632683612406,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.03
                  },
                  "note": "Pure lateral test move (+y) to determine image-axis mapping for centering on the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03109,
      -1.10101,
      0.11707,
      -2.82229,
      -0.02025,
      2.78154,
      0.20681
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4192,
      0.02866,
      1.1002
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.89497,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.48323,
        -0.07582,
        0.87221
      ],
      [
        -0.08587,
        -0.99554,
        -0.03897
      ],
      [
        0.87127,
        -0.05607,
        -0.48758
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 15.811592785641551,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.06
                  },
                  "note": "Move forward and slightly left to bring handle toward image center for grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.11276,
      -0.78299,
      0.23436,
      -2.65658,
      -0.02873,
      2.93992,
      0.28434
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49875,
      0.0595,
      1.10016
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.89481,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.48336,
        -0.07587,
        0.87213
      ],
      [
        -0.08581,
        -0.99555,
        -0.03904
      ],
      [
        0.87121,
        -0.05597,
        -0.48772
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 16.015261499211192,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0.0,
                    "x": 0.45,
                    "z": 1.05,
                    "y": 0.02
                  },
                  "note": "Point gripper straight down to view the surface containing the handle from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06034,
      -0.46721,
      0.10157,
      -2.0907,
      0.00077,
      1.79457,
      0.12351
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45035,
      0.02016,
      1.05018
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      -0.00442,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98129,
        -0.09125,
        0.16955
      ],
      [
        -0.08582,
        -0.99554,
        -0.03914
      ],
      [
        0.17237,
        0.02386,
        -0.98474
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 10.207680973224342,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.3
                  },
                  "note": "Raise up for a wider top-down overview of the dresser and handle layout."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06034,
      -0.46721,
      0.10157,
      -2.0907,
      0.00077,
      1.79457,
      0.12351
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45035,
      0.02016,
      1.05018
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      -0.00442,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98129,
        -0.09125,
        0.16955
      ],
      [
        -0.08582,
        -0.99554,
        -0.03914
      ],
      [
        0.17237,
        0.02386,
        -0.98474
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 32.42474666889757,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.0,
                    "z": 0.93
                  },
                  "note": "Descend above estimated handle location (x0.42,y0) for a close look at the handle geometry."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06451,
      -0.56938,
      0.07461,
      -2.4762,
      0.00085,
      2.07825,
      0.0908
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42029,
      0.0002,
      0.9312
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      -0.00414,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98133,
        -0.09128,
        0.16928
      ],
      [
        -0.08585,
        -0.99554,
        -0.03914
      ],
      [
        0.17209,
        0.02388,
        -0.98479
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.007125628180802,
  "response": {
    "candidates": [
      {
        "content": {
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          "parts": [
            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": -0.03,
                    "z": 0.87
                  },
                  "note": "Center over the handle and descend closer to judge its height and orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
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      -0.523,
      0.05096,
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      -0.01571,
      2.28824,
      0.04269
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      -0.01431,
      -0.1129,
      0.02633
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    "tcp_rotation_matrix": [
      [
        0.95858,
        -0.06872,
        0.2764
      ],
      [
        -0.05829,
        -0.99725,
        -0.0458
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      [
        0.27879,
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      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 16.613467322662473,
  "response": {
    "candidates": [
      {
        "content": {
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          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0,
                    "yaw": 1.57,
                    "pitch": 0.0,
                    "roll": 0.0,
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                    "y": -0.032
                  },
                  "note": "Lift clear and rotate gripper 90° so fingers straddle the handle bar (whose axis runs along y), positioned above the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.25755,
      -0.35918,
      -0.37132,
      -2.0385,
      -0.03669,
      1.13439,
      -0.99746
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29521,
      -0.04838,
      1.00005
    ],
    "tcp_roll_pitch_yaw": [
      0.61234,
      0.30768,
      1.16596
    ],
    "tcp_rotation_matrix": [
      [
        0.53252,
        0.66138,
        -0.52821
      ],
      [
        0.81906,
        -0.56002,
        0.12454
      ],
      [
        -0.21344,
        -0.49895,
        -0.83993
      ]
    ],
    "simulated_seconds_remaining": 15.576,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.407433683052659,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": 0,
                    "yaw": -1.57,
                    "x": 0.4,
                    "y": -0.03,
                    "z": 1.0
                  },
                  "note": "Recover orientation: try -90° yaw instead so fingers align along x, hovering near handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 58,
    "motion_seconds": 3.8280000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
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      -0.4846,
      0.22263,
      -2.17788,
      -0.06402,
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
      -0.00055,
      0.00147,
      -1.5654
    ],
    "tcp_rotation_matrix": [
      [
        -0.08052,
        -0.996,
        -0.03862
      ],
      [
        -0.98273,
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        -0.16395
      ],
      [
        0.16661,
        0.02476,
        -0.98571
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.804601759649813,
  "response": {
    "candidates": [
      {
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                    "z": 0.925
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                  "note": "Descend onto the handle with fingers straddling along x."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
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      -0.44349,
      0.26124,
      -2.16199,
      -0.101,
      1.67098,
      1.66513
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      0.99127
    ],
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      -0.02219,
      -0.0452,
      -1.59434
    ],
    "tcp_rotation_matrix": [
      [
        -0.10506,
        -0.99229,
        -0.06574
      ],
      [
        -0.97115,
        0.1166,
        -0.20801
      ],
      [
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      ]
    ],
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    "calls_remaining_including_this": 40
  },
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  "response": {
    "candidates": [
      {
        "content": {
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              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0,
                    "x": 0.46,
                    "y": -0.03,
                    "z": 0.94
                  },
                  "note": "Return to downward orientation and hover just above the handle before closing the gripper on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
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    ],
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      -0.00041,
      -0.13436,
      -0.46014
    ],
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        0.81367,
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      [
        -0.49908,
        -0.85039,
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      ],
      [
        0.29808,
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      ]
    ],
    "simulated_seconds_remaining": 8.316,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.604894882068038,
  "response": {
    "candidates": [
      {
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            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.05,
                    "z": 0.9,
                    "gripper": 1
                  },
                  "note": "Move over the handle (up-right in view) and down to handle level for grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
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      -0.51186,
      -0.07782,
      -2.38913,
      -0.25107,
      2.13525,
      0.66388
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
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      -0.04963,
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    "tcp_roll_pitch_yaw": [
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      -0.15168,
      -0.47872
    ],
    "tcp_rotation_matrix": [
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      ],
      [
        -0.51209,
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        -0.17635
      ],
      [
        0.31427,
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      ]
    ],
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  },
  "api_seconds": 11.608726955018938,
  "response": {
    "candidates": [
      {
        "content": {
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              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 1.02,
                    "yaw": 0
                  },
                  "note": "Blocked by surface; lift and move forward over the handle area, restoring straight-down orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
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      -0.89896
    ],
    "tcp_rotation_matrix": [
      [
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      ],
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        -0.81745,
        -0.57306,
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    ],
    "simulated_seconds_remaining": 6.534,
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  },
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      {
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                    "roll": 0,
                    "pitch": 0,
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                  "note": "Reset to clean downward pose just above the handle for a final grasp attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 22,
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    "instruction": "open the dresser.",
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    ],
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    ],
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  },
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                    "x": 0.48,
                    "y": -0.05,
                    "z": 0.93
                  },
                  "note": "Lower onto the handle for the final grasp attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
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      -0.53031
    ],
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      ],
      [
        -0.57969,
        -0.81399,
        -0.03701
      ],
      [
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      ]
    ],
    "simulated_seconds_remaining": 4.224,
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  },
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      {
        "content": {
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          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close gripper where it rests against the handle/edge to attempt a hook grip."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.31722,
      -0.4749,
      -0.2801,
      -2.21568,
      -0.16715,
      1.76451,
      0.7172
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.41958,
      -0.02078,
      0.97928
    ],
    "tcp_roll_pitch_yaw": [
      0.01416,
      0.13654,
      -0.53069
    ],
    "tcp_rotation_matrix": [
      [
        0.81398,
        -0.58076,
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      ],
      [
        -0.58004,
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        -0.03648
      ],
      [
        0.03156,
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      ]
    ],
    "simulated_seconds_remaining": 3.3,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.403683337382972,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32
                  },
                  "note": "Pull straight back toward robot in case closed fingers caught the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.27902,
      -0.79229,
      -0.22052,
      -2.43774,
      -0.19496,
      1.66439,
      0.75935
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.32127,
      -0.02078,
      0.97935
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    "tcp_roll_pitch_yaw": [
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      -0.53067
    ],
    "tcp_rotation_matrix": [
      [
        0.81397,
        -0.58076,
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      ],
      [
        -0.58004,
        -0.81377,
        -0.03642
      ],
      [
        0.03164,
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      ]
    ],
    "simulated_seconds_remaining": 2.31,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 3.6032099360600114,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize/grasp the dresser drawer handle before running out of simulated motion time; repeated collisions with the dresser surface blocked approach."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 372,
  "house_index": 219,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 37,
  "api_calls": 38,
  "wall_seconds": 354.09177112579346,
  "usage": {
    "input_tokens": 76,
    "cache_creation_input_tokens": 36133,
    "cache_read_input_tokens": 665026,
    "output_tokens": 16389
  },
  "estimated_cost_usd": 0.96844925
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfDS5zsh2NabHdak5DH",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015bake9CSMqZp7DttK7EujV",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1780,
      "cache_read_input_tokens": 0,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1780,
        "ephemeral_1h_input_tokens": 0
      },
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{
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          "note": "Raise arm to get a wider wrist view of the scene to locate the dresser."
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{
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          "note": "Rotate wrist camera to look forward (+x) to find the dresser."
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{
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{
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{
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          "note": "Back off and raise for a wider forward view of the dresser."
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{
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{
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{
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{
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          "note": "Return to straight-ahead yaw, tilt down to look at the panel with handles."
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{
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          "note": "Move forward to approach the wooden panel and see the handles closer."
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{
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          "note": "Lower and advance toward the handles for a closer look."
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{
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          "note": "Test lateral motion to calibrate image-to-world mapping using handle shift."
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{
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{
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{
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{
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{
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{
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}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfR7BYHSDDJEAx3gMyw",
    "type": "message",
    "role": "assistant",
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        "type": "thinking",
        "thinking": ""
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            "pitch": -1.4
          },
          "note": "Point gripper forward to view/approach the dresser's front face handles."
        },
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      }
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{
  "api_call": 21,
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          "note": "Retract slightly while pitching gripper forward to make the pose reachable."
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{
  "api_call": 22,
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        "input": {
          "targets": {
            "pitch": -1.15
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          "note": "Try moderate forward pitch that was reachable before."
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{
  "api_call": 23,
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            "x": 0.3,
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          "note": "Retract and raise to a freer configuration before re-orienting."
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{
  "api_call": 24,
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          "note": "Advance along the estimated ray toward the handles to gauge depth."
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{
  "api_call": 25,
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          "note": "Advance forward at handle height to approach the panel and observe closely."
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{
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          "note": "Raise to test whether the handle is above current height (should move toward center)."
        },
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{
  "api_call": 27,
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          "targets": {
            "yaw": 1.2,
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          },
          "note": "Yaw left to view the suspected cabinet front face frontally."
        },
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      }
    ],
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{
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            "yaw": 0,
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          "note": "Point gripper forward just above the surface to engage a front-facing handle."
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{
  "api_call": 29,
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          "note": "Advance along gripper axis toward the bar handle seen ahead near view center."
        },
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{
  "api_call": 30,
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            "gripper": 0
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          "note": "Close gripper to attempt grasping the handle at contact."
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{
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        "input": {
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            "gripper": 1,
            "y": -0.03
          },
          "note": "Reopen and shift toward where the bar handle appeared (image right = +y) to align."
        },
        "caller": {
          "type": "direct"
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      }
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{
  "api_call": 32,
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        "input": {
          "targets": {
            "x": 0.605,
            "z": 0.945,
            "gripper": 0
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          "note": "Nudge forward onto the handle bar and close the gripper to grab it."
        },
        "caller": {
          "type": "direct"
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{
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        "input": {
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            "roll": 1.57,
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            "x": 0.58
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          "note": "Rotate fingers to open vertically so they can straddle the horizontal bar handle."
        },
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{
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        "input": {
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          "note": "Smaller roll step toward vertical finger opening, reopening gripper."
        },
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{
  "api_call": 35,
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    "id": "msg_011Cezfe5xV4df9j7r3SCXCP",
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        "thinking": ""
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        "input": {
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            "roll": 0.35,
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          },
          "note": "Very small roll step; reopen gripper for another grasp attempt."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 36,
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    "model": "claude-opus-5",
    "id": "msg_011CezfeV7kpkWCDheAjZWs9",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "z": 0.925,
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          "note": "Dip slightly onto the bar handle and close the gripper."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 37,
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    "id": "msg_011CezfeuhcsURTYtRw1EBRG",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "x": 0.47
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          "note": "Gripper stalled at 0.61 indicating it grabbed the handle; pull backward to open the drawer."
        },
        "caller": {
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      }
    ],
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      "input_tokens": 2,
      "cache_creation_input_tokens": 701,
      "cache_read_input_tokens": 34760,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 701,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 177,
      "output_tokens_details": {
        "thinking_tokens": 66
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 38,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezffF2CuN3H6fJtaGhfh",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Nx51hwDnYwiAzYVkxgg6nv",
        "name": "give_up",
        "input": {
          "note": "Could not reliably localize the dresser handle from the ambiguous wrist/exterior views; grasp attempts failed and simulated time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 672,
      "cache_read_input_tokens": 35461,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 672,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 188,
      "output_tokens_details": {
        "thinking_tokens": 94
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 8.207413570955396,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.15
                  },
                  "note": "Raise arm to get a wider wrist view of the scene to locate 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": [
      -0.02729,
      -0.65294,
      0.03037,
      -1.89901,
      -0.06482,
      1.18479,
      -0.17626
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28278,
      -0.01442,
      1.14869
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.0002,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98649,
        0.15151,
        -0.06233
      ],
      [
        0.14652,
        -0.98611,
        -0.07817
      ],
      [
        -0.07331,
        0.06799,
        -0.99499
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.60749631933868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Rotate wrist camera to look 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": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02729,
      -0.65294,
      0.03037,
      -1.89901,
      -0.06482,
      1.18479,
      -0.17626
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28278,
      -0.01442,
      1.14869
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.0002,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98649,
        0.15151,
        -0.06233
      ],
      [
        0.14652,
        -0.98611,
        -0.07817
      ],
      [
        -0.07331,
        0.06799,
        -0.99499
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.2030187509953976,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Partially tilt wrist camera forward to survey scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01543,
      -1.32616,
      0.01282,
      -2.53088,
      -0.06512,
      1.9371,
      -0.12498
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28272,
      -0.01442,
      1.14866
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.79563,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.74288,
        0.05748,
        0.66695
      ],
      [
        0.14651,
        -0.98611,
        -0.0782
      ],
      [
        0.6532,
        0.15581,
        -0.74098
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.804400590248406,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Tilt further forward to see dresser drawer handles more clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02126,
      -1.65793,
      0.00664,
      -2.86966,
      -0.07789,
      2.34352,
      -0.09632
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28272,
      -0.01444,
      1.14858
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -1.19572,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.4298,
        -0.0078,
        0.90289
      ],
      [
        0.14649,
        -0.98611,
        -0.07825
      ],
      [
        0.89096,
        0.1659,
        -0.42269
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.407308217138052,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.15,
                    "z": 1.25,
                    "pitch": -0.7
                  },
                  "note": "Back off and raise for a wider forward view of the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02126,
      -1.65793,
      0.00664,
      -2.86966,
      -0.07789,
      2.34352,
      -0.09632
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28272,
      -0.01444,
      1.14858
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -1.19572,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.4298,
        -0.0078,
        0.90289
      ],
      [
        0.14649,
        -0.98611,
        -0.07825
      ],
      [
        0.89096,
        0.1659,
        -0.42269
      ]
    ],
    "simulated_seconds_remaining": 26.4,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.8043798469007015,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.15,
                    "pitch": -0.6
                  },
                  "note": "Back off slightly for a wider forward view of the dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01433,
      -1.36985,
      0.01519,
      -2.38868,
      -0.05976,
      1.5607,
      -0.15009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20068,
      -0.01444,
      1.15004
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.60445,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.85347,
        0.086,
        0.514
      ],
      [
        0.14649,
        -0.98611,
        -0.07825
      ],
      [
        0.50013,
        0.14208,
        -0.85422
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 10.407133718952537,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.2
                  },
                  "note": "Look nearly horizontally forward to see dresser front face and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02178,
      -1.02507,
      0.02237,
      -2.12219,
      -0.06131,
      1.23953,
      -0.17482
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20076,
      -0.01445,
      1.14998
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.20396,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98092,
        0.13458,
        0.14029
      ],
      [
        0.14648,
        -0.98611,
        -0.07825
      ],
      [
        0.12781,
        0.09731,
        -0.98701
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 13.81132279895246,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6,
                    "yaw": 0.7
                  },
                  "note": "Survey to the left with wrist camera to locate dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.27647,
      -1.35017,
      -0.22144,
      -2.33921,
      -0.02681,
      1.50518,
      -0.66009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20073,
      -0.01449,
      1.15
    ],
    "tcp_roll_pitch_yaw": [
      0.00097,
      -0.59808,
      0.69567
    ],
    "tcp_rotation_matrix": [
      [
        0.56357,
        0.69921,
        0.43989
      ],
      [
        0.66148,
        -0.70094,
        0.26669
      ],
      [
        0.49481,
        0.14068,
        -0.85754
      ]
    ],
    "simulated_seconds_remaining": 23.034,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.40919100586325,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "yaw": 0
                  },
                  "note": "Return to straight-ahead yaw, tilt down to look at the panel with handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.08171,
      -1.6407,
      0.01367,
      -2.60528,
      -0.00457,
      1.80277,
      -0.19492
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2007,
      -0.01446,
      1.15
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.89832,
      0.00489
    ],
    "tcp_rotation_matrix": [
      [
        0.67131,
        0.04581,
        0.73976
      ],
      [
        0.14978,
        -0.98588,
        -0.07486
      ],
      [
        0.72588,
        0.16105,
        -0.6687
      ]
    ],
    "simulated_seconds_remaining": 21.714,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 15.413206192664802,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35
                  },
                  "note": "Move forward to approach the wooden panel and see the handles closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.08999,
      -1.20257,
      0.04443,
      -2.57536,
      0.00965,
      2.21078,
      -0.17532
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34871,
      -0.01447,
      1.14991
    ],
    "tcp_roll_pitch_yaw": [
      -0.00029,
      -0.89803,
      0.00486
    ],
    "tcp_rotation_matrix": [
      [
        0.67153,
        0.04584,
        0.73956
      ],
      [
        0.14976,
        -0.98588,
        -0.07487
      ],
      [
        0.72569,
        0.16103,
        -0.66891
      ]
    ],
    "simulated_seconds_remaining": 20.394,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.208173089660704,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.0
                  },
                  "note": "Lower and advance toward the handles for a closer look."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.08657,
      -1.10987,
      0.07487,
      -2.93223,
      0.02045,
      2.65988,
      -0.1548
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39958,
      -0.01447,
      1.0011
    ],
    "tcp_roll_pitch_yaw": [
      -0.00027,
      -0.89767,
      0.00483
    ],
    "tcp_rotation_matrix": [
      [
        0.67179,
        0.04589,
        0.73932
      ],
      [
        0.14974,
        -0.98589,
        -0.07487
      ],
      [
        0.72545,
        0.161,
        -0.66918
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 13.009679592214525,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1
                  },
                  "note": "Test lateral motion to calibrate image-to-world mapping using handle shift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03258,
      -1.07658,
      0.3827,
      -2.86851,
      0.0843,
      2.62526,
      0.12536
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39959,
      0.09869,
      1.00113
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      -0.89771,
      0.00514
    ],
    "tcp_rotation_matrix": [
      [
        0.67174,
        0.046,
        0.73935
      ],
      [
        0.14993,
        -0.98586,
        -0.07488
      ],
      [
        0.72545,
        0.16115,
        -0.66914
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 11.409581576474011,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05,
                    "z": 0.9
                  },
                  "note": "Shift right and lower to center the handle in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.03258,
      -1.07658,
      0.3827,
      -2.86851,
      0.0843,
      2.62526,
      0.12536
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39959,
      0.09869,
      1.00113
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      -0.89771,
      0.00514
    ],
    "tcp_rotation_matrix": [
      [
        0.67174,
        0.046,
        0.73935
      ],
      [
        0.14993,
        -0.98586,
        -0.07488
      ],
      [
        0.72545,
        0.16115,
        -0.66914
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 3.403186971321702,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.02,
                    "z": 0.95
                  },
                  "note": "Smaller step: shift right and lower a bit to center the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.03258,
      -1.07658,
      0.3827,
      -2.86851,
      0.0843,
      2.62526,
      0.12536
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39959,
      0.09869,
      1.00113
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      -0.89771,
      0.00514
    ],
    "tcp_rotation_matrix": [
      [
        0.67174,
        0.046,
        0.73935
      ],
      [
        0.14993,
        -0.98586,
        -0.07488
      ],
      [
        0.72545,
        0.16115,
        -0.66914
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 4.2033030688762665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0
                  },
                  "note": "Only lateral shift right, keeping height, to center handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.07637,
      -1.11223,
      0.11876,
      -2.93006,
      0.02995,
      2.65497,
      -0.11412
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3996,
      0.00135,
      1.00113
    ],
    "tcp_roll_pitch_yaw": [
      -0.00025,
      -0.89769,
      0.00479
    ],
    "tcp_rotation_matrix": [
      [
        0.67178,
        0.04586,
        0.73933
      ],
      [
        0.14971,
        -0.98589,
        -0.07488
      ],
      [
        0.72546,
        0.16099,
        -0.66916
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.40890455711633,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.12
                  },
                  "note": "Shift right to bring the handle toward image center horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.13597,
      -1.03512,
      -0.21381,
      -2.88839,
      -0.0371,
      2.68937,
      -0.41786
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39961,
      -0.11871,
      1.00115
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.89772,
      0.00447
    ],
    "tcp_rotation_matrix": [
      [
        0.67178,
        0.04574,
        0.73934
      ],
      [
        0.14952,
        -0.98592,
        -0.07486
      ],
      [
        0.7255,
        0.16083,
        -0.66916
      ]
    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.2074501439929,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "Lower toward the handles which appear below the view center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.13597,
      -1.03512,
      -0.21381,
      -2.88839,
      -0.0371,
      2.68937,
      -0.41786
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39961,
      -0.11871,
      1.00115
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.89772,
      0.00447
    ],
    "tcp_rotation_matrix": [
      [
        0.67178,
        0.04574,
        0.73934
      ],
      [
        0.14952,
        -0.98592,
        -0.07486
      ],
      [
        0.7255,
        0.16083,
        -0.66916
      ]
    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 3.6034682597965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.96
                  },
                  "note": "Small lowering step to test reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.13664,
      -1.00718,
      -0.23718,
      -2.97826,
      -0.04226,
      2.80646,
      -0.43588
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3996,
      -0.1187,
      0.96103
    ],
    "tcp_roll_pitch_yaw": [
      0.00012,
      -0.89748,
      0.00442
    ],
    "tcp_rotation_matrix": [
      [
        0.67195,
        0.04581,
        0.73918
      ],
      [
        0.14949,
        -0.98593,
        -0.07479
      ],
      [
        0.72535,
        0.16076,
        -0.66934
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 18.215135375969112,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Point gripper forward to view/approach the dresser's front face handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.13664,
      -1.00718,
      -0.23718,
      -2.97826,
      -0.04226,
      2.80646,
      -0.43588
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3996,
      -0.1187,
      0.96103
    ],
    "tcp_roll_pitch_yaw": [
      0.00012,
      -0.89748,
      0.00442
    ],
    "tcp_rotation_matrix": [
      [
        0.67195,
        0.04581,
        0.73918
      ],
      [
        0.14949,
        -0.98593,
        -0.07479
      ],
      [
        0.72535,
        0.16076,
        -0.66934
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.0038932999596,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "pitch": -1.4
                  },
                  "note": "Retract slightly while pitching gripper forward to make the pose reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.13664,
      -1.00718,
      -0.23718,
      -2.97826,
      -0.04226,
      2.80646,
      -0.43588
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3996,
      -0.1187,
      0.96103
    ],
    "tcp_roll_pitch_yaw": [
      0.00012,
      -0.89748,
      0.00442
    ],
    "tcp_rotation_matrix": [
      [
        0.67195,
        0.04581,
        0.73918
      ],
      [
        0.14949,
        -0.98593,
        -0.07479
      ],
      [
        0.72535,
        0.16076,
        -0.66934
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.003804542124271,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.15
                  },
                  "note": "Try moderate forward pitch that was reachable before."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.13664,
      -1.00718,
      -0.23718,
      -2.97826,
      -0.04226,
      2.80646,
      -0.43588
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3996,
      -0.1187,
      0.96103
    ],
    "tcp_roll_pitch_yaw": [
      0.00012,
      -0.89748,
      0.00442
    ],
    "tcp_rotation_matrix": [
      [
        0.67195,
        0.04581,
        0.73918
      ],
      [
        0.14949,
        -0.98593,
        -0.07479
      ],
      [
        0.72535,
        0.16076,
        -0.66934
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.404037833213806,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.05
                  },
                  "note": "Retract and raise to a freer configuration before re-orienting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.22612,
      -1.4364,
      -0.22728,
      -2.87984,
      -0.04809,
      2.27154,
      -0.45799
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30102,
      -0.11874,
      1.04927
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.89786,
      0.00444
    ],
    "tcp_rotation_matrix": [
      [
        0.67168,
        0.04567,
        0.73943
      ],
      [
        0.1495,
        -0.98592,
        -0.07491
      ],
      [
        0.7256,
        0.16086,
        -0.66905
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 16.81422251742333,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.39,
                    "z": 0.93
                  },
                  "note": "Advance along the estimated ray toward the handles to gauge depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.22612,
      -1.4364,
      -0.22728,
      -2.87984,
      -0.04809,
      2.27154,
      -0.45799
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30102,
      -0.11874,
      1.04927
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.89786,
      0.00444
    ],
    "tcp_rotation_matrix": [
      [
        0.67168,
        0.04567,
        0.73943
      ],
      [
        0.1495,
        -0.98592,
        -0.07491
      ],
      [
        0.7256,
        0.16086,
        -0.66905
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 33.628300682641566,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.98
                  },
                  "note": "Advance forward at handle height to approach the panel and observe closely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.08552,
      -0.80901,
      -0.2166,
      -2.83446,
      -0.01834,
      2.8647,
      -0.40671
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44876,
      -0.11871,
      0.98048
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      -0.89755,
      0.00443
    ],
    "tcp_rotation_matrix": [
      [
        0.67189,
        0.04579,
        0.73923
      ],
      [
        0.1495,
        -0.98593,
        -0.07481
      ],
      [
        0.7254,
        0.16078,
        -0.66928
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.405256430618465,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.08
                  },
                  "note": "Raise to test whether the handle is above current height (should move toward center)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.09337,
      -0.85377,
      -0.17517,
      -2.60884,
      -0.01594,
      2.59405,
      -0.37465
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44879,
      -0.11873,
      1.07886
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.89783,
      0.00449
    ],
    "tcp_rotation_matrix": [
      [
        0.6717,
        0.04572,
        0.73941
      ],
      [
        0.14953,
        -0.98592,
        -0.07487
      ],
      [
        0.72558,
        0.16085,
        -0.66907
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 25.021901790052652,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.2,
                    "z": 1.05
                  },
                  "note": "Yaw left to view the suspected cabinet front face frontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.75208,
      -0.85833,
      -1.02091,
      -2.14255,
      0.09312,
      1.90279,
      -1.50479
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44884,
      -0.11876,
      1.05012
    ],
    "tcp_roll_pitch_yaw": [
      9e-05,
      -0.89785,
      1.19536
    ],
    "tcp_rotation_matrix": [
      [
        0.11022,
        0.93261,
        0.34365
      ],
      [
        0.67923,
        -0.3231,
        0.65898
      ],
      [
        0.7256,
        0.16079,
        -0.66907
      ]
    ],
    "simulated_seconds_remaining": 9.834,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 18.21542581729591,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0,
                    "pitch": -1.2,
                    "x": 0.5,
                    "z": 1.0
                  },
                  "note": "Point gripper forward just above the surface to engage a front-facing handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.22996,
      -0.64651,
      -0.38159,
      -2.84858,
      0.38089,
      3.40286,
      -0.75899
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49988,
      -0.11861,
      1.00007
    ],
    "tcp_roll_pitch_yaw": [
      -0.00235,
      -1.19844,
      0.00692
    ],
    "tcp_rotation_matrix": [
      [
        0.42666,
        -0.00352,
        0.90441
      ],
      [
        0.14929,
        -0.986,
        -0.07426
      ],
      [
        0.89201,
        0.16671,
        -0.42016
      ]
    ],
    "simulated_seconds_remaining": 7.92,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 7.206448819488287,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": -0.1,
                    "z": 0.96
                  },
                  "note": "Advance along gripper axis toward the bar handle seen ahead near view center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
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    "tcp_roll_pitch_yaw": [
      -0.0022,
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    "tcp_rotation_matrix": [
      [
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      [
        0.14927,
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      [
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    ],
    "simulated_seconds_remaining": 6.996,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.80552542489022,
  "response": {
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      {
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                    "gripper": 0
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                  "note": "Close gripper to attempt grasping the handle at contact."
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{
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                  "note": "Reopen and shift toward where the bar handle appeared (image right = +y) to align."
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              }
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{
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                  "note": "Nudge forward onto the handle bar and close the gripper to grab it."
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              }
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{
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                  "note": "Rotate fingers to open vertically so they can straddle the horizontal bar handle."
                }
              }
            }
          ]
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    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
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{
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                  "note": "Smaller roll step toward vertical finger opening, reopening gripper."
                }
              }
            }
          ]
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    ]
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{
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                  "note": "Very small roll step; reopen gripper for another grasp attempt."
                }
              }
            }
          ]
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    ]
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{
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      ],
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    ],
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  },
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                  "note": "Dip slightly onto the bar handle and close the gripper."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 36,
  "state": {
    "instruction": "open the dresser.",
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      -0.48119,
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      3.58442,
      -0.31196
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      -0.09757
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    "tcp_rotation_matrix": [
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      ],
      [
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    ],
    "simulated_seconds_remaining": 2.376,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 4.004011280834675,
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      {
        "content": {
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            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "x": 0.47
                  },
                  "note": "Gripper stalled at 0.61 indicating it grabbed the handle; pull backward to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
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{
  "call": 37,
  "state": {
    "instruction": "open the dresser.",
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      ],
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      ],
      [
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    ],
    "simulated_seconds_remaining": 1.188,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 4.204125885851681,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not reliably localize the dresser handle from the ambiguous wrist/exterior views; grasp attempts failed and simulated time is exhausted."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 404,
  "house_index": 220,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 28,
  "api_calls": 29,
  "wall_seconds": 266.605477809906,
  "usage": {
    "input_tokens": 58,
    "cache_creation_input_tokens": 29227,
    "cache_read_input_tokens": 427294,
    "output_tokens": 13838
  },
  "estimated_cost_usd": 0.74255575
}


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.



MODEL RESPONSES


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    "id": "msg_011CezfX9mUYUcEFW7yyREJq",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01V6FJbcsTvWWtgvcd5hGC2q",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens_details": {
        "thinking_tokens": 64
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfXMZtdu6EAN7H32K5u",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.5
          },
          "note": "Tilt wrist camera up to look forward and find the dresser."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 3,
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    "model": "claude-opus-5",
    "id": "msg_011CezfXsSysrwfzwwJZgHSG",
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        "type": "thinking",
        "thinking": ""
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          "targets": {
            "pitch": -1.1
          },
          "note": "Tilt further up to get a forward view of the scene."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 4,
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    "model": "claude-opus-5",
    "id": "msg_011CezfY6mB3Cf4iLGD5eT8r",
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        "type": "thinking",
        "thinking": ""
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        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.25,
            "pitch": 0
          },
          "note": "Move left to calibrate image directions and look for the dresser."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 5,
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    "model": "claude-opus-5",
    "id": "msg_011CezfYdrwfoG55grFRNsgc",
    "type": "message",
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        "thinking": ""
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      {
        "type": "tool_use",
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        "input": {
          "targets": {
            "pitch": -0.9,
            "z": 0.9
          },
          "note": "Lower and pitch gripper toward horizontal-forward so wrist camera looks ahead."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 6,
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    "model": "claude-opus-5",
    "id": "msg_011CezfZoPThuarFT2aQ7YP9",
    "type": "message",
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    "content": [
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        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01AoztNopEdBkkwLMsGK8fbZ",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.45,
            "pitch": -1.4
          },
          "note": "Move further left toward the dark dresser and point gripper forward to view it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfabUe1KVQpQNF8nMHs",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_019cuyGKoUXNyjmEF3GfBJX3",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45
          },
          "note": "Advance forward toward the dresser front seen in wrist view."
        },
        "caller": {
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        }
      }
    ],
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{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfbHGnQZxTVn7pZxd4V",
    "type": "message",
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    "content": [
      {
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        "thinking": ""
      },
      {
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          "targets": {
            "x": 0.3,
            "z": 1.05,
            "roll": 0,
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          },
          "note": "Back off and raise to get a wider wrist view of the dresser to locate its handles."
        },
        "caller": {
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        }
      }
    ],
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  }
}

{
  "api_call": 9,
  "response": {
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      },
      {
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        "input": {
          "targets": {
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          "note": "Point gripper fully forward for a straight-ahead wrist view."
        },
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    ],
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  }
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{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezfcwq3eCEwpuD5qfL22",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
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          },
          "note": "Probe forward to see how the scene in wrist view changes."
        },
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      }
    ],
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{
  "api_call": 11,
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.2,
            "y": 0.0,
            "z": 1.15,
            "roll": 0,
            "pitch": -1.5,
            "yaw": 0.9
          },
          "note": "Retract and yaw left to survey the dresser from a distance with the wrist camera."
        },
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      }
    ],
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{
  "api_call": 12,
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    "id": "msg_011CezfeUVZN9zefRVNeQGu5",
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            "roll": 0,
            "pitch": -1.4,
            "yaw": 0.5
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          "note": "Retract with a modest yaw-left to survey the dresser."
        },
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{
  "api_call": 13,
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        "thinking": ""
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        "input": {
          "targets": {
            "x": 0.3,
            "roll": 0,
            "yaw": 0
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          "note": "Small retract and straighten orientation."
        },
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        }
      }
    ],
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}

{
  "api_call": 14,
  "response": {
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    "id": "msg_011Cezff4zxZLyapxPFiiQTK",
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      {
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
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          },
          "note": "Approach forward to close range on the panel seen in the wrist view."
        },
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        }
      }
    ],
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{
  "api_call": 15,
  "response": {
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    "id": "msg_011CezfgSEvQiiC3kmhyjBz1",
    "type": "message",
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        "thinking": ""
      },
      {
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            "y": 0.55,
            "z": 0.95,
            "roll": 0,
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          },
          "note": "Contact suggests dresser face near x=0.42; reposition lower-left to look for the handle."
        },
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      }
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{
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            "yaw": 1.57
          },
          "note": "Estimated long handle rail at x~0.42, z~1.10; orienting gripper to point forward with fingers vertical to straddle the horizontal rail."
        },
        "caller": {
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      }
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{
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          "note": "Handle rail visible centered in wrist view; advance to place it between the fingers."
        },
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      }
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{
  "api_call": 18,
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    "id": "msg_011CezfkgQpZABwVuYDa7MMr",
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          },
          "note": "Rail appears between the fingers; close gripper to grasp the handle."
        },
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{
  "api_call": 19,
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        "input": {
          "targets": {
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          },
          "note": "Pull back to test whether the handle is grasped and the drawer opens."
        },
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      }
    ],
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{
  "api_call": 20,
  "response": {
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    "id": "msg_011CezfmeC9mNFwTv7xqVXrb",
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        "input": {
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            "x": 0.41,
            "gripper": 1
          },
          "note": "Re-approach the rail; previous grasp released. Keep gripper open."
        },
        "caller": {
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        }
      }
    ],
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{
  "api_call": 21,
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    "id": "msg_011CezfneFeb3cyBy7xWKWa2",
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      {
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        "input": {
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          },
          "note": "Close on the rail handle."
        },
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      }
    ],
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{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezfo79ApHnXyWBUWWXAf",
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      {
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        "input": {
          "targets": {
            "x": 0.28,
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          },
          "note": "Gripper closed on handle (0.845, blocked by rail); pull back along -x to open the drawer."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 23,
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    "model": "claude-opus-5",
    "id": "msg_011CezfoNnm8uqXftZgiimMe",
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      {
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        "input": {
          "targets": {
            "x": 0.38,
            "z": 1.15,
            "gripper": 1
          },
          "note": "Grasp closed empty; shifting up 4cm and re-approaching to test alignment of the bright bar in wrist view."
        },
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      }
    ],
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfpAeHxaAXerCATSJHg",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QRLRbCGPB4mhQasRgi96de",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 1.09,
            "gripper": 1
          },
          "note": "Band shifted right when moving up, so move slightly down to center the handle between fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1050,
      "cache_read_input_tokens": 24316,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1050,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 494,
      "output_tokens_details": {
        "thinking_tokens": 384
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfpvN5qwyNhU42QnrGL",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01GPNeixS3FzSwgvXjkzHFeY",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "z": 1.085,
            "gripper": 0
          },
          "note": "Push slightly deeper and close on the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 985,
      "cache_read_input_tokens": 25366,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 985,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 332,
      "output_tokens_details": {
        "thinking_tokens": 224
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfqX2f8pVVo7Uqf66NQ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QrFu8byvLYDdCjdGLpWKk4",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.27,
            "gripper": 0
          },
          "note": "Gripper blocked at 0.92, likely on the handle; pull back to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 824,
      "cache_read_input_tokens": 26351,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 824,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 170,
      "output_tokens_details": {
        "thinking_tokens": 57
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfqpwvqwJqrjZ8168uZ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01HnTL6X1kUVtvG2342fd61q",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.41,
            "gripper": 0
          },
          "note": "Last attempt: insert closed fingertips near the handle/gap to hook it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 661,
      "cache_read_input_tokens": 27175,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 661,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 308,
      "output_tokens_details": {
        "thinking_tokens": 199
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfrKRBx66WTbteFyyoo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01VtXysGL3t3Sdi4s9AL1aoy",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.3,
            "gripper": 0
          },
          "note": "Pull back with closed fingers hooked at the handle region."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 799,
      "cache_read_input_tokens": 27836,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 799,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 101,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezfrZJMa78Co81KYcRRi",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LLxB3oENdpC5aXWpP5Asb1",
        "name": "give_up",
        "input": {
          "note": "Could not localize/grasp the dresser handle reliably in the dim scene; gripper closed empty on each attempt and simulated time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 592,
      "cache_read_input_tokens": 28635,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 592,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 123,
      "output_tokens_details": {
        "thinking_tokens": 30
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 9.60880814678967,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5
                  },
                  "note": "Tilt wrist camera up to look forward and find the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00582,
      -1.20192,
      -0.06114,
      -2.65127,
      0.0735,
      1.84163,
      0.04507
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28778,
      0.00576,
      1.02505
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.49586,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.92234,
        -0.04888,
        0.38328
      ],
      [
        -0.10096,
        -0.98799,
        0.11696
      ],
      [
        0.37296,
        -0.14657,
        -0.9162
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 3.0030217301100492,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Tilt further up to get a forward view of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.00582,
      -1.20192,
      -0.06114,
      -2.65127,
      0.0735,
      1.84163,
      0.04507
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28778,
      0.00576,
      1.02505
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.49586,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.92234,
        -0.04888,
        0.38328
      ],
      [
        -0.10096,
        -0.98799,
        0.11696
      ],
      [
        0.37296,
        -0.14657,
        -0.9162
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 6.805517880246043,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25,
                    "pitch": 0
                  },
                  "note": "Move left to calibrate image directions and look for the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.11015,
      -0.59618,
      0.35879,
      -2.16585,
      0.34468,
      1.5561,
      0.51178
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2878,
      0.24899,
      1.02502
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.00205,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.98894,
        -0.11241,
        -0.09678
      ],
      [
        -0.10087,
        -0.98801,
        0.1169
      ],
      [
        -0.10876,
        -0.10584,
        -0.98842
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 15.21190032735467,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "z": 0.9
                  },
                  "note": "Lower and pitch gripper toward horizontal-forward so wrist camera looks ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.30588,
      -1.2149,
      0.81156,
      -3.03667,
      0.4627,
      2.62061,
      0.65438
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28771,
      0.24902,
      0.90034
    ],
    "tcp_roll_pitch_yaw": [
      -0.00084,
      -0.89527,
      0.00066
    ],
    "tcp_rotation_matrix": [
      [
        0.7047,
        0.01194,
        0.7094
      ],
      [
        -0.10061,
        -0.98807,
        0.11657
      ],
      [
        0.70233,
        -0.15352,
        -0.6951
      ]
    ],
    "simulated_seconds_remaining": 25.608,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.408266378566623,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.45,
                    "pitch": -1.4
                  },
                  "note": "Move further left toward the dark dresser and point gripper forward to view it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.15941,
      -1.3959,
      1.51365,
      -2.64346,
      0.46366,
      2.86875,
      1.18015
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29433,
      0.43914,
      0.90829
    ],
    "tcp_roll_pitch_yaw": [
      0.13202,
      -1.38869,
      -0.14986
    ],
    "tcp_rotation_matrix": [
      [
        0.28401,
        0.06397,
        0.95669
      ],
      [
        -0.12937,
        -0.98609,
        0.10434
      ],
      [
        0.95005,
        -0.1534,
        -0.27178
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 8.809484572149813,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Advance forward toward the dresser front seen in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.49243,
      -1.17415,
      1.60636,
      -2.5706,
      0.59485,
      3.22791,
      1.06348
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38868,
      0.4441,
      0.90233
    ],
    "tcp_roll_pitch_yaw": [
      0.63935,
      -1.30691,
      -0.61004
    ],
    "tcp_rotation_matrix": [
      [
        0.32084,
        0.09131,
        0.94272
      ],
      [
        -0.24247,
        -0.95425,
        0.17495
      ],
      [
        0.91557,
        -0.28472,
        -0.28402
      ]
    ],
    "simulated_seconds_remaining": 22.638,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.207249663770199,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.05,
                    "roll": 0,
                    "pitch": -1.3,
                    "yaw": 0
                  },
                  "note": "Back off and raise to get a wider wrist view of the dresser to locate its handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.1745,
      -1.27556,
      1.15997,
      -2.46481,
      0.41283,
      2.65551,
      0.86202
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30064,
      0.4442,
      1.04895
    ],
    "tcp_roll_pitch_yaw": [
      0.0053,
      -1.30061,
      -0.0048
    ],
    "tcp_rotation_matrix": [
      [
        0.3707,
        0.07201,
        0.92596
      ],
      [
        -0.10217,
        -0.98778,
        0.11772
      ],
      [
        0.92312,
        -0.13825,
        -0.35881
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 13.609761822968721,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.55
                  },
                  "note": "Point gripper fully forward for a straight-ahead wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.21422,
      -1.4717,
      1.27324,
      -2.55329,
      0.42234,
      2.83625,
      0.96666
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30065,
      0.44421,
      1.04887
    ],
    "tcp_roll_pitch_yaw": [
      -0.00317,
      -1.5463,
      0.0035
    ],
    "tcp_rotation_matrix": [
      [
        0.13501,
        0.10317,
        0.98546
      ],
      [
        -0.10086,
        -0.98797,
        0.11725
      ],
      [
        0.9857,
        -0.11522,
        -0.12298
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.00644957832992,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42
                  },
                  "note": "Probe forward to see how the scene in wrist view changes."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.4592,
      -1.26139,
      1.33784,
      -2.48495,
      0.47213,
      3.10953,
      0.90134
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39139,
      0.44837,
      1.04675
    ],
    "tcp_roll_pitch_yaw": [
      0.93482,
      -1.50569,
      -0.89963
    ],
    "tcp_rotation_matrix": [
      [
        0.15409,
        0.13463,
        0.97884
      ],
      [
        -0.14715,
        -0.9765,
        0.15748
      ],
      [
        0.97704,
        -0.16831,
        -0.13066
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 12.209215173497796,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "y": 0.0,
                    "z": 1.15,
                    "roll": 0,
                    "pitch": -1.5,
                    "yaw": 0.9
                  },
                  "note": "Retract and yaw left to survey the dresser from a distance with the 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 dresser.",
    "joint_positions": [
      -0.4592,
      -1.26139,
      1.33784,
      -2.48495,
      0.47213,
      3.10953,
      0.90134
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39139,
      0.44837,
      1.04675
    ],
    "tcp_roll_pitch_yaw": [
      0.93482,
      -1.50569,
      -0.89963
    ],
    "tcp_rotation_matrix": [
      [
        0.15409,
        0.13463,
        0.97884
      ],
      [
        -0.14715,
        -0.9765,
        0.15748
      ],
      [
        0.97704,
        -0.16831,
        -0.13066
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 3.202725727111101,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.2,
                    "z": 1.1,
                    "roll": 0,
                    "pitch": -1.4,
                    "yaw": 0.5
                  },
                  "note": "Retract with a modest yaw-left to survey the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.4592,
      -1.26139,
      1.33784,
      -2.48495,
      0.47213,
      3.10953,
      0.90134
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39139,
      0.44837,
      1.04675
    ],
    "tcp_roll_pitch_yaw": [
      0.93482,
      -1.50569,
      -0.89963
    ],
    "tcp_rotation_matrix": [
      [
        0.15409,
        0.13463,
        0.97884
      ],
      [
        -0.14715,
        -0.9765,
        0.15748
      ],
      [
        0.97704,
        -0.16831,
        -0.13066
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.40389839746058,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Small retract and straighten orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.21855,
      -1.44657,
      1.26519,
      -2.52892,
      0.44435,
      2.80468,
      0.93798
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30117,
      0.44852,
      1.04679
    ],
    "tcp_roll_pitch_yaw": [
      0.01089,
      -1.50622,
      -0.01003
    ],
    "tcp_rotation_matrix": [
      [
        0.17445,
        0.09897,
        0.97968
      ],
      [
        -0.10152,
        -0.98783,
        0.11787
      ],
      [
        0.97942,
        -0.12002,
        -0.16228
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 18.01716059166938,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Approach forward to close range on the panel seen in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.46325,
      -1.10445,
      1.44669,
      -2.38517,
      1.14351,
      3.18629,
      0.83089
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.38613,
      0.47449,
      1.03154
    ],
    "tcp_roll_pitch_yaw": [
      1.24603,
      -0.86825,
      -1.15871
    ],
    "tcp_rotation_matrix": [
      [
        0.36263,
        0.07021,
        0.92929
      ],
      [
        -0.64788,
        -0.69778,
        0.30553
      ],
      [
        0.66989,
        -0.71286,
        -0.20755
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 7.606188972480595,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.55,
                    "z": 0.95,
                    "roll": 0,
                    "pitch": -1.5,
                    "yaw": 0
                  },
                  "note": "Contact suggests dresser face near x=0.42; reposition lower-left to look for the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.49596,
      -1.44695,
      1.44728,
      -2.24705,
      1.05692,
      2.72119,
      0.9555
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.34682,
      0.53766,
      0.96322
    ],
    "tcp_roll_pitch_yaw": [
      0.85984,
      -1.03439,
      -0.85097
    ],
    "tcp_rotation_matrix": [
      [
        0.43101,
        0.00072,
        0.90234
      ],
      [
        -0.4642,
        -0.85735,
        0.22241
      ],
      [
        0.77378,
        -0.51474,
        -0.3692
      ]
    ],
    "simulated_seconds_remaining": 15.642,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 41.43207788281143,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.45,
                    "z": 1.1,
                    "roll": -1.57,
                    "pitch": 0,
                    "yaw": 1.57
                  },
                  "note": "Estimated long handle rail at x~0.42, z~1.10; orienting gripper to point forward with fingers vertical to straddle the horizontal rail."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 45,
    "motion_seconds": 2.97,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.35247,
      -1.40666,
      1.18608,
      -2.30476,
      0.10035,
      2.54974,
      -0.39069
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32006,
      0.45018,
      1.09972
    ],
    "tcp_roll_pitch_yaw": [
      -1.56935,
      -0.00456,
      1.56939
    ],
    "tcp_rotation_matrix": [
      [
        0.11233,
        0.1069,
        0.9879
      ],
      [
        0.98807,
        -0.1174,
        -0.09964
      ],
      [
        0.10533,
        0.98731,
        -0.11882
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.605270761996508,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4
                  },
                  "note": "Handle rail visible centered in wrist view; advance to place it between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.52515,
      -1.33011,
      1.22246,
      -2.24802,
      0.1023,
      2.6704,
      -0.39819
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.3894,
      0.4509,
      1.10013
    ],
    "tcp_roll_pitch_yaw": [
      -1.56544,
      -0.00681,
      1.56218
    ],
    "tcp_rotation_matrix": [
      [
        0.11984,
        0.1099,
        0.98669
      ],
      [
        0.987,
        -0.12042,
        -0.10647
      ],
      [
        0.10712,
        0.98662,
        -0.1229
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.007376777939498,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Rail appears between the fingers; close gripper to grasp the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.51716,
      -1.33521,
      1.21299,
      -2.24853,
      0.102,
      2.6668,
      -0.3961
    ],
    "gripper_open": 0.8492,
    "tcp_xyz": [
      0.38539,
      0.45095,
      1.10546
    ],
    "tcp_roll_pitch_yaw": [
      -1.57269,
      -0.0139,
      1.56412
    ],
    "tcp_rotation_matrix": [
      [
        0.11719,
        0.10292,
        0.98776
      ],
      [
        0.98644,
        -0.12716,
        -0.10378
      ],
      [
        0.11493,
        0.98653,
        -0.11642
      ]
    ],
    "simulated_seconds_remaining": 10.89,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 3.8039082139730453,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3
                  },
                  "note": "Pull back to test whether the handle is grasped and the drawer opens."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.31794,
      -1.42623,
      1.17134,
      -2.29693,
      0.09884,
      2.49996,
      -0.38461
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30121,
      0.4511,
      1.1055
    ],
    "tcp_roll_pitch_yaw": [
      -1.57283,
      -0.01386,
      1.56445
    ],
    "tcp_rotation_matrix": [
      [
        0.11685,
        0.10282,
        0.98781
      ],
      [
        0.98648,
        -0.12709,
        -0.10347
      ],
      [
        0.1149,
        0.98655,
        -0.11628
      ]
    ],
    "simulated_seconds_remaining": 10.032,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 13.210300096310675,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.41,
                    "gripper": 1
                  },
                  "note": "Re-approach the rail; previous grasp released. Keep gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.53063,
      -1.32067,
      1.21444,
      -2.22319,
      0.10138,
      2.63909,
      -0.39465
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.3888,
      0.45216,
      1.10575
    ],
    "tcp_roll_pitch_yaw": [
      -1.55634,
      -0.01961,
      1.54958
    ],
    "tcp_rotation_matrix": [
      [
        0.13315,
        0.11708,
        0.98416
      ],
      [
        0.98396,
        -0.13458,
        -0.11711
      ],
      [
        0.11873,
        0.98396,
        -0.13312
      ]
    ],
    "simulated_seconds_remaining": 9.042,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.004923394881189,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close on the rail handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.52286,
      -1.32578,
      1.20444,
      -2.22332,
      0.10075,
      2.63548,
      -0.39255
    ],
    "gripper_open": 0.8455,
    "tcp_xyz": [
      0.38476,
      0.45215,
      1.11146
    ],
    "tcp_roll_pitch_yaw": [
      -1.56404,
      -0.02685,
      1.55149
    ],
    "tcp_rotation_matrix": [
      [
        0.13048,
        0.1096,
        0.98537
      ],
      [
        0.98332,
        -0.14135,
        -0.11448
      ],
      [
        0.12674,
        0.98387,
        -0.12622
      ]
    ],
    "simulated_seconds_remaining": 8.118,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 3.2028703866526484,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "gripper": 0
                  },
                  "note": "Gripper closed on handle (0.845, blocked by rail); pull back along -x to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.2865,
      -1.43638,
      1.15491,
      -2.27353,
      0.0961,
      2.42922,
      -0.37796
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.28122,
      0.45229,
      1.1115
    ],
    "tcp_roll_pitch_yaw": [
      -1.56419,
      -0.02682,
      1.55183
    ],
    "tcp_rotation_matrix": [
      [
        0.13013,
        0.1095,
        0.98543
      ],
      [
        0.98336,
        -0.14128,
        -0.11416
      ],
      [
        0.12672,
        0.98389,
        -0.12606
      ]
    ],
    "simulated_seconds_remaining": 7.128,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.407948005013168,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 1.15,
                    "gripper": 1
                  },
                  "note": "Grasp closed empty; shifting up 4cm and re-approaching to test alignment of the bright bar in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.52222,
      -1.291,
      1.14821,
      -2.16563,
      0.08013,
      2.58846,
      -0.43697
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37885,
      0.45217,
      1.1495
    ],
    "tcp_roll_pitch_yaw": [
      -1.56406,
      -0.02691,
      1.55155
    ],
    "tcp_rotation_matrix": [
      [
        0.13042,
        0.10959,
        0.98538
      ],
      [
        0.98332,
        -0.1414,
        -0.11442
      ],
      [
        0.1268,
        0.98387,
        -0.12621
      ]
    ],
    "simulated_seconds_remaining": 6.138,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 10.007781889289618,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.09,
                    "gripper": 1
                  },
                  "note": "Band shifted right when moving up, so move slightly down to center the handle between fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.50135,
      -1.35159,
      1.23131,
      -2.25815,
      0.109,
      2.64323,
      -0.36435
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37884,
      0.4522,
      1.09111
    ],
    "tcp_roll_pitch_yaw": [
      -1.56401,
      -0.02673,
      1.55154
    ],
    "tcp_rotation_matrix": [
      [
        0.13043,
        0.10964,
        0.98538
      ],
      [
        0.98334,
        -0.14123,
        -0.11445
      ],
      [
        0.12662,
        0.98389,
        -0.12623
      ]
    ],
    "simulated_seconds_remaining": 5.412,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.806016395799816,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.085,
                    "gripper": 0
                  },
                  "note": "Push slightly deeper and close on the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
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    "instruction": "open the dresser.",
    "joint_positions": [
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      -1.34393,
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      -2.24472,
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    "gripper_open": 0.9193,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
      [
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      [
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        -0.13137
      ],
      [
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    ],
    "simulated_seconds_remaining": 4.488,
    "calls_remaining_including_this": 33
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  "api_seconds": 3.8034527180716395,
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                  },
                  "note": "Gripper blocked at 0.92, likely on the handle; pull back to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
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{
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                  },
                  "note": "Last attempt: insert closed fingertips near the handle/gap to hook it."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 27,
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    "instruction": "open the dresser.",
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                  "note": "Pull back with closed fingers hooked at the handle region."
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              }
            }
          ]
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      }
    ]
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{
  "call": 28,
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    "instruction": "open the dresser.",
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      {
        "content": {
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            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize/grasp the dresser handle reliably in the dim scene; gripper closed empty on each attempt and simulated time is exhausted."
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              }
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          ]
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      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 449,
  "house_index": 221,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 36,
  "api_calls": 37,
  "wall_seconds": 327.0252182483673,
  "usage": {
    "input_tokens": 74,
    "cache_creation_input_tokens": 33268,
    "cache_read_input_tokens": 624911,
    "output_tokens": 14128
  },
  "estimated_cost_usd": 0.8739505
}


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.



MODEL RESPONSES


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          "note": "Raise to get a wider downward view to locate the table drawer."
        },
        "caller": {
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        }
      }
    ],
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{
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      }
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          "targets": {
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          "note": "Smaller pitch tilt forward to view scene ahead."
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{
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{
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{
  "api_call": 13,
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    "model": "claude-opus-5",
    "id": "msg_011CezfqUrwLVGkqaRP7XBuC",
    "type": "message",
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          "note": "Center handle vertically and roll 90° so fingers pinch the horizontal handle bar."
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{
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          "note": "Partial roll toward vertical fingers, small step to avoid joint jump."
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{
  "api_call": 15,
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          "note": "Center handle vertically and advance toward the drawer handle."
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{
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          "note": "Back off slightly since view went fully dark (too close to surface)."
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{
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          "note": "Retreat and raise to regain view of the drawer handle."
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{
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{
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{
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{
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          "note": "Retreat and look mostly downward for an overview of the scene in front of the robot."
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{
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          "note": "Smaller retreat step with modest pitch change to regain visibility."
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{
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          "note": "Approach handle depth with fingers around expected handle height."
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{
  "api_call": 24,
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          "note": "Final approach to place fingers astride the handle before closing."
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{
  "api_call": 25,
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            "gripper": 0
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          "note": "Handle centered between fingers; close gripper to grasp it."
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{
  "api_call": 26,
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      {
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          "note": "Attempt pull-back to test whether closed fingers are hooked behind the handle."
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{
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          "note": "Reopen gripper and lower ~2.5cm since handle appears below fingers; re-approach."
        },
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{
  "api_call": 28,
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      {
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        "input": {
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          "note": "Raise 7cm at same depth to see where handle appears, testing height alignment."
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{
  "api_call": 29,
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    "id": "msg_011Cezg2SrCWnTEnPiXX1Qqy",
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      {
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          "note": "Push fingers deeper past the handle bar so they can hook behind it."
        },
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{
  "api_call": 30,
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      {
        "type": "tool_use",
        "id": "toolu_01RAVg4g6RvaJFZrSSsCed3G",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper at handle depth to grasp/hook the bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1360,
      "cache_read_input_tokens": 26843,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1360,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 196,
      "output_tokens_details": {
        "thinking_tokens": 100
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg3zfu1T5LsH4QK6cRe",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LxZ4jRPorAgup9qdameRBv",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55
          },
          "note": "Pull back to test if closed fingers hook the handle and open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 684,
      "cache_read_input_tokens": 28203,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 684,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 139,
      "output_tokens_details": {
        "thinking_tokens": 40
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg4JfsWgDLvd42HPCf8",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Dxixa8GeJNGsux4S6cfAQq",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "x": 0.67,
            "z": 1.085
          },
          "note": "Handle appeared just below fingertips; lower 2.5cm and re-insert at handle depth with open gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 627,
      "cache_read_input_tokens": 28887,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 627,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 479,
      "output_tokens_details": {
        "thinking_tokens": 351
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg52hxq5v5ThGmGe14G",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01A1iMRYSqTEACDjyx4aBUgt",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close fingers around/behind the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 967,
      "cache_read_input_tokens": 29514,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 967,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 306,
      "output_tokens_details": {
        "thinking_tokens": 216
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg5Z7KQSRGDT68ZF1wC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01A8VmDrYKnaLkUvpvhpfPam",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.52,
            "z": 1.1
          },
          "note": "Pull back firmly with fingers hooked behind the handle to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 794,
      "cache_read_input_tokens": 30481,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 794,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 108,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg5uxC1UiQwcPPDNcir",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013YmDzcmS3XYUZuLw5cEnM4",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.66,
            "z": 1.06
          },
          "note": "Re-insert closed fingertips lower, under the handle bar, for a firmer hook."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 596,
      "cache_read_input_tokens": 31275,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 596,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 280,
      "output_tokens_details": {
        "thinking_tokens": 168
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 36,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg6Pxv9wVgCiNafDsXZ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01W9hh1ZfVfEM2jh4PSHBLLJ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.52
          },
          "note": "Final pull-back attempt to drag the drawer open with hooked gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 770,
      "cache_read_input_tokens": 31871,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 770,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 137,
      "output_tokens_details": {
        "thinking_tokens": 37
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 37,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg6pihexCYMCbrE3uJK",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "text",
        "text": "The drawer did not move, and I have essentially no simulated motion time left (0.9 s), which is insufficient to re-align, re-grasp, and pull the handle."
      },
      {
        "type": "tool_use",
        "id": "toolu_01V82GjWhtdKnWCDiBXdCaU8",
        "name": "give_up",
        "input": {
          "note": "Located the table's drawer handle and repeatedly approached/closed on it, but the horizontal handle could not be pinched (gripper fingers opened along the bar axis and roll rotation was rejected by IK). Hooking attempts failed to move the drawer, and simulated motion time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 627,
      "cache_read_input_tokens": 32641,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 627,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 194,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 15.613279521465302,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.2
                  },
                  "note": "Raise to get a wider downward view to locate the table drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01749,
      -0.60259,
      -0.01054,
      -1.74403,
      -0.09374,
      1.19248,
      -0.14874
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3036,
      -0.0355,
      1.19872
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.00018,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9954,
        0.08341,
        0.04716
      ],
      [
        0.08709,
        -0.9928,
        -0.0823
      ],
      [
        0.03996,
        0.08603,
        -0.99549
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 8.607488967478275,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Pitch gripper to look forward so wrist camera can see the table and its 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": [
      -0.01749,
      -0.60259,
      -0.01054,
      -1.74403,
      -0.09374,
      1.19248,
      -0.14874
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3036,
      -0.0355,
      1.19872
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.00018,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9954,
        0.08341,
        0.04716
      ],
      [
        0.08709,
        -0.9928,
        -0.0823
      ],
      [
        0.03996,
        0.08603,
        -0.99549
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.003212901763618,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Smaller pitch tilt forward to view scene ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01382,
      -1.26065,
      -0.03448,
      -2.45175,
      -0.09626,
      2.03524,
      -0.08509
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30355,
      -0.03552,
      1.19868
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.79556,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.66826,
        -0.0031,
        0.74392
      ],
      [
        0.08706,
        -0.9928,
        -0.08233
      ],
      [
        0.73881,
        0.11978,
        -0.66318
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.806014445610344,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "More forward tilt to see ahead with wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03101,
      -1.53788,
      -0.05513,
      -2.8035,
      -0.11695,
      2.50908,
      -0.05585
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30358,
      -0.03554,
      1.19856
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      -1.19559,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.32778,
        -0.04956,
        0.94345
      ],
      [
        0.08703,
        -0.99279,
        -0.08239
      ],
      [
        0.94074,
        0.10912,
        -0.3211
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.8072516499087214,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "x": 0.5
                  },
                  "note": "Move forward to approach potential table and see how view changes."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01559,
      -0.73093,
      -0.03438,
      -2.31787,
      -0.10953,
      2.53556,
      -0.04
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49898,
      -0.03554,
      1.19851
    ],
    "tcp_roll_pitch_yaw": [
      5e-05,
      -0.90139,
      -0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.58649,
        -0.0158,
        0.8098
      ],
      [
        0.08699,
        -0.9928,
        -0.08237
      ],
      [
        0.80527,
        0.11875,
        -0.58089
      ]
    ],
    "simulated_seconds_remaining": 24.882,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 18.216223106719553,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": -0.09
                  },
                  "note": "Handle-like line seen in wrist; edge closer and slightly right to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.0278,
      -0.4731,
      -0.15679,
      -2.12872,
      -0.06472,
      2.61114,
      -0.1546
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57889,
      -0.08929,
      1.19841
    ],
    "tcp_roll_pitch_yaw": [
      0.00022,
      -0.90119,
      -0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.58665,
        -0.01586,
        0.80969
      ],
      [
        0.08686,
        -0.99281,
        -0.08238
      ],
      [
        0.80517,
        0.11865,
        -0.58105
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 16.61504818405956,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.02
                  },
                  "note": "Move left in base y to re-center the handle in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01181,
      -0.48546,
      -0.01018,
      -2.14294,
      -0.13322,
      2.6031,
      0.01098
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5789,
      -0.02124,
      1.19842
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.90119,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.58663,
        -0.01558,
        0.80971
      ],
      [
        0.08713,
        -0.9928,
        -0.08223
      ],
      [
        0.80516,
        0.11879,
        -0.58105
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 9.008287727832794,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.08
                  },
                  "note": "Continue left to center handle horizontally in wrist image."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.06227,
      -0.46875,
      0.2016,
      -2.10682,
      -0.22789,
      2.56256,
      0.24744
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57889,
      0.07884,
      1.19843
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.90119,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.5866,
        -0.01533,
        0.80973
      ],
      [
        0.08737,
        -0.99279,
        -0.0821
      ],
      [
        0.80515,
        0.11891,
        -0.58103
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.408142234198749,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.055,
                    "z": 1.25
                  },
                  "note": "Raise slightly and adjust y to test vertical image mapping and center handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.06227,
      -0.46875,
      0.2016,
      -2.10682,
      -0.22789,
      2.56256,
      0.24744
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57889,
      0.07884,
      1.19843
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.90119,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.5866,
        -0.01533,
        0.80973
      ],
      [
        0.08737,
        -0.99279,
        -0.0821
      ],
      [
        0.80515,
        0.11891,
        -0.58103
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.206628585234284,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3,
                    "y": 0.055
                  },
                  "note": "Tilt gripper more forward (z-axis horizontal) to face the drawer front and center the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.38364,
      -0.56469,
      0.36101,
      -2.40963,
      -0.39716,
      3.22694,
      0.47671
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57898,
      0.05508,
      1.19826
    ],
    "tcp_roll_pitch_yaw": [
      -0.00057,
      -1.29552,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.23231,
        -0.06045,
        0.97076
      ],
      [
        0.08715,
        -0.99276,
        -0.08267
      ],
      [
        0.96873,
        0.10381,
        -0.22536
      ]
    ],
    "simulated_seconds_remaining": 21.384,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 8.807917083613575,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.13
                  },
                  "note": "Lower slightly to determine vertical image mapping for the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.60017,
      -0.57845,
      0.55444,
      -2.54302,
      -0.37387,
      3.41696,
      0.53156
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57899,
      0.05509,
      1.13124
    ],
    "tcp_roll_pitch_yaw": [
      -0.00066,
      -1.29528,
      0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.23255,
        -0.06044,
        0.9707
      ],
      [
        0.08717,
        -0.99276,
        -0.0827
      ],
      [
        0.96867,
        0.10385,
        -0.2256
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 11.409382755868137,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.11,
                    "roll": 1.57
                  },
                  "note": "Center handle vertically and roll 90° so fingers pinch the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.60017,
      -0.57845,
      0.55444,
      -2.54302,
      -0.37387,
      3.41696,
      0.53156
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57899,
      0.05509,
      1.13124
    ],
    "tcp_roll_pitch_yaw": [
      -0.00066,
      -1.29528,
      0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.23255,
        -0.06044,
        0.9707
      ],
      [
        0.08717,
        -0.99276,
        -0.0827
      ],
      [
        0.96867,
        0.10385,
        -0.2256
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.004324279725552,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.11,
                    "roll": 0.8
                  },
                  "note": "Partial roll toward vertical fingers, small step to avoid joint jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.60017,
      -0.57845,
      0.55444,
      -2.54302,
      -0.37387,
      3.41696,
      0.53156
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57899,
      0.05509,
      1.13124
    ],
    "tcp_roll_pitch_yaw": [
      -0.00066,
      -1.29528,
      0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.23255,
        -0.06044,
        0.9707
      ],
      [
        0.08717,
        -0.99276,
        -0.0827
      ],
      [
        0.96867,
        0.10385,
        -0.2256
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.00880638230592,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.11,
                    "x": 0.64
                  },
                  "note": "Center handle vertically and advance toward the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.95163,
      -0.44985,
      0.89649,
      -2.40925,
      -0.28454,
      3.49271,
      0.49513
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63879,
      0.05509,
      1.11038
    ],
    "tcp_roll_pitch_yaw": [
      -0.00096,
      -1.29515,
      0.0005
    ],
    "tcp_rotation_matrix": [
      [
        0.23268,
        -0.06047,
        0.97067
      ],
      [
        0.08724,
        -0.99274,
        -0.08276
      ],
      [
        0.96863,
        0.10393,
        -0.22572
      ]
    ],
    "simulated_seconds_remaining": 19.932,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.80770458560437,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Back off slightly since view went fully dark (too close to surface)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.76916,
      -0.52915,
      0.71834,
      -2.51763,
      -0.32891,
      3.4876,
      0.52678
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60131,
      0.05511,
      1.11039
    ],
    "tcp_roll_pitch_yaw": [
      -0.00157,
      -1.29517,
      0.00108
    ],
    "tcp_rotation_matrix": [
      [
        0.23266,
        -0.06048,
        0.97068
      ],
      [
        0.0874,
        -0.99273,
        -0.0828
      ],
      [
        0.96862,
        0.1041,
        -0.22568
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.404287594370544,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 1.15
                  },
                  "note": "Retreat and raise to regain view of the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.29375,
      -0.81145,
      0.28802,
      -2.69984,
      -0.42898,
      3.27061,
      0.51935
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50126,
      0.05516,
      1.14964
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.29546,
      0.00167
    ],
    "tcp_rotation_matrix": [
      [
        0.23238,
        -0.06051,
        0.97074
      ],
      [
        0.08755,
        -0.99271,
        -0.08283
      ],
      [
        0.96868,
        0.10424,
        -0.22539
      ]
    ],
    "simulated_seconds_remaining": 18.414,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 15.01320733409375,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.08,
                    "z": 1.12
                  },
                  "note": "Fine-center the handle in wrist view before approaching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.39118,
      -0.83135,
      0.43399,
      -2.74554,
      -0.39594,
      3.3325,
      0.58972
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50126,
      0.07922,
      1.12096
    ],
    "tcp_roll_pitch_yaw": [
      -0.00263,
      -1.29536,
      0.0022
    ],
    "tcp_rotation_matrix": [
      [
        0.23246,
        -0.06042,
        0.97073
      ],
      [
        0.0877,
        -0.9927,
        -0.08278
      ],
      [
        0.96864,
        0.10437,
        -0.22547
      ]
    ],
    "simulated_seconds_remaining": 17.886,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 8.607801613397896,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.065,
                    "x": 0.56
                  },
                  "note": "Slight y correction and advance 6 cm toward handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.57841,
      -0.64778,
      0.55396,
      -2.60942,
      -0.38454,
      3.42228,
      0.57179
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55884,
      0.06524,
      1.12092
    ],
    "tcp_roll_pitch_yaw": [
      -0.0026,
      -1.29524,
      0.00205
    ],
    "tcp_rotation_matrix": [
      [
        0.23259,
        -0.06052,
        0.97069
      ],
      [
        0.08766,
        -0.9927,
        -0.08289
      ],
      [
        0.96862,
        0.10437,
        -0.22559
      ]
    ],
    "simulated_seconds_remaining": 17.16,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 18.015075069852173,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "z": 1.105
                  },
                  "note": "Advance to handle depth, slightly lower, to place fingers around handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.93859,
      -0.4959,
      0.89321,
      -2.43756,
      -0.29732,
      3.50076,
      0.54023
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62888,
      0.06563,
      1.10962
    ],
    "tcp_roll_pitch_yaw": [
      -0.00073,
      -1.30381,
      0.00111
    ],
    "tcp_rotation_matrix": [
      [
        0.22421,
        -0.06055,
        0.97266
      ],
      [
        0.08736,
        -0.9928,
        -0.08194
      ],
      [
        0.97062,
        0.10334,
        -0.2173
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 10.00857456959784,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.0,
                    "z": 1.19,
                    "pitch": -0.3
                  },
                  "note": "Retreat and look mostly downward for an overview of the scene in front of the robot."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.93859,
      -0.4959,
      0.89321,
      -2.43756,
      -0.29732,
      3.50076,
      0.54023
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.62888,
      0.06563,
      1.10962
    ],
    "tcp_roll_pitch_yaw": [
      -0.00073,
      -1.30381,
      0.00111
    ],
    "tcp_rotation_matrix": [
      [
        0.22421,
        -0.06055,
        0.97266
      ],
      [
        0.08736,
        -0.9928,
        -0.08194
      ],
      [
        0.97062,
        0.10334,
        -0.2173
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 3.8034174256026745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1.15,
                    "pitch": -1.0
                  },
                  "note": "Smaller retreat step with modest pitch change to regain visibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03738,
      -0.93232,
      0.12919,
      -2.5966,
      -0.29121,
      2.67924,
      0.32213
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.451,
      0.06568,
      1.15001
    ],
    "tcp_roll_pitch_yaw": [
      -0.00077,
      -1.00227,
      0.00116
    ],
    "tcp_rotation_matrix": [
      [
        0.50235,
        -0.02706,
        0.86424
      ],
      [
        0.08769,
        -0.99276,
        -0.08205
      ],
      [
        0.86021,
        0.11701,
        -0.49634
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 12.209690839983523,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 1.13,
                    "pitch": -1.2
                  },
                  "note": "Approach handle depth with fingers around expected handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.49458,
      -0.49745,
      0.48884,
      -2.43447,
      -0.4383,
      3.24564,
      0.54416
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59903,
      0.06565,
      1.13004
    ],
    "tcp_roll_pitch_yaw": [
      -0.00129,
      -1.19846,
      0.00144
    ],
    "tcp_rotation_matrix": [
      [
        0.32505,
        -0.04953,
        0.9444
      ],
      [
        0.0876,
        -0.99276,
        -0.08222
      ],
      [
        0.94163,
        0.10946,
        -0.31836
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.206246337853372,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.645,
                    "y": 0.055,
                    "z": 1.115
                  },
                  "note": "Final approach to place fingers astride the handle before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
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    "instruction": "open the table.",
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    "gripper_open": 0.9966,
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    "tcp_rotation_matrix": [
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      [
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    "calls_remaining_including_this": 34
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  "api_seconds": 4.403804070316255,
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      {
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              "functionCall": {
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                "args": {
                  "targets": {
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                  "note": "Handle centered between fingers; close gripper to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
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                  "note": "Attempt pull-back to test whether closed fingers are hooked behind the handle."
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{
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                  "note": "Reopen gripper and lower ~2.5cm since handle appears below fingers; re-approach."
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              }
            }
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{
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                  "note": "Raise 7cm at same depth to see where handle appears, testing height alignment."
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          ]
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      }
    ]
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{
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                  "note": "Push fingers deeper past the handle bar so they can hook behind it."
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            }
          ]
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{
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                  "note": "Close gripper at handle depth to grasp/hook the bar."
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              }
            }
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{
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{
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                  "note": "Handle appeared just below fingertips; lower 2.5cm and re-insert at handle depth with open gripper."
                }
              }
            }
          ]
        }
      }
    ]
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{
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{
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                  "note": "Pull back firmly with fingers hooked behind the handle to open the drawer."
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              }
            }
          ]
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      }
    ]
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{
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                  "note": "Re-insert closed fingertips lower, under the handle bar, for a firmer hook."
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              }
            }
          ]
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      }
    ]
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{
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    "instruction": "open the table.",
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                  "note": "Final pull-back attempt to drag the drawer open with hooked gripper."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 36,
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    "instruction": "open the table.",
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Located the table's drawer handle and repeatedly approached/closed on it, but the horizontal handle could not be pinched (gripper fingers opened along the bar axis and roll rotation was rejected by IK). Hooking attempts failed to move the drawer, and simulated motion time is exhausted."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 459,
  "house_index": 222,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 28,
  "api_calls": 29,
  "wall_seconds": 305.850781917572,
  "usage": {
    "input_tokens": 58,
    "cache_creation_input_tokens": 29765,
    "cache_read_input_tokens": 407907,
    "output_tokens": 14483
  },
  "estimated_cost_usd": 0.75234975
}


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.



MODEL RESPONSES


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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezftKJoSgSwbxDm3xCbR",
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    "role": "assistant",
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{
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    "model": "claude-opus-5",
    "id": "msg_011CezftYv6aszzcXV8uMeJb",
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          "note": "Backing up and raising to get an overview of the table and locate its drawer handle."
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{
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          "note": "Raising and shifting left for an overview of the table."
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{
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          "note": "Tilting the wrist camera to look forward horizontally to find the table's drawer face."
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{
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          "note": "Rotating yaw so the forward-looking camera faces toward the table on the left."
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{
  "api_call": 6,
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          "note": "Returning to downward view and moving over the table area to the left to see its top and drawer."
        },
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{
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          "note": "Lowering toward table height to see the table's top/edges up close in wrist view."
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{
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          "note": "Repositioning above the estimated table center (y~0.25) to view the tabletop and drawer from above."
        },
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{
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          "note": "Raising high and pulling back for a wide top-down wrist view to localize the table and its handle."
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{
  "api_call": 10,
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          "note": "Setting camera to look horizontally toward the table to see the drawer front face and handle."
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{
  "api_call": 11,
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          "note": "Probing above the region where the tabletop appeared in wrist view (forward, slightly right) to localize the drawer handle."
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{
  "api_call": 12,
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          "note": "Moving to the near (robot-side) edge of the tabletop and lowering to inspect for a drawer front and handle."
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{
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          "note": "Pulling back and pointing the gripper forward (+x) at drawer-front height to view/approach the handle."
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{
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          "note": "Reorienting gripper to point forward while staying near current position (smaller IK step)."
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{
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          "note": "Lifting straight up to escape contact with the tabletop before reorienting."
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{
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          "note": "Moving back and down in front of the table's near side to view the drawer front face below the tabletop."
        },
        "caller": {
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{
  "api_call": 17,
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          "note": "Smaller retreat/descent step in front of the table to inspect the drawer front."
        },
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{
  "api_call": 18,
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            "pitch": -0.7
          },
          "note": "Approaching the presumed drawer front (-x face) at handle height with gripper tilted forward-down to hook the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 716,
      "cache_read_input_tokens": 16971,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 716,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 793,
      "output_tokens_details": {
        "thinking_tokens": 638
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg7csapgdQgZpei7wfY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XkDS1VWcWqaLx1aCndXKph",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.22,
            "y": 0.05,
            "z": 1.05
          },
          "note": "Retreating in x away from the tabletop so I can descend to drawer-front height in free space."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1282,
      "cache_read_input_tokens": 17687,
      "cache_creation": {
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 456,
      "output_tokens_details": {
        "thinking_tokens": 336
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg8LZb3P5V29tJbsMDp",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013Ef4wDyKak9cPURGEckyLd",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.3,
            "x": 0.28,
            "z": 1.12
          },
          "note": "Reducing wrist tilt and backing off slightly to escape the joint-limit/IK failure region."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 945,
      "cache_read_input_tokens": 18969,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 945,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 220,
      "output_tokens_details": {
        "thinking_tokens": 94
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg8iXSgDqcFH8cet5rn",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JY2Ax6QmVFmWv5NH6sn2qa",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.3,
            "y": 0.0,
            "z": 1.0,
            "pitch": -0.3
          },
          "note": "Descending in front of the table's near face to look for the drawer handle below the top."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 709,
      "cache_read_input_tokens": 19914,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 709,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 656,
      "output_tokens_details": {
        "thinking_tokens": 531
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg9bdyLUWvup1tXUewD",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XFANnhDm1KQYHrcMqTUaEm",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.36,
            "y": -0.02,
            "z": 1.0
          },
          "note": "Advancing toward the table's near face at handle height to see the drawer front closely."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1144,
      "cache_read_input_tokens": 20623,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 360,
      "output_tokens_details": {
        "thinking_tokens": 244
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgADdBE87ijUgrjAtZX",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01DViXZuLhaC3rsHZnvtKN2C",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.3,
            "z": 0.95,
            "pitch": 0.4
          },
          "note": "Dropping below tabletop height and tilting camera slightly upward-forward to view the table's near face (drawer front)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 849,
      "cache_read_input_tokens": 21767,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 849,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1494,
      "output_tokens_details": {
        "thinking_tokens": 1364
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgCL4gfziTbHjvFeWWA",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01BKA6CQswUSuQd4aLAevkac",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.37,
            "y": 0.0,
            "z": 0.99
          },
          "note": "A light-gray knob appears on a dark front panel ahead; advancing toward it for a grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1984,
      "cache_read_input_tokens": 22616,
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        "ephemeral_5m_input_tokens": 1984,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 543,
      "output_tokens_details": {
        "thinking_tokens": 420
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgDA9Qkv9XF2LRgaZrC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0181dGoR1ebtcromo3gYUrqY",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.345,
            "y": 0.0,
            "z": 1.04
          },
          "note": "Raising to knob height while edging forward so the open fingers straddle the drawer knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1038,
      "cache_read_input_tokens": 24600,
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        "ephemeral_5m_input_tokens": 1038,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 806,
      "output_tokens_details": {
        "thinking_tokens": 687
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgEJo6xMttGJHU22eeL",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01W25QUzJSu1jGbcGWNCR9dC",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 1.09
          },
          "note": "Rising toward the knob height since forward motion is blocked; checking whether the knob comes to the fingers' level."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1296,
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        "ephemeral_5m_input_tokens": 1296,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 409,
      "output_tokens_details": {
        "thinking_tokens": 298
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgFDBHpPpv7ywScukfm",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EsLTxgPRYKJdyDuqp6f9p4",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.33,
            "y": 0.0,
            "z": 0.99,
            "gripper": 0
          },
          "note": "Returning to the height where forward motion was blocked by the drawer front and closing the fingers to grip its handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 899,
      "cache_read_input_tokens": 26934,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 772,
      "output_tokens_details": {
        "thinking_tokens": 638
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgGFfe7D3pg9aGe2LGP",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01WjVF6Aorc17ehvYWiFAFA6",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.22
          },
          "note": "Pulling straight back with fingers closed to try to draw the drawer open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1262,
      "cache_read_input_tokens": 27833,
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        "ephemeral_5m_input_tokens": 1262,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 181,
      "output_tokens_details": {
        "thinking_tokens": 82
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgGc9BKzgmJmGgGmmLr",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01RbRbRWPQy4vBcMmrEsjQAk",
        "name": "give_up",
        "input": {
          "note": "Could not localize the table's drawer front/handle reliably before exhausting the motion budget; repeated IK failures and contacts prevented a valid grasp, and the drawer remains closed."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "output_tokens_details": {
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      },
      "service_tier": "standard",
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  }
}


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": 11.410083441995084,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.2,
                    "z": 1.25
                  },
                  "note": "Backing up and raising to get an overview of the table and locate its drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 2,
  "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": 56
  },
  "api_seconds": 4.204519130289555,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.2,
                    "z": 1.15
                  },
                  "note": "Raising and shifting left for an overview of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.07536,
      -0.68477,
      0.32337,
      -1.94005,
      0.15473,
      1.45985,
      0.46697
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3003,
      0.19882,
      1.14952
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.00011,
      0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.97996,
        -0.08611,
        0.17964
      ],
      [
        -0.08995,
        -0.99586,
        0.01336
      ],
      [
        0.17775,
        -0.02925,
        -0.98364
      ]
    ],
    "simulated_seconds_remaining": 28.248,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.20687123388052,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Tilting the wrist camera to look forward horizontally to find the table's drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.09094,
      -1.53162,
      0.59604,
      -2.8848,
      0.05819,
      2.71227,
      0.64287
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30035,
      0.1988,
      1.14939
    ],
    "tcp_roll_pitch_yaw": [
      -0.00044,
      -1.19538,
      0.00025
    ],
    "tcp_rotation_matrix": [
      [
        0.19403,
        -0.00456,
        0.98099
      ],
      [
        -0.09002,
        -0.99585,
        0.01318
      ],
      [
        0.97686,
        -0.09086,
        -0.19363
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.807329493574798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.2
                  },
                  "note": "Rotating yaw so the forward-looking camera faces toward the table on the left."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.11596,
      -1.54312,
      -0.63292,
      -2.85998,
      -0.05524,
      2.67027,
      -0.4986
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30038,
      0.19873,
      1.14953
    ],
    "tcp_roll_pitch_yaw": [
      0.00039,
      -1.19557,
      1.19468
    ],
    "tcp_rotation_matrix": [
      [
        0.15513,
        0.92474,
        0.34754
      ],
      [
        0.14721,
        -0.36951,
        0.91749
      ],
      [
        0.97687,
        -0.09117,
        -0.19345
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.408031604252756,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0,
                    "yaw": 0,
                    "x": 0.4,
                    "y": 0.45,
                    "z": 1.1
                  },
                  "note": "Returning to downward view and moving over the table area to the left to see its top and drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.67877,
      0.08452,
      0.23915,
      -1.37497,
      -0.15497,
      1.58233,
      0.99407
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39982,
      0.44951,
      1.10001
    ],
    "tcp_roll_pitch_yaw": [
      0.0023,
      -0.00267,
      0.00314
    ],
    "tcp_rotation_matrix": [
      [
        0.97976,
        -0.08309,
        0.18212
      ],
      [
        -0.08748,
        -0.99603,
        0.01621
      ],
      [
        0.18005,
        -0.03181,
        -0.98314
      ]
    ],
    "simulated_seconds_remaining": 21.912,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 11.608961226418614,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "Lowering toward table height to see the table's top/edges up close in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.66548,
      0.02051,
      0.2295,
      -1.83645,
      -0.14936,
      1.9801,
      1.03179
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3998,
      0.44948,
      0.95117
    ],
    "tcp_roll_pitch_yaw": [
      0.00204,
      -0.00245,
      0.00312
    ],
    "tcp_rotation_matrix": [
      [
        0.9798,
        -0.08311,
        0.1819
      ],
      [
        -0.08745,
        -0.99604,
        0.01595
      ],
      [
        0.17985,
        -0.03154,
        -0.98319
      ]
    ],
    "simulated_seconds_remaining": 20.592,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 13.010363670997322,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.25,
                    "z": 1.05
                  },
                  "note": "Repositioning above the estimated table center (y~0.25) to view the tabletop and drawer from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.56398,
      -0.39896,
      0.04244,
      -2.02402,
      -0.07573,
      1.80436,
      0.69292
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39959,
      0.25652,
      1.05647
    ],
    "tcp_roll_pitch_yaw": [
      0.0115,
      -0.01882,
      0.01245
    ],
    "tcp_rotation_matrix": [
      [
        0.97753,
        -0.07312,
        0.19769
      ],
      [
        -0.08002,
        -0.99642,
        0.02714
      ],
      [
        0.195,
        -0.04235,
        -0.97989
      ]
    ],
    "simulated_seconds_remaining": 18.81,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.605104858987033,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.2,
                    "x": 0.25
                  },
                  "note": "Raising high and pulling back for a wide top-down wrist view to localize the table and its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.61006,
      -0.56425,
      0.16412,
      -1.74984,
      -0.02937,
      1.35616,
      0.82499
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25095,
      0.25657,
      1.19915
    ],
    "tcp_roll_pitch_yaw": [
      0.01169,
      -0.01908,
      0.01258
    ],
    "tcp_rotation_matrix": [
      [
        0.9775,
        -0.07297,
        0.19794
      ],
      [
        -0.07992,
        -0.99643,
        0.02737
      ],
      [
        0.19523,
        -0.04257,
        -0.97983
      ]
    ],
    "simulated_seconds_remaining": 17.16,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 18.21416170615703,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4,
                    "yaw": 0.4,
                    "z": 0.9,
                    "x": 0.2,
                    "y": 0.15
                  },
                  "note": "Setting camera to look horizontally toward the table to see the drawer front face and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.61006,
      -0.56425,
      0.16412,
      -1.74984,
      -0.02937,
      1.35616,
      0.82499
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25095,
      0.25657,
      1.19915
    ],
    "tcp_roll_pitch_yaw": [
      0.01169,
      -0.01908,
      0.01258
    ],
    "tcp_rotation_matrix": [
      [
        0.9775,
        -0.07297,
        0.19794
      ],
      [
        -0.07992,
        -0.99643,
        0.02737
      ],
      [
        0.19523,
        -0.04257,
        -0.97983
      ]
    ],
    "simulated_seconds_remaining": 17.16,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 15.812317761592567,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.1,
                    "z": 1.1
                  },
                  "note": "Probing above the region where the tabletop appeared in wrist view (forward, slightly right) to localize the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.5211,
      -0.44247,
      -0.21401,
      -1.9395,
      -0.12811,
      1.70375,
      0.40001
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44903,
      0.10072,
      1.10042
    ],
    "tcp_roll_pitch_yaw": [
      0.01167,
      -0.01888,
      0.01239
    ],
    "tcp_rotation_matrix": [
      [
        0.97752,
        -0.07317,
        0.19775
      ],
      [
        -0.08011,
        -0.99641,
        0.02731
      ],
      [
        0.19504,
        -0.04254,
        -0.97987
      ]
    ],
    "simulated_seconds_remaining": 15.048,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.406215665861964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.0
                  },
                  "note": "Moving to the near (robot-side) edge of the tabletop and lowering to inspect for a drawer front and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.50244,
      -0.9463,
      -0.09632,
      -2.51958,
      -0.14285,
      2.32118,
      0.5336
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39307,
      0.14981,
      1.11235
    ],
    "tcp_roll_pitch_yaw": [
      0.25882,
      -0.51988,
      -0.02302
    ],
    "tcp_rotation_matrix": [
      [
        0.77338,
        0.04378,
        0.63243
      ],
      [
        -0.15045,
        -0.95644,
        0.25019
      ],
      [
        0.61583,
        -0.28864,
        -0.7331
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 10.80905350856483,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "y": 0.1,
                    "z": 0.98,
                    "pitch": -1.5,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Pulling back and pointing the gripper forward (+x) at drawer-front height to view/approach the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.50244,
      -0.9463,
      -0.09632,
      -2.51958,
      -0.14285,
      2.32118,
      0.5336
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39307,
      0.14981,
      1.11235
    ],
    "tcp_roll_pitch_yaw": [
      0.25882,
      -0.51988,
      -0.02302
    ],
    "tcp_rotation_matrix": [
      [
        0.77338,
        0.04378,
        0.63243
      ],
      [
        -0.15045,
        -0.95644,
        0.25019
      ],
      [
        0.61583,
        -0.28864,
        -0.7331
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.0038695354014635,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "roll": 0,
                    "yaw": 0,
                    "z": 1.05
                  },
                  "note": "Reorienting gripper to point forward while staying near current position (smaller IK step)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.50244,
      -0.9463,
      -0.09632,
      -2.51958,
      -0.14285,
      2.32118,
      0.5336
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39307,
      0.14981,
      1.11235
    ],
    "tcp_roll_pitch_yaw": [
      0.25882,
      -0.51988,
      -0.02302
    ],
    "tcp_rotation_matrix": [
      [
        0.77338,
        0.04378,
        0.63243
      ],
      [
        -0.15045,
        -0.95644,
        0.25019
      ],
      [
        0.61583,
        -0.28864,
        -0.7331
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.007384268566966,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.18
                  },
                  "note": "Lifting straight up to escape contact with the tabletop before reorienting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.51345,
      -0.88682,
      -0.08814,
      -2.31619,
      -0.12803,
      2.17766,
      0.52439
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39308,
      0.14981,
      1.17875
    ],
    "tcp_roll_pitch_yaw": [
      0.25894,
      -0.52009,
      -0.02309
    ],
    "tcp_rotation_matrix": [
      [
        0.77325,
        0.04384,
        0.63258
      ],
      [
        -0.15052,
        -0.95641,
        0.25026
      ],
      [
        0.61598,
        -0.28873,
        -0.73295
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 16.4120787223801,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.15,
                    "z": 0.95
                  },
                  "note": "Moving back and down in front of the table's near side to view the drawer front face below the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.51345,
      -0.88682,
      -0.08814,
      -2.31619,
      -0.12803,
      2.17766,
      0.52439
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39308,
      0.14981,
      1.17875
    ],
    "tcp_roll_pitch_yaw": [
      0.25894,
      -0.52009,
      -0.02309
    ],
    "tcp_rotation_matrix": [
      [
        0.77325,
        0.04384,
        0.63258
      ],
      [
        -0.15052,
        -0.95641,
        0.25026
      ],
      [
        0.61598,
        -0.28873,
        -0.73295
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.603662361390889,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.05
                  },
                  "note": "Smaller retreat/descent step in front of the table to inspect the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.51083,
      -1.30944,
      0.0009,
      -2.79936,
      -0.11927,
      2.4768,
      0.61162
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.31858,
      0.16624,
      1.11725
    ],
    "tcp_roll_pitch_yaw": [
      0.41672,
      -0.72946,
      -0.0896
    ],
    "tcp_rotation_matrix": [
      [
        0.63025,
        0.14084,
        0.76351
      ],
      [
        -0.21157,
        -0.91503,
        0.34344
      ],
      [
        0.74701,
        -0.37799,
        -0.5469
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 17.614289397373796,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.05,
                    "z": 1.02,
                    "roll": 0,
                    "yaw": 0,
                    "pitch": -0.7
                  },
                  "note": "Approaching the presumed drawer front (-x face) at handle height with gripper tilted forward-down to hook the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.28459,
      -1.45841,
      -0.03827,
      -2.99125,
      -0.3305,
      2.70478,
      0.48292
    ],
    "gripper_open": 0.9897,
    "tcp_xyz": [
      0.34253,
      0.08039,
      1.1079
    ],
    "tcp_roll_pitch_yaw": [
      0.12494,
      -1.00525,
      0.0004
    ],
    "tcp_rotation_matrix": [
      [
        0.38586,
        0.08347,
        0.91877
      ],
      [
        -0.11142,
        -0.98439,
        0.13622
      ],
      [
        0.9158,
        -0.15493,
        -0.37054
      ]
    ],
    "simulated_seconds_remaining": 10.098,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 9.607813858427107,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "y": 0.05,
                    "z": 1.05
                  },
                  "note": "Retreating in x away from the tabletop so I can descend to drawer-front height in free space."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.28459,
      -1.45841,
      -0.03827,
      -2.99125,
      -0.3305,
      2.70478,
      0.48292
    ],
    "gripper_open": 0.9897,
    "tcp_xyz": [
      0.34253,
      0.08039,
      1.1079
    ],
    "tcp_roll_pitch_yaw": [
      0.12494,
      -1.00525,
      0.0004
    ],
    "tcp_rotation_matrix": [
      [
        0.38586,
        0.08347,
        0.91877
      ],
      [
        -0.11142,
        -0.98439,
        0.13622
      ],
      [
        0.9158,
        -0.15493,
        -0.37054
      ]
    ],
    "simulated_seconds_remaining": 10.098,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 4.804192763753235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.3,
                    "x": 0.28,
                    "z": 1.12
                  },
                  "note": "Reducing wrist tilt and backing off slightly to escape the joint-limit/IK failure region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
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      -0.05382,
      -2.42846,
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
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      -0.30452,
      0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.88543,
        -0.03608,
        0.46337
      ],
      [
        -0.11136,
        -0.98441,
        0.13613
      ],
      [
        0.45123,
        -0.17213,
        -0.87565
      ]
    ],
    "simulated_seconds_remaining": 8.844,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 11.607718058861792,
  "response": {
    "candidates": [
      {
        "content": {
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              "functionCall": {
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                  "targets": {
                    "x": 0.3,
                    "y": 0.0,
                    "z": 1.0,
                    "pitch": -0.3
                  },
                  "note": "Descending in front of the table's near face to look for the drawer handle below the top."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 21,
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    "tcp_rotation_matrix": [
      [
        0.8875,
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      [
        -0.11144,
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    ],
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  },
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    "candidates": [
      {
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                    "y": -0.02,
                    "z": 1.0
                  },
                  "note": "Advancing toward the table's near face at handle height to see the drawer front closely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
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  },
  "api_seconds": 28.222240459173918,
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      {
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                "name": "move_to",
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                  "targets": {
                    "x": 0.3,
                    "z": 0.95,
                    "pitch": 0.4
                  },
                  "note": "Dropping below tabletop height and tilting camera slightly upward-forward to view the table's near face (drawer front)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
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      -0.71773,
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      -2.38919,
      -0.12979,
      1.52806,
      0.25535
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    "tcp_roll_pitch_yaw": [
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      0.0012
    ],
    "tcp_rotation_matrix": [
      [
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      [
        -0.11062,
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      ],
      [
        -0.22202,
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        -0.96885
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    ],
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  },
  "api_seconds": 11.008434927091002,
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      {
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                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.0,
                    "z": 0.99
                  },
                  "note": "A light-gray knob appears on a dark front panel ahead; advancing toward it for a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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{
  "call": 24,
  "state": {
    "instruction": "open the table.",
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    "tcp_rotation_matrix": [
      [
        0.91569,
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        -0.37792
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      [
        -0.09947,
        -0.98821,
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        -0.38937,
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    ],
    "simulated_seconds_remaining": 4.752,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 15.41217090189457,
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    "candidates": [
      {
        "content": {
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                "name": "move_to",
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                  "targets": {
                    "x": 0.345,
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                  },
                  "note": "Raising to knob height while edging forward so the open fingers straddle the drawer knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
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    ],
    "tcp_rotation_matrix": [
      [
        0.89651,
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      ],
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        -0.09593,
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    ],
    "simulated_seconds_remaining": 4.026,
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  },
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      {
        "content": {
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                "args": {
                  "targets": {
                    "z": 1.09
                  },
                  "note": "Rising toward the knob height since forward motion is blocked; checking whether the knob comes to the fingers' level."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
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    "tcp_rotation_matrix": [
      [
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        -0.42547
      ],
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        -0.09585,
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      ],
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        -0.43539,
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        -0.8985
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    ],
    "simulated_seconds_remaining": 3.366,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 13.811471657827497,
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      {
        "content": {
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            {
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                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.0,
                    "z": 0.99,
                    "gripper": 0
                  },
                  "note": "Returning to the height where forward motion was blocked by the drawer front and closing the fingers to grip its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
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}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
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      -0.49554,
      -1.88376,
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      1.10027,
      0.23126
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    "gripper_open": 0.0001,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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      0.60487,
      0.07486
    ],
    "tcp_rotation_matrix": [
      [
        0.90091,
        -0.13374,
        -0.41288
      ],
      [
        -0.05835,
        -0.98002,
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      ],
      [
        -0.43006,
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        -0.89072
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    ],
    "simulated_seconds_remaining": 2.442,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.603989347815514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22
                  },
                  "note": "Pulling straight back with fingers closed to try to draw the drawer open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.47435,
      -0.71364,
      -0.3914,
      -2.1055,
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      1.04713,
      0.33353
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
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      1.06802
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    "tcp_roll_pitch_yaw": [
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    ],
    "tcp_rotation_matrix": [
      [
        0.90097,
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        -0.41275
      ],
      [
        -0.0583,
        -0.98001,
        0.19024
      ],
      [
        -0.42994,
        -0.14733,
        -0.89075
      ]
    ],
    "simulated_seconds_remaining": 1.518,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 3.6031353855505586,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the table's drawer front/handle reliably before exhausting the motion budget; repeated IK failures and contacts prevented a valid grasp, and the drawer remains closed."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 467,
  "house_index": 224,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 19,
  "api_calls": 20,
  "wall_seconds": 150.9685356616974,
  "usage": {
    "input_tokens": 40,
    "cache_creation_input_tokens": 17778,
    "cache_read_input_tokens": 163548,
    "output_tokens": 6941
  },
  "estimated_cost_usd": 0.3666115
}


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.



MODEL RESPONSES


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    "id": "msg_011Cezg8rdrAhHonHDk1xdVs",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019ZXybLAsigncVJheDfVvMH",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens_details": {
        "thinking_tokens": 71
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezg958RtmVnn7Uu6meNB",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_016HZi8omFRfKXzQjDSZU8Sc",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "z": 0.9
          },
          "note": "Move forward toward the table to see it better in wrist camera."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 3,
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    "model": "claude-opus-5",
    "id": "msg_011Cezg9VuSzojr9aYdVyN3L",
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        "thinking": ""
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      {
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          "targets": {
            "x": 0.6,
            "y": 0.15,
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          },
          "note": "Continue forward and left toward the table."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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    }
  }
}

{
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  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
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        "input": {
          "targets": {
            "y": 0.35
          },
          "note": "Shift further left to look for the table under the wrist camera."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgAWmKLmGgygdbzby61",
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        "thinking": ""
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        "input": {
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            "y": 0.3,
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          },
          "note": "Reach further forward toward the table position."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "inference_geo": "global"
    }
  }
}

{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgAwkUokPG6hnL6N3Wi",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01C7qJkftNQjBfCSXqdtnNci",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.9
          },
          "note": "Tilt gripper forward so wrist camera can see ahead toward the table."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
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      "output_tokens_details": {
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    }
  }
}

{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgBYvpm9RUGjbrpqgNQ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01CSfE2UNpF4vujfiFKVk4Af",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "y": 0.1,
            "z": 0.85
          },
          "note": "Return to a more central pose to regain IK freedom."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgC4WZCiYTYDsdUwr4G",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "id": "toolu_01HBACL5RMDnkPYz8TFAhd6G",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.2
          },
          "note": "Pitch gripper to face forward for viewing and grasping a drawer handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgCKqJ34U2syoXv7HYp",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01KW8r9NqzxirXoX6QUPyRfo",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 0.6,
            "pitch": -1.45
          },
          "note": "Turn gripper to the left and more forward to spot the table/nightstand."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 170,
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgCcmXQTjXrQhiwLhuC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01HB9neeSkyKDuPeewuZujR9",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.25
          },
          "note": "Small left shift toward table while facing forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 194,
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgCzUVe1yMgXt3KRKNY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XKopgiYLKqf2s5s4r1HH8x",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.65,
            "pitch": -1.0
          },
          "note": "Lower toward nightstand height and tilt down a bit to see the drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
      "output_tokens": 215,
      "output_tokens_details": {
        "thinking_tokens": 104
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgDQrCnYvhjrJPxveQf",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JFnmcrxb9fWvwdTYDJkb5c",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.4,
            "pitch": -1.3
          },
          "note": "Scan further left and look more horizontally for the nightstand drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 454,
      "output_tokens_details": {
        "thinking_tokens": 347
      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgE9VFzCm17CNVkh37T",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01PAJw1pxSTnG655Gx3Q35fi",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 0.5
          },
          "note": "Yaw gripper left to bring the table into the wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgEfhSZV1itPDj1zGxg",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013Ngo4AM4V33HA6VHGLU9Z4",
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        "input": {
          "targets": {
            "x": 0.62,
            "y": 0.45,
            "z": 0.6,
            "yaw": 0.3,
            "pitch": -1.4
          },
          "note": "Extend toward the nightstand at the front-left."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 593,
      "output_tokens_details": {
        "thinking_tokens": 466
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgFfbmGrdcr9r46qVVC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01SzsLEJoiaDiu6g1F4JkPbn",
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        "input": {
          "targets": {
            "x": 0.68,
            "z": 0.55
          },
          "note": "Approach the dark object (likely the nightstand) seen ahead in the wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 287,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgG6zjh91wZPJcrmjjE",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FE2Lsmrtt7EpmNihJrxqoH",
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        "input": {
          "targets": {
            "x": 0.6,
            "z": 0.78,
            "pitch": -1.55,
            "yaw": 0.3
          },
          "note": "Raise and look horizontally forward-left to locate the table top/drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_creation_input_tokens": 779,
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      },
      "output_tokens": 576,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgGxHPmGrtc7mfJpbNV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014ohnYZvZpTBRa6yjdoZACM",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.72,
            "y": 0.37,
            "z": 0.62,
            "pitch": -1.5,
            "yaw": 0.2
          },
          "note": "Extend near max reach forward-left at drawer height to check proximity to the table."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 822,
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgHzeZ3NN3MmaNRsmpw",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01SXLpb2BMDn6YK13Ng1B3rU",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.65,
            "z": 0.6,
            "yaw": 0.6
          },
          "note": "Try farther left position in case the table sits more to the side."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 831,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgKDSXaCPgmcTGi2TNJ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014ruVo6hNvjLcRigw3u1Xc1",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.62,
            "y": 0.55,
            "z": 0.55,
            "yaw": 0.4,
            "pitch": -1.3
          },
          "note": "Final probe toward the front-left where the nightstand appears."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_creation_input_tokens": 1319,
      "cache_read_input_tokens": 15664,
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      },
      "output_tokens": 303,
      "output_tokens_details": {
        "thinking_tokens": 173
      },
      "service_tier": "standard",
      "inference_geo": "global"
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  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgKgUUJHitxPsqXcSMG",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Tjyg9gjPN8NjtE1NwjS8Ee",
        "name": "give_up",
        "input": {
          "note": "The nightstand/table is positioned beyond the arm's reach (front-left of the base); repeated extensions to the kinematic limit never brought the gripper near its drawer, and motion time is nearly exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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  }
}


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": 8.207711667753756,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.9
                  },
                  "note": "Move forward toward the table to see it better in wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00229,
      -0.26672,
      -0.03298,
      -2.23317,
      0.10822,
      1.88101,
      -0.0789
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44875,
      0.01091,
      0.9005
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00022,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99677,
        0.00764,
        -0.08
      ],
      [
        0.01676,
        -0.99335,
        0.11388
      ],
      [
        -0.0786,
        -0.11485,
        -0.99027
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.605160713195801,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.15,
                    "z": 0.9
                  },
                  "note": "Continue forward and left toward the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.11897,
      0.23125,
      0.08484,
      -1.64664,
      0.11202,
      1.81951,
      0.15896
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59897,
      0.14915,
      0.89994
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00034,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.99675,
        0.0078,
        -0.08014
      ],
      [
        0.01693,
        -0.99335,
        0.11386
      ],
      [
        -0.07872,
        -0.11485,
        -0.99026
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.206565460190177,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.35
                  },
                  "note": "Shift further left to look for the table under the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.34376,
      0.47448,
      0.18185,
      -1.30504,
      0.05724,
      1.75744,
      0.48273
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59888,
      0.34882,
      0.8999
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00043,
      0.00048
    ],
    "tcp_rotation_matrix": [
      [
        0.99674,
        0.00809,
        -0.08027
      ],
      [
        0.01724,
        -0.99335,
        0.11387
      ],
      [
        -0.07881,
        -0.11489,
        -0.99025
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.805721588432789,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.75,
                    "y": 0.3,
                    "z": 0.8
                  },
                  "note": "Reach further forward toward the table position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.34376,
      0.47448,
      0.18185,
      -1.30504,
      0.05724,
      1.75744,
      0.48273
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59888,
      0.34882,
      0.8999
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00043,
      0.00048
    ],
    "tcp_rotation_matrix": [
      [
        0.99674,
        0.00809,
        -0.08027
      ],
      [
        0.01724,
        -0.99335,
        0.11387
      ],
      [
        -0.07881,
        -0.11489,
        -0.99025
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.20795388519764,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Tilt gripper forward so wrist camera can see ahead toward the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.34376,
      0.47448,
      0.18185,
      -1.30504,
      0.05724,
      1.75744,
      0.48273
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59888,
      0.34882,
      0.8999
    ],
    "tcp_roll_pitch_yaw": [
      4e-05,
      0.00043,
      0.00048
    ],
    "tcp_rotation_matrix": [
      [
        0.99674,
        0.00809,
        -0.08027
      ],
      [
        0.01724,
        -0.99335,
        0.11387
      ],
      [
        -0.07881,
        -0.11489,
        -0.99025
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.205990071408451,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.1,
                    "z": 0.85
                  },
                  "note": "Return to a more central pose to regain IK freedom."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10522,
      -0.05841,
      0.03997,
      -2.14416,
      0.14089,
      2.0184,
      0.06723
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50052,
      0.10113,
      0.85025
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00045,
      0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99674,
        0.00784,
        -0.08026
      ],
      [
        0.01698,
        -0.99335,
        0.11387
      ],
      [
        -0.07883,
        -0.11486,
        -0.99025
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 3.0033009368926287,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Pitch gripper to face forward for viewing and grasping a drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.05713,
      -0.07865,
      0.24098,
      -2.95203,
      0.19233,
      3.9939,
      0.00352
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50057,
      0.10116,
      0.84982
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -1.1944,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.43928,
        0.10998,
        0.89159
      ],
      [
        0.01699,
        -0.99332,
        0.11415
      ],
      [
        0.89819,
        -0.035,
        -0.43821
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.0037657674402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.6,
                    "pitch": -1.45
                  },
                  "note": "Turn gripper to the left and more forward to spot the table/nightstand."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.05713,
      -0.07865,
      0.24098,
      -2.95203,
      0.19233,
      3.9939,
      0.00352
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50057,
      0.10116,
      0.84982
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -1.1944,
      0.00057
    ],
    "tcp_rotation_matrix": [
      [
        0.43928,
        0.10998,
        0.89159
      ],
      [
        0.01699,
        -0.99332,
        0.11415
      ],
      [
        0.89819,
        -0.035,
        -0.43821
      ]
    ],
    "simulated_seconds_remaining": 21.318,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 4.404564251191914,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25
                  },
                  "note": "Small left shift toward table while facing forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.31971,
      0.12706,
      0.5033,
      -2.65553,
      0.87839,
      4.03391,
      -0.32512
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50058,
      0.24883,
      0.84987
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -1.19453,
      0.00069
    ],
    "tcp_rotation_matrix": [
      [
        0.43916,
        0.11028,
        0.89161
      ],
      [
        0.01706,
        -0.99328,
        0.11446
      ],
      [
        0.89825,
        -0.03506,
        -0.43809
      ]
    ],
    "simulated_seconds_remaining": 19.998,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.404794574715197,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.65,
                    "pitch": -1.0
                  },
                  "note": "Lower toward nightstand height and tilt down a bit to see the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.31001,
      0.67104,
      0.41023,
      -2.52323,
      0.63007,
      4.21091,
      -0.17603
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50056,
      0.24878,
      0.65125
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      -1.00112,
      0.00077
    ],
    "tcp_rotation_matrix": [
      [
        0.60362,
        0.10144,
        0.79079
      ],
      [
        0.0172,
        -0.9933,
        0.11429
      ],
      [
        0.79709,
        -0.05538,
        -0.60132
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.608002877794206,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.4,
                    "pitch": -1.3
                  },
                  "note": "Scan further left and look more horizontally for the nightstand drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.66547,
      1.02154,
      0.37892,
      -2.00769,
      0.82281,
      4.48725,
      -0.3176
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50049,
      0.39913,
      0.65121
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -1.29788,
      0.00082
    ],
    "tcp_rotation_matrix": [
      [
        0.34414,
        0.11349,
        0.93203
      ],
      [
        0.01704,
        -0.99326,
        0.11466
      ],
      [
        0.93876,
        -0.02358,
        -0.34376
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.805861653760076,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.5
                  },
                  "note": "Yaw gripper left to bring the table into the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.4851,
      0.91941,
      0.23647,
      -2.28216,
      0.08005,
      4.41659,
      -0.17021
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.5008,
      0.39887,
      0.6512
    ],
    "tcp_roll_pitch_yaw": [
      -0.00069,
      -1.29794,
      0.49576
    ],
    "tcp_rotation_matrix": [
      [
        0.29473,
        0.57109,
        0.76615
      ],
      [
        0.17838,
        -0.82055,
        0.54302
      ],
      [
        0.93878,
        -0.02338,
        -0.34372
      ]
    ],
    "simulated_seconds_remaining": 16.038,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 13.210058895871043,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "y": 0.45,
                    "z": 0.6,
                    "yaw": 0.3,
                    "pitch": -1.4
                  },
                  "note": "Extend toward the nightstand at the front-left."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.58256,
      1.15732,
      0.19882,
      -1.78345,
      0.30605,
      4.09547,
      -0.2655
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59892,
      0.44445,
      0.57325
    ],
    "tcp_roll_pitch_yaw": [
      -0.10007,
      -1.19163,
      0.45836
    ],
    "tcp_rotation_matrix": [
      [
        0.39332,
        0.45748,
        0.7975
      ],
      [
        0.20393,
        -0.88922,
        0.40952
      ],
      [
        0.8965,
        0.00156,
        -0.44304
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.604789575561881,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "z": 0.55
                  },
                  "note": "Approach the dark object (likely the nightstand) seen ahead in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.56057,
      1.26889,
      0.17604,
      -1.47188,
      0.23989,
      3.88389,
      -0.26034
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.67266,
      0.47251,
      0.57426
    ],
    "tcp_roll_pitch_yaw": [
      -0.02909,
      -1.19434,
      0.42007
    ],
    "tcp_rotation_matrix": [
      [
        0.39563,
        0.48181,
        0.78188
      ],
      [
        0.19255,
        -0.87593,
        0.44234
      ],
      [
        0.898,
        -0.02445,
        -0.43932
      ]
    ],
    "simulated_seconds_remaining": 13.926,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.80889358650893,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.78,
                    "pitch": -1.55,
                    "yaw": 0.3
                  },
                  "note": "Raise and look horizontally forward-left to locate the table top/drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.66515,
      0.91586,
      0.21826,
      -1.84557,
      0.45984,
      4.32553,
      -0.33415
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60031,
      0.47261,
      0.77916
    ],
    "tcp_roll_pitch_yaw": [
      -0.02828,
      -1.54848,
      0.29988
    ],
    "tcp_rotation_matrix": [
      [
        0.09225,
        0.37726,
        0.9215
      ],
      [
        0.04373,
        -0.92609,
        0.37476
      ],
      [
        0.99478,
        0.00573,
        -0.10193
      ]
    ],
    "simulated_seconds_remaining": 12.144,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 13.811309509910643,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72,
                    "y": 0.37,
                    "z": 0.62,
                    "pitch": -1.5,
                    "yaw": 0.2
                  },
                  "note": "Extend near max reach forward-left at drawer height to check proximity to the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.54061,
      1.29559,
      0.11038,
      -1.39131,
      0.30876,
      3.84216,
      -0.20576
    ],
    "gripper_open": 0.9983,
    "tcp_xyz": [
      0.72226,
      0.42058,
      0.57615
    ],
    "tcp_roll_pitch_yaw": [
      0.04579,
      -1.19641,
      0.2251
    ],
    "tcp_rotation_matrix": [
      [
        0.42113,
        0.36838,
        0.82882
      ],
      [
        0.11728,
        -0.92825,
        0.35298
      ],
      [
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    "calls_remaining_including_this": 41
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  "api_seconds": 15.812842972576618,
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                  "note": "Try farther left position in case the table sits more to the side."
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              }
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    "instruction": "open the table.",
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    "tcp_rotation_matrix": [
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                  "note": "Final probe toward the front-left where the nightstand appears."
                }
              }
            }
          ]
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      }
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{
  "call": 19,
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              }
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      }
    ]
  }
}

========================================================================
Opus 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
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  "source_episode_index": 531,
  "house_index": 313,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 31,
  "api_calls": 32,
  "wall_seconds": 291.4146020412445,
  "usage": {
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    "cache_creation_input_tokens": 31398,
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  "estimated_cost_usd": 0.8211135
}


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.



MODEL RESPONSES


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    "model": "claude-opus-5",
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          "note": "Small retreat in x to widen wrist view of the desk face."
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{
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          "note": "Probe forward to locate the desk face plane in x by contact/visual change."
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{
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          "note": "Lower to typical drawer-handle height and look forward for handles."
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{
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{
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          "note": "Look nearly straight down to check whether the desk top is directly beneath the gripper."
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{
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          "note": "Looking down showed the dark desk toward -y/-x; move over that region to see the desk top and its front edge."
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{
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          "note": "Desk identified at +y, x<0.4 with drawer face toward -x; move in front of it to view handles."
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{
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          "note": "Reposition in front of desk face (which appears to face +y) with gripper looking toward -y to find the handle."
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{
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{
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          "note": "Pull in +y to open the drawer/door if the handle is grasped."
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{
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          "note": "Smaller pull step in +y to avoid the joint jump while opening."
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{
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          "note": "Continue pulling +y to further open the drawer."
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{
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          "note": "Smaller incremental pull in +y to keep IK happy while opening further."
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{
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          "note": "Blend a small pull in +y with slight -x/-z to find a kinematically feasible opening motion."
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{
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          "note": "Final pull outward in +y to open the desk drawer as far as time allows."
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{
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          "note": "Tiny feasible pull step in +y to continue opening."
        },
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{
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          "note": "Last small outward pull to maximize drawer opening before time runs out."
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{
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          "note": "Alternative pull direction (-x) in case the drawer slides that way."
        },
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      "cache_creation": {
        "ephemeral_5m_input_tokens": 762,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 166,
      "output_tokens_details": {
        "thinking_tokens": 68
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgfUKmivZ8pjKvH28EV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01X7w23tRRzkA3y7gywryLV2",
        "name": "give_up",
        "input": {
          "note": "Could not reliably localize the desk's drawer handle: the desk is very dark in both views and repeated IK rejections plus the time budget prevented a verified grasp and pull. No confirmed opening achieved."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 658,
      "cache_read_input_tokens": 30740,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 658,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 248,
      "output_tokens_details": {
        "thinking_tokens": 136
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 9.00628815870732,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.15
                  },
                  "note": "Raise and retract to get a clearer overall view of the desk."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.02,
      -0.84934,
      0.01301,
      -1.99888,
      0.09254,
      1.07441,
      -0.11444
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20068,
      0.03322,
      1.14888
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      -0.00029,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98063,
        0.17941,
        -0.07865
      ],
      [
        0.18491,
        -0.98031,
        0.06932
      ],
      [
        -0.06467,
        -0.08252,
        -0.99449
      ]
    ],
    "simulated_seconds_remaining": 28.578,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.405069533735514,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.1,
                    "z": 1.05
                  },
                  "note": "Move forward toward the desk front to see drawers/handles up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.02507,
      -0.28261,
      0.12831,
      -1.8119,
      0.10885,
      1.24603,
      -0.03294
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37345,
      0.09155,
      1.06131
    ],
    "tcp_roll_pitch_yaw": [
      -0.03802,
      0.21359,
      0.01729
    ],
    "tcp_rotation_matrix": [
      [
        0.93978,
        0.18269,
        -0.28886
      ],
      [
        0.19859,
        -0.97973,
        0.02646
      ],
      [
        -0.27817,
        -0.08223,
        -0.95701
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 10.809281283058226,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.35,
                    "z": 0.95,
                    "pitch": 0.0
                  },
                  "note": "Shift left toward where the desk appears to be, leveling orientation to look forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.20705,
      -0.07384,
      0.46048,
      -1.89442,
      0.10862,
      1.78186,
      0.44078
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3998,
      0.3488,
      0.95047
    ],
    "tcp_roll_pitch_yaw": [
      -0.03814,
      0.00119,
      0.01753
    ],
    "tcp_rotation_matrix": [
      [
        0.97717,
        0.19653,
        -0.08067
      ],
      [
        0.19945,
        -0.97945,
        0.02992
      ],
      [
        -0.07313,
        -0.04532,
        -0.99629
      ]
    ],
    "simulated_seconds_remaining": 24.288,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 18.22590042091906,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.2,
                    "z": 1.0,
                    "pitch": -1.5
                  },
                  "note": "Pitch the wrist camera to look forward (+x) to survey for the desk front and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.20705,
      -0.07384,
      0.46048,
      -1.89442,
      0.10862,
      1.78186,
      0.44078
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3998,
      0.3488,
      0.95047
    ],
    "tcp_roll_pitch_yaw": [
      -0.03814,
      0.00119,
      0.01753
    ],
    "tcp_rotation_matrix": [
      [
        0.97717,
        0.19653,
        -0.08067
      ],
      [
        0.19945,
        -0.97945,
        0.02992
      ],
      [
        -0.07313,
        -0.04532,
        -0.99629
      ]
    ],
    "simulated_seconds_remaining": 24.288,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.4028985733166337,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.15,
                    "z": 1.0,
                    "pitch": -0.8
                  },
                  "note": "Partial pitch-up toward forward view, smaller step for IK feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.22679,
      -1.12016,
      0.2723,
      -2.83284,
      0.00623,
      2.41165,
      0.21944
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35019,
      0.15077,
      0.99983
    ],
    "tcp_roll_pitch_yaw": [
      -0.03814,
      -0.79672,
      0.01745
    ],
    "tcp_rotation_matrix": [
      [
        0.73366,
        0.17478,
        0.65665
      ],
      [
        0.19513,
        -0.97984,
        0.04279
      ],
      [
        0.6509,
        0.09674,
        -0.75298
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.40470664575696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Continue pitching to look horizontally forward to find the desk 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 desk.",
    "joint_positions": [
      0.22679,
      -1.12016,
      0.2723,
      -2.83284,
      0.00623,
      2.41165,
      0.21944
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35019,
      0.15077,
      0.99983
    ],
    "tcp_roll_pitch_yaw": [
      -0.03814,
      -0.79672,
      0.01745
    ],
    "tcp_rotation_matrix": [
      [
        0.73366,
        0.17478,
        0.65665
      ],
      [
        0.19513,
        -0.97984,
        0.04279
      ],
      [
        0.6509,
        0.09674,
        -0.75298
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 17.413940179161727,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0.0,
                    "roll": 1.2,
                    "x": 0.3,
                    "y": 0.1,
                    "z": 0.95
                  },
                  "note": "Rotate wrist to look toward +y where the desk appears to be, to inspect its face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.68841,
      -1.15092,
      -0.59238,
      -2.78302,
      0.46521,
      2.35137,
      -0.27747
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35196,
      0.149,
      1.0353
    ],
    "tcp_roll_pitch_yaw": [
      1.01154,
      -0.4197,
      -0.20518
    ],
    "tcp_rotation_matrix": [
      [
        0.85914,
        0.41765,
        0.29571
      ],
      [
        -0.02235,
        -0.54669,
        0.83704
      ],
      [
        0.51125,
        -0.72574,
        -0.46035
      ]
    ],
    "simulated_seconds_remaining": 20.328,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 15.61244928278029,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.3,
                    "z": 0.85,
                    "roll": 0.0,
                    "pitch": -1.0
                  },
                  "note": "Reset roll, pitch up to ~-1.0 rad at desk height to view the desk 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 desk.",
    "joint_positions": [
      0.68841,
      -1.15092,
      -0.59238,
      -2.78302,
      0.46521,
      2.35137,
      -0.27747
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35196,
      0.149,
      1.0353
    ],
    "tcp_roll_pitch_yaw": [
      1.01154,
      -0.4197,
      -0.20518
    ],
    "tcp_rotation_matrix": [
      [
        0.85914,
        0.41765,
        0.29571
      ],
      [
        -0.02235,
        -0.54669,
        0.83704
      ],
      [
        0.51125,
        -0.72574,
        -0.46035
      ]
    ],
    "simulated_seconds_remaining": 20.328,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 3.2031146166846156,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.0,
                    "pitch": -0.8
                  },
                  "note": "Return to the previously feasible forward-down orientation before repositioning."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.11594,
      -1.10339,
      0.36801,
      -2.70503,
      0.01002,
      2.29071,
      0.38822
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35194,
      0.14904,
      1.03532
    ],
    "tcp_roll_pitch_yaw": [
      0.00474,
      -0.79859,
      -0.20602
    ],
    "tcp_rotation_matrix": [
      [
        0.75254,
        -0.0168,
        0.65833
      ],
      [
        0.03195,
        -0.99757,
        -0.06197
      ],
      [
        0.65777,
        0.06767,
        -0.75017
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.206482705660164,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.25,
                    "z": 0.9,
                    "pitch": -1.3
                  },
                  "note": "Back off slightly and pitch further to face the desk front squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.11594,
      -1.10339,
      0.36801,
      -2.70503,
      0.01002,
      2.29071,
      0.38822
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35194,
      0.14904,
      1.03532
    ],
    "tcp_roll_pitch_yaw": [
      0.00474,
      -0.79859,
      -0.20602
    ],
    "tcp_rotation_matrix": [
      [
        0.75254,
        -0.0168,
        0.65833
      ],
      [
        0.03195,
        -0.99757,
        -0.06197
      ],
      [
        0.65777,
        0.06767,
        -0.75017
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.404402516782284,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Small incremental pitch change only, keeping position, to avoid IK rejection."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.10249,
      -1.2302,
      0.45141,
      -2.8461,
      -0.02756,
      2.48294,
      0.45005
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35192,
      0.14903,
      1.03526
    ],
    "tcp_roll_pitch_yaw": [
      0.00443,
      -0.99637,
      -0.20585
    ],
    "tcp_rotation_matrix": [
      [
        0.61213,
        -0.03348,
        0.79005
      ],
      [
        0.06137,
        -0.99408,
        -0.08968
      ],
      [
        0.78837,
        0.10338,
        -0.60645
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.4052288038656116,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.15,
                    "z": 0.95
                  },
                  "note": "Back away from the surface to get a usable wrist view of the desk front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.10249,
      -1.2302,
      0.45141,
      -2.8461,
      -0.02756,
      2.48294,
      0.45005
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35192,
      0.14903,
      1.03526
    ],
    "tcp_roll_pitch_yaw": [
      0.00443,
      -0.99637,
      -0.20585
    ],
    "tcp_rotation_matrix": [
      [
        0.61213,
        -0.03348,
        0.79005
      ],
      [
        0.06137,
        -0.99408,
        -0.08968
      ],
      [
        0.78837,
        0.10338,
        -0.60645
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 3.0028070798143744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25
                  },
                  "note": "Small retreat in x to widen wrist view of the desk face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.30736,
      -1.58438,
      0.49642,
      -2.89878,
      0.00962,
      2.12868,
      0.4989
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25128,
      0.14911,
      1.03537
    ],
    "tcp_roll_pitch_yaw": [
      0.00461,
      -0.99666,
      -0.2058
    ],
    "tcp_rotation_matrix": [
      [
        0.61188,
        -0.03332,
        0.79025
      ],
      [
        0.06146,
        -0.99409,
        -0.0895
      ],
      [
        0.78856,
        0.10333,
        -0.60622
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 16.412149062380195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Probe forward to locate the desk face plane in x by contact/visual change."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.09403,
      -0.87971,
      0.48019,
      -2.70025,
      -0.07855,
      2.72724,
      0.43309
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44868,
      0.14907,
      1.03532
    ],
    "tcp_roll_pitch_yaw": [
      0.0045,
      -0.99648,
      -0.20586
    ],
    "tcp_rotation_matrix": [
      [
        0.61204,
        -0.03344,
        0.79012
      ],
      [
        0.06139,
        -0.99408,
        -0.08962
      ],
      [
        0.78844,
        0.10336,
        -0.60636
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 7.606758995912969,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 0.8
                  },
                  "note": "Lower to typical drawer-handle height and look forward for handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.09403,
      -0.87971,
      0.48019,
      -2.70025,
      -0.07855,
      2.72724,
      0.43309
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44868,
      0.14907,
      1.03532
    ],
    "tcp_roll_pitch_yaw": [
      0.0045,
      -0.99648,
      -0.20586
    ],
    "tcp_rotation_matrix": [
      [
        0.61204,
        -0.03344,
        0.79012
      ],
      [
        0.06139,
        -0.99408,
        -0.08962
      ],
      [
        0.78844,
        0.10336,
        -0.60636
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.203683405183256,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "Small downward step to approach drawer height incrementally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.19953,
      -0.80871,
      0.65664,
      -2.89023,
      -0.09458,
      3.01754,
      0.56299
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44867,
      0.14903,
      0.93123
    ],
    "tcp_roll_pitch_yaw": [
      0.00414,
      -0.99626,
      -0.20565
    ],
    "tcp_rotation_matrix": [
      [
        0.61224,
        -0.03351,
        0.78996
      ],
      [
        0.06145,
        -0.99406,
        -0.08979
      ],
      [
        0.78828,
        0.10352,
        -0.60654
      ]
    ],
    "simulated_seconds_remaining": 14.388,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 19.615996653214097,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.2
                  },
                  "note": "Look nearly straight down to check whether the desk top is directly beneath the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01998,
      -0.40206,
      0.2745,
      -2.31557,
      0.1277,
      2.06824,
      0.23945
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44532,
      0.15207,
      0.93185
    ],
    "tcp_roll_pitch_yaw": [
      0.00254,
      -0.20404,
      -0.20242
    ],
    "tcp_rotation_matrix": [
      [
        0.99067,
        -0.00809,
        0.13607
      ],
      [
        -0.01439,
        -0.99887,
        0.0454
      ],
      [
        0.13555,
        -0.04693,
        -0.98966
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 16.41303615178913,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": -0.15,
                    "z": 0.93,
                    "pitch": -0.2
                  },
                  "note": "Looking down showed the dark desk toward -y/-x; move over that region to see the desk top and its front edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.14977,
      -0.67678,
      0.26685,
      -2.51589,
      0.0458,
      1.88918,
      -0.35045
    ],
    "gripper_open": 0.9813,
    "tcp_xyz": [
      0.35851,
      0.03368,
      0.92358
    ],
    "tcp_roll_pitch_yaw": [
      -0.19613,
      -0.09157,
      0.22953
    ],
    "tcp_rotation_matrix": [
      [
        0.92139,
        0.38657,
        0.04013
      ],
      [
        0.38853,
        -0.91361,
        -0.11984
      ],
      [
        -0.00966,
        0.12601,
        -0.99198
      ]
    ],
    "simulated_seconds_remaining": 10.626,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 25.221588973887265,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28,
                    "y": 0.45,
                    "z": 0.9,
                    "pitch": -0.6,
                    "yaw": 0.0,
                    "roll": 0.0
                  },
                  "note": "Desk identified at +y, x<0.4 with drawer face toward -x; move in front of it to view handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 47,
    "motion_seconds": 3.1020000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.12903,
      -0.73726,
      1.17269,
      -2.36888,
      0.37912,
      2.36794,
      0.6148
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.28015,
      0.44902,
      0.90008
    ],
    "tcp_roll_pitch_yaw": [
      -0.00089,
      -0.59893,
      0.0011
    ],
    "tcp_rotation_matrix": [
      [
        0.84643,
        0.19528,
        0.4954
      ],
      [
        0.18578,
        -0.98017,
        0.06895
      ],
      [
        0.49904,
        0.03367,
        -0.86592
      ]
    ],
    "simulated_seconds_remaining": 7.524,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 19.013976286165416,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.3,
                    "z": 0.9,
                    "roll": -1.4,
                    "pitch": 0.0
                  },
                  "note": "Reposition in front of desk face (which appears to face +y) with gripper looking toward -y to find the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.82667,
      -1.26986,
      1.9816,
      -0.81552,
      -0.14367,
      0.95713,
      0.073
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49956,
      0.30028,
      0.89994
    ],
    "tcp_roll_pitch_yaw": [
      -1.39651,
      -0.00159,
      0.00213
    ],
    "tcp_rotation_matrix": [
      [
        0.98098,
        0.17841,
        -0.0765
      ],
      [
        -0.02982,
        -0.25091,
        -0.96755
      ],
      [
        -0.19181,
        0.95143,
        -0.24082
      ]
    ],
    "simulated_seconds_remaining": 5.214,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 6.204944430850446,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.2,
                    "gripper": 0.0
                  },
                  "note": "Desk drawer face visible toward -y; move in and close gripper to grab the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.586,
      -1.0809,
      1.90583,
      -1.45277,
      -0.21804,
      1.31648,
      0.11866
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49958,
      0.20121,
      0.90001
    ],
    "tcp_roll_pitch_yaw": [
      -1.39653,
      -0.00166,
      0.00185
    ],
    "tcp_rotation_matrix": [
      [
        0.98098,
        0.17827,
        -0.07675
      ],
      [
        -0.0301,
        -0.25094,
        -0.96753
      ],
      [
        -0.19174,
        0.95145,
        -0.2408
      ]
    ],
    "simulated_seconds_remaining": 4.224,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.003785888664424,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.38
                  },
                  "note": "Pull in +y to open the drawer/door if the handle is grasped."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.586,
      -1.0809,
      1.90583,
      -1.45277,
      -0.21804,
      1.31648,
      0.11866
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49958,
      0.20121,
      0.90001
    ],
    "tcp_roll_pitch_yaw": [
      -1.39653,
      -0.00166,
      0.00185
    ],
    "tcp_rotation_matrix": [
      [
        0.98098,
        0.17827,
        -0.07675
      ],
      [
        -0.0301,
        -0.25094,
        -0.96753
      ],
      [
        -0.19174,
        0.95145,
        -0.2408
      ]
    ],
    "simulated_seconds_remaining": 4.224,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 3.0028136456385255,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.29
                  },
                  "note": "Smaller pull step in +y to avoid the joint jump while opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.77466,
      -1.23487,
      1.97365,
      -0.93852,
      -0.15352,
      1.02046,
      0.08252
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49964,
      0.28869,
      0.89997
    ],
    "tcp_roll_pitch_yaw": [
      -1.39657,
      -0.00171,
      0.00208
    ],
    "tcp_rotation_matrix": [
      [
        0.981,
        0.17828,
        -0.07652
      ],
      [
        -0.02988,
        -0.25086,
        -0.96756
      ],
      [
        -0.19169,
        0.95146,
        -0.24077
      ]
    ],
    "simulated_seconds_remaining": 3.366,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.403745691291988,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.37
                  },
                  "note": "Continue pulling +y to further open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.77466,
      -1.23487,
      1.97365,
      -0.93852,
      -0.15352,
      1.02046,
      0.08252
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49964,
      0.28869,
      0.89997
    ],
    "tcp_roll_pitch_yaw": [
      -1.39657,
      -0.00171,
      0.00208
    ],
    "tcp_rotation_matrix": [
      [
        0.981,
        0.17828,
        -0.07652
      ],
      [
        -0.02988,
        -0.25086,
        -0.96756
      ],
      [
        -0.19169,
        0.95146,
        -0.24077
      ]
    ],
    "simulated_seconds_remaining": 3.366,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 3.2035751435905695,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.34
                  },
                  "note": "Smaller incremental pull in +y to keep IK happy while opening further."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.77466,
      -1.23487,
      1.97365,
      -0.93852,
      -0.15352,
      1.02046,
      0.08252
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49964,
      0.28869,
      0.89997
    ],
    "tcp_roll_pitch_yaw": [
      -1.39657,
      -0.00171,
      0.00208
    ],
    "tcp_rotation_matrix": [
      [
        0.981,
        0.17828,
        -0.07652
      ],
      [
        -0.02988,
        -0.25086,
        -0.96756
      ],
      [
        -0.19169,
        0.95146,
        -0.24077
      ]
    ],
    "simulated_seconds_remaining": 3.366,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.0050557209178805,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "y": 0.31,
                    "z": 0.88
                  },
                  "note": "Blend a small pull in +y with slight -x/-z to find a kinematically feasible opening motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.716,
      -1.24202,
      1.99056,
      -0.96832,
      -0.1239,
      0.99629,
      0.13322
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47076,
      0.30953,
      0.88049
    ],
    "tcp_roll_pitch_yaw": [
      -1.39657,
      -0.00161,
      0.00232
    ],
    "tcp_rotation_matrix": [
      [
        0.98099,
        0.17843,
        -0.07631
      ],
      [
        -0.02964,
        -0.25082,
        -0.96758
      ],
      [
        -0.19179,
        0.95145,
        -0.24076
      ]
    ],
    "simulated_seconds_remaining": 2.772,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.203641073778272,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.36,
                    "z": 0.87
                  },
                  "note": "Final pull outward in +y to open the desk drawer as far as time allows."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -1.716,
      -1.24202,
      1.99056,
      -0.96832,
      -0.1239,
      0.99629,
      0.13322
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47076,
      0.30953,
      0.88049
    ],
    "tcp_roll_pitch_yaw": [
      -1.39657,
      -0.00161,
      0.00232
    ],
    "tcp_rotation_matrix": [
      [
        0.98099,
        0.17843,
        -0.07631
      ],
      [
        -0.02964,
        -0.25082,
        -0.96758
      ],
      [
        -0.19179,
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    ],
    "simulated_seconds_remaining": 2.772,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 3.002975745126605,
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                "args": {
                  "targets": {
                    "y": 0.33,
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                  },
                  "note": "Tiny feasible pull step in +y to continue opening."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
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    "gripper_open": 0.0,
    "tcp_xyz": [
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    "tcp_rotation_matrix": [
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                  "note": "Last small outward pull to maximize drawer opening before time runs out."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
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}

{
  "call": 30,
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    "instruction": "open the desk.",
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                    "x": 0.4
                  },
                  "note": "Alternative pull direction (-x) in case the drawer slides that way."
                }
              }
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          ]
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{
  "call": 31,
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    "instruction": "open the desk.",
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    ],
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  "api_seconds": 6.407869352027774,
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      {
        "content": {
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            {
              "functionCall": {
                "name": "give_up",
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                  "note": "Could not reliably localize the desk's drawer handle: the desk is very dark in both views and repeated IK rejections plus the time budget prevented a verified grasp and pull. No confirmed opening achieved."
                }
              }
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          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 555,
  "house_index": 314,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 34,
  "api_calls": 35,
  "wall_seconds": 341.85942339897156,
  "usage": {
    "input_tokens": 70,
    "cache_creation_input_tokens": 35517,
    "cache_read_input_tokens": 607503,
    "output_tokens": 17289
  },
  "estimated_cost_usd": 0.95830775
}


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.



MODEL RESPONSES


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          "note": "Raise and retract to get a wider view of the desk before approaching."
        },
        "caller": {
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        }
      }
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{
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          "note": "Smaller pitch change with lower z to keep IK feasible while tilting camera forward."
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{
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            "x": 0.42
          },
          "note": "Advance forward toward the desk; previous view was mostly floor, so desk front must be farther in +x."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgVvmEGhFFVmk5k5ER2",
    "type": "message",
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        "thinking": ""
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          "note": "Keep advancing in +x to locate the desk front; watching for the desk face to appear in the wrist view."
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{
  "api_call": 15,
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    "model": "claude-opus-5",
    "id": "msg_011CezgWzym97B84YJEfD4td",
    "type": "message",
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            "x": 0.42,
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          "note": "Step left (+y) to calibrate image axes and look for the drawer handle in that direction."
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{
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          "note": "Return to center and tilt a bit more forward in small steps to get the wrist camera looking at the desk face."
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{
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      {
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          "note": "Continue small pitch increments to look more forward with the wrist camera."
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{
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          "note": "Lower slightly while tilting; joint limits blocked larger pitch at this height."
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{
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          "note": "Small downward step to begin probing the desk face at a lower height."
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{
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          "note": "Reduce pitch back toward -0.69 (a configuration that worked) while lowering slightly."
        },
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{
  "api_call": 21,
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          "note": "Probe forward at z=0.88 to find where the desk front face is by contact."
        },
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{
  "api_call": 22,
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    "model": "claude-opus-5",
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      {
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        "input": {
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            "gripper": 0
          },
          "note": "Close the gripper at the contact point to test whether a handle is between the fingers."
        },
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      }
    ],
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{
  "api_call": 23,
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    "model": "claude-opus-5",
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          "note": "Attempt to pull back while closed to test if we caught a handle."
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    ],
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{
  "api_call": 24,
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        "input": {
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          },
          "note": "Lower to probe the desk face at a different height for a protruding handle; reopen gripper."
        },
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      }
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{
  "api_call": 25,
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          },
          "note": "Rise to z=1.0 in front of the face to probe a higher region for a handle."
        },
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      }
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{
  "api_call": 26,
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          "note": "Probe forward at z=1.0 to find the face or a handle protrusion."
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    ],
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{
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          },
          "note": "Back off and reset orientation to probe just below the desk top edge where a drawer handle should be."
        },
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    ],
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{
  "api_call": 28,
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          "note": "Probe forward at z=0.94 with a flatter pitch to feel for a handle below the desk top edge."
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      }
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{
  "api_call": 29,
  "response": {
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            "y": 0.2,
            "z": 0.9,
            "pitch": -0.4,
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            "yaw": 0
          },
          "note": "Shift left along the desk face to probe for a handle at a different lateral position."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 30,
  "response": {
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    "id": "msg_011CezgjFxjx6mpc2aswVmPX",
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    "role": "assistant",
    "content": [
      {
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        "input": {
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          },
          "note": "Push forward at y=0.20, z=0.90 to feel for a handle on the left part of the desk face."
        },
        "caller": {
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        }
      }
    ],
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{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgjY3sodcuRGD5hNKis",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017nACC1bRz7QYZ4bFfRxUCY",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "y": -0.15,
            "z": 0.92
          },
          "note": "Retract and shift right to probe the right side of the desk face for a handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 604,
      "cache_read_input_tokens": 30877,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 604,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1016,
      "output_tokens_details": {
        "thinking_tokens": 902
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgktBsBo2T8DAyyecRA",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01AHofGBYNpn2kKaEPt6SEuS",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close the gripper at this contact point in case a knob/handle is between the fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1512,
      "cache_read_input_tokens": 31481,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1512,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 360,
      "output_tokens_details": {
        "thinking_tokens": 259
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgmPx298g65JzuAcjPp",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01BCg4gZujtJ3irfZgQyWtpf",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "x": 0.46,
            "y": 0.0,
            "z": 0.95
          },
          "note": "Open and straddle the front lip/edge just under the desk top to try gripping the drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 850,
      "cache_read_input_tokens": 32993,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 850,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 507,
      "output_tokens_details": {
        "thinking_tokens": 378
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezgn8LSEXkUbwvxx8Fr1",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01PsLYVEGw8goXtAgByVtund",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "x": 0.3
          },
          "note": "Close on whatever is in front and pull back to try opening a drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 999,
      "cache_read_input_tokens": 33843,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 999,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 185,
      "output_tokens_details": {
        "thinking_tokens": 80
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgnUC2qErF9ihnawugM",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01DdyHvsek1wn7d8yW5GisoL",
        "name": "give_up",
        "input": {
          "note": "Could not locate a graspable handle on the desk. Wrist camera could not be pitched enough to view the vertical front face (joint limits), and contact probing at multiple heights/lateral offsets only found flat surfaces; gripper closures caught nothing. Simulated time nearly exhausted, so stopping without opening the desk."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 675,
      "cache_read_input_tokens": 34842,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 675,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 220,
      "output_tokens_details": {
        "thinking_tokens": 69
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 8.007192770950496,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.15
                  },
                  "note": "Raise and retract to get a wider view of the desk before approaching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01624,
      -0.83099,
      0.06978,
      -1.9839,
      -0.0389,
      1.05226,
      0.11437
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20063,
      0.01433,
      1.14885
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.00028,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99313,
        -0.06644,
        -0.09637
      ],
      [
        -0.07528,
        -0.99298,
        -0.09121
      ],
      [
        -0.08964,
        0.09784,
        -0.99116
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.208454754203558,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Pitch the wrist so the gripper/camera points forward horizontally to see the desk front and drawer handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01624,
      -0.83099,
      0.06978,
      -1.9839,
      -0.0389,
      1.05226,
      0.11437
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20063,
      0.01433,
      1.14885
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.00028,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99313,
        -0.06644,
        -0.09637
      ],
      [
        -0.07528,
        -0.99298,
        -0.09121
      ],
      [
        -0.08964,
        0.09784,
        -0.99116
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.40330577082932,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "z": 1.05
                  },
                  "note": "Smaller pitch change with lower z to keep IK feasible while tilting camera forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.06164,
      -1.64995,
      0.09887,
      -2.74662,
      -0.04004,
      1.68554,
      0.1801
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20051,
      0.01434,
      1.05056
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.69569,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.81995,
        -0.11369,
        0.56104
      ],
      [
        -0.07523,
        -0.99298,
        -0.09127
      ],
      [
        0.56748,
        0.03263,
        -0.82274
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.805471922270954,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Tilt further forward to view the desk's front face and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.06164,
      -1.64995,
      0.09887,
      -2.74662,
      -0.04004,
      1.68554,
      0.1801
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20051,
      0.01434,
      1.05056
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.69569,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.81995,
        -0.11369,
        0.56104
      ],
      [
        -0.07523,
        -0.99298,
        -0.09127
      ],
      [
        0.56748,
        0.03263,
        -0.82274
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.00378040689975,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0,
                    "z": 0.95,
                    "x": 0.3
                  },
                  "note": "Combine forward tilt with lower, more forward position to keep IK valid and look at the desk front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.06164,
      -1.64995,
      0.09887,
      -2.74662,
      -0.04004,
      1.68554,
      0.1801
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20051,
      0.01434,
      1.05056
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -0.69569,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.81995,
        -0.11369,
        0.56104
      ],
      [
        -0.07523,
        -0.99298,
        -0.09127
      ],
      [
        0.56748,
        0.03263,
        -0.82274
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.405847676098347,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 1.0
                  },
                  "note": "Move forward and slightly down at current orientation to approach the desk front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.00855,
      -1.17072,
      0.09314,
      -2.80843,
      -0.05751,
      2.22882,
      0.19624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34867,
      0.01432,
      1.00035
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -0.69534,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82014,
        -0.11373,
        0.56074
      ],
      [
        -0.07526,
        -0.99297,
        -0.09132
      ],
      [
        0.56719,
        0.03269,
        -0.82294
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 33.230880037881434,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Tilt more forward from the new position to see the desk's vertical front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.00855,
      -1.17072,
      0.09314,
      -2.80843,
      -0.05751,
      2.22882,
      0.19624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34867,
      0.01432,
      1.00035
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -0.69534,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82014,
        -0.11373,
        0.56074
      ],
      [
        -0.07526,
        -0.99297,
        -0.09132
      ],
      [
        0.56719,
        0.03269,
        -0.82294
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.806217402219772,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9
                  },
                  "note": "Lower the gripper to see and reach the desk's drawer front/handle region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.00855,
      -1.17072,
      0.09314,
      -2.80843,
      -0.05751,
      2.22882,
      0.19624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34867,
      0.01432,
      1.00035
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -0.69534,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82014,
        -0.11373,
        0.56074
      ],
      [
        -0.07526,
        -0.99297,
        -0.09132
      ],
      [
        0.56719,
        0.03269,
        -0.82294
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 14.011379597708583,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 0.85
                  },
                  "note": "Retract and lower to get below the desk top level, hoping to see the drawer fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.00855,
      -1.17072,
      0.09314,
      -2.80843,
      -0.05751,
      2.22882,
      0.19624
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34867,
      0.01432,
      1.00035
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -0.69534,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82014,
        -0.11373,
        0.56074
      ],
      [
        -0.07526,
        -0.99297,
        -0.09132
      ],
      [
        0.56719,
        0.03269,
        -0.82294
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.804610023275018,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.97
                  },
                  "note": "Try a small downward step to test feasibility incrementally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01116,
      -1.18483,
      0.0988,
      -2.88802,
      -0.05695,
      2.29369,
      0.20486
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34865,
      0.01432,
      0.97096
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      -0.69517,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82024,
        -0.11373,
        0.5606
      ],
      [
        -0.07526,
        -0.99297,
        -0.09134
      ],
      [
        0.56705,
        0.03273,
        -0.82303
      ]
    ],
    "simulated_seconds_remaining": 25.41,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.8047381872311234,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "Continue lowering in small steps toward the desk surface/handle level."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.01438,
      -1.18817,
      0.11125,
      -3.01536,
      -0.05614,
      2.41668,
      0.22198
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34863,
      0.01431,
      0.92109
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      -0.69494,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82037,
        -0.11374,
        0.56041
      ],
      [
        -0.07525,
        -0.99297,
        -0.09138
      ],
      [
        0.56686,
        0.03279,
        -0.82316
      ]
    ],
    "simulated_seconds_remaining": 24.75,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.80890098772943,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42
                  },
                  "note": "Advance forward toward the desk; previous view was mostly floor, so desk front must be farther in +x."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.04059,
      -0.84582,
      0.1247,
      -2.8697,
      -0.07568,
      2.61647,
      0.22858
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41873,
      0.0143,
      0.92108
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      -0.6948,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82044,
        -0.11379,
        0.56029
      ],
      [
        -0.07529,
        -0.99296,
        -0.09141
      ],
      [
        0.56675,
        0.03282,
        -0.82323
      ]
    ],
    "simulated_seconds_remaining": 23.958,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 14.011972025968134,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Keep advancing in +x to locate the desk front; watching for the desk face to appear in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.094,
      -0.6411,
      0.16621,
      -2.6629,
      -0.10018,
      2.45962,
      0.25508
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44974,
      0.00888,
      0.92087
    ],
    "tcp_roll_pitch_yaw": [
      -0.03552,
      -0.54359,
      -0.02166
    ],
    "tcp_rotation_matrix": [
      [
        0.89313,
        -0.14708,
        0.42507
      ],
      [
        -0.09782,
        -0.98592,
        -0.1356
      ],
      [
        0.43903,
        0.07953,
        -0.89495
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.808735562488437,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.16,
                    "pitch": -0.69,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Step left (+y) to calibrate image axes and look for the drawer handle in that direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      0.00841,
      -0.7316,
      0.46157,
      -2.72914,
      -0.04379,
      2.55998,
      0.57603
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42026,
      0.15874,
      0.92088
    ],
    "tcp_roll_pitch_yaw": [
      -0.00048,
      -0.68875,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.82385,
        -0.11366,
        0.5553
      ],
      [
        -0.07523,
        -0.99295,
        -0.09163
      ],
      [
        0.5618,
        0.03371,
        -0.82659
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 23.819595141336322,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.02,
                    "pitch": -0.85
                  },
                  "note": "Return to center and tilt a bit more forward in small steps to get the wrist camera looking at the desk face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.05055,
      -0.9003,
      0.15644,
      -2.98673,
      -0.111,
      2.83152,
      0.29943
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42026,
      0.02124,
      0.92086
    ],
    "tcp_roll_pitch_yaw": [
      -0.0003,
      -0.84839,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.72406,
        -0.11774,
        0.67962
      ],
      [
        -0.07545,
        -0.99293,
        -0.09164
      ],
      [
        0.6856,
        0.01508,
        -0.72782
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.804639305919409,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.05
                  },
                  "note": "Continue small pitch increments to look more forward with the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.05055,
      -0.9003,
      0.15644,
      -2.98673,
      -0.111,
      2.83152,
      0.29943
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42026,
      0.02124,
      0.92086
    ],
    "tcp_roll_pitch_yaw": [
      -0.0003,
      -0.84839,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.72406,
        -0.11774,
        0.67962
      ],
      [
        -0.07545,
        -0.99293,
        -0.09164
      ],
      [
        0.6856,
        0.01508,
        -0.72782
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.805969947949052,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86,
                    "pitch": -0.9
                  },
                  "note": "Lower slightly while tilting; joint limits blocked larger pitch at this height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.05055,
      -0.9003,
      0.15644,
      -2.98673,
      -0.111,
      2.83152,
      0.29943
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42026,
      0.02124,
      0.92086
    ],
    "tcp_roll_pitch_yaw": [
      -0.0003,
      -0.84839,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.72406,
        -0.11774,
        0.67962
      ],
      [
        -0.07545,
        -0.99293,
        -0.09164
      ],
      [
        0.6856,
        0.01508,
        -0.72782
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.611628936603665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.87
                  },
                  "note": "Small downward step to begin probing the desk face at a lower height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.05055,
      -0.9003,
      0.15644,
      -2.98673,
      -0.111,
      2.83152,
      0.29943
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42026,
      0.02124,
      0.92086
    ],
    "tcp_roll_pitch_yaw": [
      -0.0003,
      -0.84839,
      -0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.72406,
        -0.11774,
        0.67962
      ],
      [
        -0.07545,
        -0.99293,
        -0.09164
      ],
      [
        0.6856,
        0.01508,
        -0.72782
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.406367400661111,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.69,
                    "z": 0.88
                  },
                  "note": "Reduce pitch back toward -0.69 (a configuration that worked) while lowering slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.04331,
      -0.77787,
      0.14923,
      -2.93676,
      -0.10459,
      2.7473,
      0.28348
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42028,
      0.02124,
      0.88067
    ],
    "tcp_roll_pitch_yaw": [
      -0.00029,
      -0.69269,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.82162,
        -0.114,
        0.55853
      ],
      [
        -0.07549,
        -0.99293,
        -0.09162
      ],
      [
        0.56502,
        0.03311,
        -0.82441
      ]
    ],
    "simulated_seconds_remaining": 19.932,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 3.4033118383958936,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Probe forward at z=0.88 to find where the desk front face is by contact."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.17008,
      -0.50315,
      0.25973,
      -2.57175,
      -0.07386,
      2.3719,
      0.3439
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.45868,
      0.01518,
      0.88999
    ],
    "tcp_roll_pitch_yaw": [
      -0.02339,
      -0.41701,
      -0.12499
    ],
    "tcp_rotation_matrix": [
      [
        0.92668,
        -0.2324,
        0.29539
      ],
      [
        -0.19443,
        -0.969,
        -0.1524
      ],
      [
        0.32165,
        0.08379,
        -0.94314
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 20.61997092142701,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close the gripper at the contact point to test whether a handle is between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.16797,
      -0.5082,
      0.26186,
      -2.57871,
      -0.07183,
      2.36896,
      0.34728
    ],
    "gripper_open": 0.987,
    "tcp_xyz": [
      0.4557,
      0.01643,
      0.88798
    ],
    "tcp_roll_pitch_yaw": [
      -0.02377,
      -0.41258,
      -0.12649
    ],
    "tcp_rotation_matrix": [
      [
        0.92778,
        -0.23362,
        0.29095
      ],
      [
        -0.19603,
        -0.96864,
        -0.15269
      ],
      [
        0.3175,
        0.08462,
        -0.94447
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.804675338789821,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "gripper": 0
                  },
                  "note": "Attempt to pull back while closed to test if we caught a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.05326,
      -0.99126,
      0.21232,
      -2.87299,
      -0.00232,
      2.17668,
      0.3135
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33136,
      0.01645,
      0.88804
    ],
    "tcp_roll_pitch_yaw": [
      -0.02382,
      -0.41273,
      -0.12643
    ],
    "tcp_rotation_matrix": [
      [
        0.92774,
        -0.2336,
        0.29109
      ],
      [
        -0.19597,
        -0.96864,
        -0.15273
      ],
      [
        0.31764,
        0.08465,
        -0.94443
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 13.812872209586203,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.78,
                    "gripper": 1
                  },
                  "note": "Lower to probe the desk face at a different height for a protruding handle; reopen gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.05326,
      -0.99126,
      0.21232,
      -2.87299,
      -0.00232,
      2.17668,
      0.3135
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33136,
      0.01645,
      0.88804
    ],
    "tcp_roll_pitch_yaw": [
      -0.02382,
      -0.41273,
      -0.12643
    ],
    "tcp_rotation_matrix": [
      [
        0.92774,
        -0.2336,
        0.29109
      ],
      [
        -0.19597,
        -0.96864,
        -0.15273
      ],
      [
        0.31764,
        0.08465,
        -0.94443
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 9.808485617861152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0,
                    "x": 0.38,
                    "gripper": 1
                  },
                  "note": "Rise to z=1.0 in front of the face to probe a higher region for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.10358,
      -0.8155,
      0.19155,
      -2.50404,
      -0.0312,
      1.98854,
      0.28026
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37951,
      0.01645,
      0.99885
    ],
    "tcp_roll_pitch_yaw": [
      -0.02377,
      -0.41288,
      -0.12645
    ],
    "tcp_rotation_matrix": [
      [
        0.92769,
        -0.2336,
        0.29124
      ],
      [
        -0.19598,
        -0.96865,
        -0.1527
      ],
      [
        0.31778,
        0.08459,
        -0.94438
      ]
    ],
    "simulated_seconds_remaining": 15.576,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 2.8030577525496483,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52
                  },
                  "note": "Probe forward at z=1.0 to find the face or a handle protrusion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.17356,
      -0.46475,
      0.2463,
      -2.16603,
      -0.09901,
      1.71873,
      0.3294
    ],
    "gripper_open": 0.9903,
    "tcp_xyz": [
      0.41765,
      0.00514,
      1.00215
    ],
    "tcp_roll_pitch_yaw": [
      -0.11,
      -0.15138,
      -0.17538
    ],
    "tcp_rotation_matrix": [
      [
        0.96394,
        -0.26564,
        0.01591
      ],
      [
        -0.25686,
        -0.94437,
        -0.20541
      ],
      [
        0.06958,
        0.19391,
        -0.97855
      ]
    ],
    "simulated_seconds_remaining": 14.322,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 20.81789722107351,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "z": 0.94,
                    "pitch": -0.4,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Back off and reset orientation to probe just below the desk top edge where a drawer handle should be."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the desk.",
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      -0.8906,
      0.11462,
      -2.69846,
      -0.01386,
      2.10821,
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      0.36049,
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    "tcp_roll_pitch_yaw": [
      -0.00096,
      -0.39723,
      -0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.9504,
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        0.2941
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      [
        -0.07708,
        -0.99271,
        -0.0927
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    ],
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    "calls_remaining_including_this": 31
  },
  "api_seconds": 3.0032969070598483,
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    "candidates": [
      {
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            {
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                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Probe forward at z=0.94 with a flatter pitch to feel for a handle below the desk top edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 28,
  "state": {
    "instruction": "open the desk.",
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      -0.5788,
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      -2.36585,
      -0.05473,
      1.89852,
      0.40248
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    ],
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      -0.00935,
      -0.24033,
      -0.26938
    ],
    "tcp_rotation_matrix": [
      [
        0.92997,
        -0.3508,
        0.10995
      ],
      [
        -0.33575,
        -0.93228,
        -0.13461
      ],
      [
        0.14973,
        0.08827,
        -0.98478
      ]
    ],
    "simulated_seconds_remaining": 12.21,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 13.412718045525253,
  "response": {
    "candidates": [
      {
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                    "x": 0.36,
                    "y": 0.2,
                    "z": 0.9,
                    "pitch": -0.4,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Shift left along the desk face to probe for a handle at a different lateral position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 29,
  "state": {
    "instruction": "open the desk.",
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      -0.67037,
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      0.05936,
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    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.39919,
      -0.00113
    ],
    "tcp_rotation_matrix": [
      [
        0.94988,
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      [
        -0.07639,
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      [
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    ],
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    "calls_remaining_including_this": 29
  },
  "api_seconds": 3.2031790241599083,
  "response": {
    "candidates": [
      {
        "content": {
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          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52
                  },
                  "note": "Push forward at y=0.20, z=0.90 to feel for a handle on the left part of the desk face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 30,
  "state": {
    "instruction": "open the desk.",
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      -0.07068,
      -0.19531,
      0.49604,
      -2.22368,
      -0.15727,
      2.28829,
      0.65706
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      0.90364
    ],
    "tcp_roll_pitch_yaw": [
      0.01542,
      -0.40962,
      -0.05257
    ],
    "tcp_rotation_matrix": [
      [
        0.94202,
        -0.14594,
        0.30216
      ],
      [
        -0.12358,
        -0.98807,
        -0.09194
      ],
      [
        0.31198,
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    ],
    "simulated_seconds_remaining": 9.108,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 16.61543715186417,
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    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.15,
                    "z": 0.92
                  },
                  "note": "Retract and shift right to probe the right side of the desk face for a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 42,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 31,
  "state": {
    "instruction": "open the desk.",
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      -0.65815,
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      -2.62682,
      -0.09227,
      2.27859,
      -0.15149
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    "gripper_open": 0.9767,
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      0.42086,
      -0.03267,
      0.91707
    ],
    "tcp_roll_pitch_yaw": [
      -0.16925,
      -0.33744,
      0.29285
    ],
    "tcp_rotation_matrix": [
      [
        0.94707,
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      ],
      [
        0.19221,
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        -0.18036
      ],
      [
        0.25712,
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    ],
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    "calls_remaining_including_this": 27
  },
  "api_seconds": 6.606015154160559,
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      {
        "content": {
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            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close the gripper at this contact point in case a knob/handle is between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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{
  "call": 32,
  "state": {
    "instruction": "open the desk.",
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      -0.66329,
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      -2.63239,
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    "gripper_open": 0.0,
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    ],
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      [
        0.94794,
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      ],
      [
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      ],
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        -0.94028
      ]
    ],
    "simulated_seconds_remaining": 5.412,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 9.208291905000806,
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      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.46,
                    "y": 0.0,
                    "z": 0.95
                  },
                  "note": "Open and straddle the front lip/edge just under the desk top to try gripping the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
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}

{
  "call": 33,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.17524,
      -0.57949,
      0.23382,
      -2.44929,
      -0.09123,
      1.90065,
      0.2044
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    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.38402,
      -0.01007,
      0.92765
    ],
    "tcp_roll_pitch_yaw": [
      -0.12035,
      -0.13662,
      -0.06076
    ],
    "tcp_rotation_matrix": [
      [
        0.98774,
        -0.15425,
        0.02397
      ],
      [
        -0.1458,
        -0.96646,
        -0.21141
      ],
      [
        0.05578,
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        -0.9771
      ]
    ],
    "simulated_seconds_remaining": 4.488,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 4.204014452174306,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0,
                    "x": 0.3
                  },
                  "note": "Close on whatever is in front and pull back to try opening a drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the desk.",
    "joint_positions": [
      -0.1255,
      -0.86996,
      0.20309,
      -2.63329,
      -0.06,
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    "gripper_open": 0.0,
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    ],
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      -0.06072
    ],
    "tcp_rotation_matrix": [
      [
        0.98774,
        -0.15424,
        0.02405
      ],
      [
        -0.14577,
        -0.96646,
        -0.21146
      ],
      [
        0.05586,
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        -0.97709
      ]
    ],
    "simulated_seconds_remaining": 3.564,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 5.2046911446377635,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not locate a graspable handle on the desk. Wrist camera could not be pitched enough to view the vertical front face (joint limits), and contact probing at multiple heights/lateral offsets only found flat surfaces; gripper closures caught nothing. Simulated time nearly exhausted, so stopping without opening the desk."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 575,
  "house_index": 315,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 30,
  "api_calls": 31,
  "wall_seconds": 252.47100019454956,
  "usage": {
    "input_tokens": 62,
    "cache_creation_input_tokens": 27842,
    "cache_read_input_tokens": 401788,
    "output_tokens": 11549
  },
  "estimated_cost_usd": 0.6639415
}


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.



MODEL RESPONSES


{
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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezghZPgrTwDjddpuRDSu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NCQJnx8yroRsfw2NzbJ74W",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "output_tokens_details": {
        "thinking_tokens": 35
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezghkvDvYamdiBVv3hci",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JEQShrKC2DpSTX9r7HhoMD",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.2,
            "z": 0.8
          },
          "note": "Backing off and lowering to see the dresser front face and handles."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "output_tokens_details": {
        "thinking_tokens": 106
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezgi8AA5qKrGZxAzvuyn",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Xea69LFCiDdYnJgUGQc72L",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.95
          },
          "note": "Lowering slightly in small step to avoid IK failure."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "output_tokens_details": {
        "thinking_tokens": 27
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgiVYHnRMLVNRzd72YD",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019q6WfnJxCAH3tPHBL5Dzsr",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.82
          },
          "note": "Continue lowering to get below dresser top and see drawer fronts."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens_details": {
        "thinking_tokens": 49
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      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezgip3n2muAtzTAMvFWf",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LQ4vsRbV8edvtoSjftMRtj",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.22,
            "y": -0.05
          },
          "note": "Pull back and right to get a wider view of the dresser front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens_details": {
        "thinking_tokens": 187
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgjFmbEokSAC3Vm66La",
    "type": "message",
    "role": "assistant",
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        "type": "thinking",
        "thinking": ""
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      {
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        "id": "toolu_01AcYdDsWwDZ4x83FfenHozf",
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          "targets": {
            "pitch": -1.5
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          "note": "Rotating gripper from downward to forward-facing (+x) to view the dresser front face."
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        "caller": {
          "type": "direct"
        }
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    "stop_reason": "tool_use",
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{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgkKHCdwGRENz4CMozn",
    "type": "message",
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        "type": "thinking",
        "thinking": ""
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      {
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          "targets": {
            "z": 0.95,
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          "note": "Raising and partially pitching gripper forward; smaller change to satisfy IK."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
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      {
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        "id": "toolu_01Nqkm2tGpdzCvdx35JzyxkL",
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        "input": {
          "targets": {
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          "note": "Pitch further to look horizontally forward for the dresser front and handles."
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{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
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          "targets": {
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            "x": 0.28
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          "note": "Smaller pitch increment plus slight retreat to keep IK feasible."
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{
  "api_call": 10,
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        "thinking": ""
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          "note": "Retreat toward robot to free space before reorienting."
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
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          "targets": {
            "pitch": -0.9
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          "note": "Now with more clearance, pitch gripper more forward to see the dresser front."
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{
  "api_call": 12,
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          "note": "Lower the gripper substantially to look at the dresser's front face/drawers from a lower vantage."
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{
  "api_call": 13,
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    "model": "claude-opus-5",
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        "input": {
          "targets": {
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          "note": "Modest lowering with slight forward to stay in reachable workspace."
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{
  "api_call": 14,
  "response": {
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    "id": "msg_011CezgoSkFFX2PzQRmmTHzh",
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        "thinking": ""
      },
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        "input": {
          "targets": {
            "pitch": 0.0
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          "note": "Return gripper to downward orientation to restore a well-conditioned arm configuration."
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{
  "api_call": 15,
  "response": {
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        "thinking": ""
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          "note": "Translating left to map where the dresser body is relative to the gripper."
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{
  "api_call": 16,
  "response": {
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    "id": "msg_011Cezgpdj5mqiohBt2EUqCu",
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          "targets": {
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          "note": "Testing the opposite direction to locate the dresser body."
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{
  "api_call": 17,
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          "note": "Probing forward to see whether the dresser lies ahead in +x."
        },
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{
  "api_call": 18,
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          "note": "Descending onto/next to the dresser top to determine its surface height."
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{
  "api_call": 19,
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          "note": "Retreating and lowering to free the gripper from contact and get a view of the dresser's near face."
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{
  "api_call": 20,
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          "note": "Continuing right (-y) where the wooden dresser appears to be, to center it in the wrist view."
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{
  "api_call": 21,
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          "note": "Returning in front of dresser and tilting camera forward-down to inspect the front face for handles."
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{
  "api_call": 22,
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          "note": "Move back in front of the dresser without rotation change (IK-safe)."
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{
  "api_call": 23,
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        "thinking": ""
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        "input": {
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          "note": "Descend to locate the dresser top/front; contact or arrival height informs handle position."
        },
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      "output_tokens": 207,
      "output_tokens_details": {
        "thinking_tokens": 105
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgvH3YSppmnquuBfCrN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MNwhza3prA9rtku6QfDS4P",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.15,
            "z": 0.85,
            "pitch": 0.0
          },
          "note": "Move back over the near edge to then descend in front of the dresser's front face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 697,
      "cache_read_input_tokens": 19885,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 697,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 563,
      "output_tokens_details": {
        "thinking_tokens": 447
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezgw3fugpz22qDRqV8Y2",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01T7mW5jrANjJxyPB9ZfvfPK",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.62
          },
          "note": "Descending in front of the presumed front face to reach drawer handle height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1060,
      "cache_read_input_tokens": 20582,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1060,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 147,
      "output_tokens_details": {
        "thinking_tokens": 50
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgwKwx4TpnEGTbqbjKo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012F6xSpRtGLdmPZ3hwFV3g7",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.35,
            "y": -0.32,
            "z": 0.72
          },
          "note": "Moving beside/below the dresser's right side face to search for a drawer handle at that height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 639,
      "cache_read_input_tokens": 21642,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 639,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1287,
      "output_tokens_details": {
        "thinking_tokens": 1168
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgyAbBdjHL5iPC2FzBC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0129ts4nnA59NXafpDQqKv9h",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "y": -0.15,
            "z": 0.95,
            "pitch": 0.0,
            "roll": 0.0
          },
          "note": "Reaching forward over the table toward the dark box seen ahead, which may be the dresser with drawers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1780,
      "cache_read_input_tokens": 22281,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1780,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 890,
      "output_tokens_details": {
        "thinking_tokens": 747
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgzPFDCe1SrCm3fBcxq",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01WNiJ2PJAATmrxN2tk91cZo",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.39,
            "z": 0.86,
            "roll": 0.0,
            "pitch": 0.0,
            "yaw": 0.0
          },
          "note": "Final attempt: press up against the obstructing front face near the top edge to engage a handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1388,
      "cache_read_input_tokens": 24061,
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        "ephemeral_5m_input_tokens": 1388,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 459,
      "output_tokens_details": {
        "thinking_tokens": 319
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezh15MTuQ9bL5pGpVu8r",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01V9aUw1bpSpFeD3SUBpWUyn",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.79,
            "gripper": 0.0
          },
          "note": "Descending to the top-front edge and closing fingers to try to grip the drawer edge/handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 949,
      "cache_read_input_tokens": 25449,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 949,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 330,
      "output_tokens_details": {
        "thinking_tokens": 214
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezh1ZyfNve8j31UuCfps",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01AyQs3n2ibQXYEtwEdY9rFt",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.3
          },
          "note": "Pulling back to test whether the closed gripper caught a drawer front and can open it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 820,
      "cache_read_input_tokens": 26398,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 820,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 131,
      "output_tokens_details": {
        "thinking_tokens": 29
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezh1sTNfTR4f1U9ShYcr",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01X2x7ao4PsF4DZWYADC5KCm",
        "name": "give_up",
        "input": {
          "note": "Could not localize the dresser's drawer front/handle: the wrist and exterior views only showed a large dark wooden surface (top/side) with poor lighting, many target poses were IK-infeasible, and the remaining simulated motion time (2.6 s) is insufficient to search for and pull a handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 624,
      "cache_read_input_tokens": 27218,
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        "ephemeral_5m_input_tokens": 624,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 166,
      "output_tokens_details": {
        "thinking_tokens": 24
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 7.606782028451562,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 0.8
                  },
                  "note": "Backing off and lowering to see the dresser front face and 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": [
      0.01625,
      -0.81161,
      0.06347,
      -2.30073,
      0.11711,
      1.56216,
      -0.12927
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.30765,
      0.05554,
      1.04895
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.97813,
        0.19691,
        0.06702
      ],
      [
        0.19184,
        -0.97853,
        0.07529
      ],
      [
        0.08041,
        -0.06079,
        -0.99491
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.623732791282237,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "Lowering slightly in small step to avoid IK failure."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02133,
      -0.86917,
      0.07703,
      -2.58382,
      0.13214,
      1.78687,
      -0.1467
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30762,
      0.05553,
      0.95131
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00028,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.97815,
        0.19691,
        0.06674
      ],
      [
        0.19185,
        -0.97853,
        0.07527
      ],
      [
        0.08013,
        -0.06082,
        -0.99493
      ]
    ],
    "simulated_seconds_remaining": 29.106,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.003608954139054,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.82
                  },
                  "note": "Continue lowering to get below dresser top and see drawer fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.0349,
      -0.82166,
      0.09903,
      -2.87379,
      0.16872,
      2.21192,
      -0.17104
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32885,
      0.05503,
      0.83875
    ],
    "tcp_roll_pitch_yaw": [
      0.00604,
      -0.08758,
      -0.01048
    ],
    "tcp_rotation_matrix": [
      [
        0.9692,
        0.19173,
        0.15459
      ],
      [
        0.1812,
        -0.98021,
        0.07968
      ],
      [
        0.16681,
        -0.04922,
        -0.98476
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.804846574552357,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "y": -0.05
                  },
                  "note": "Pull back and right to get a wider view of 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": [
      0.0349,
      -0.82166,
      0.09903,
      -2.87379,
      0.16872,
      2.21192,
      -0.17104
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32885,
      0.05503,
      0.83875
    ],
    "tcp_roll_pitch_yaw": [
      0.00604,
      -0.08758,
      -0.01048
    ],
    "tcp_rotation_matrix": [
      [
        0.9692,
        0.19173,
        0.15459
      ],
      [
        0.1812,
        -0.98021,
        0.07968
      ],
      [
        0.16681,
        -0.04922,
        -0.98476
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 14.214008498936892,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Rotating gripper from downward to forward-facing (+x) to view the dresser front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.0349,
      -0.82166,
      0.09903,
      -2.87379,
      0.16872,
      2.21192,
      -0.17104
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32885,
      0.05503,
      0.83875
    ],
    "tcp_roll_pitch_yaw": [
      0.00604,
      -0.08758,
      -0.01048
    ],
    "tcp_rotation_matrix": [
      [
        0.9692,
        0.19173,
        0.15459
      ],
      [
        0.1812,
        -0.98021,
        0.07968
      ],
      [
        0.16681,
        -0.04922,
        -0.98476
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.617803689092398,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "pitch": -0.5
                  },
                  "note": "Raising and partially pitching gripper forward; smaller change to satisfy IK."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04831,
      -1.25378,
      0.11489,
      -2.94899,
      0.15939,
      2.26434,
      -0.1564
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3289,
      0.05504,
      0.94925
    ],
    "tcp_roll_pitch_yaw": [
      0.00604,
      -0.4971,
      -0.01045
    ],
    "tcp_rotation_matrix": [
      [
        0.8228,
        0.19465,
        0.53396
      ],
      [
        0.18276,
        -0.98024,
        0.07572
      ],
      [
        0.53814,
        0.03528,
        -0.84211
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.404125165194273,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Pitch further to look horizontally forward for the dresser front and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.04831,
      -1.25378,
      0.11489,
      -2.94899,
      0.15939,
      2.26434,
      -0.1564
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3289,
      0.05504,
      0.94925
    ],
    "tcp_roll_pitch_yaw": [
      0.00604,
      -0.4971,
      -0.01045
    ],
    "tcp_rotation_matrix": [
      [
        0.8228,
        0.19465,
        0.53396
      ],
      [
        0.18276,
        -0.98024,
        0.07572
      ],
      [
        0.53814,
        0.03528,
        -0.84211
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 4.0139093939214945,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8,
                    "x": 0.28
                  },
                  "note": "Smaller pitch increment plus slight retreat to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.04831,
      -1.25378,
      0.11489,
      -2.94899,
      0.15939,
      2.26434,
      -0.1564
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3289,
      0.05504,
      0.94925
    ],
    "tcp_roll_pitch_yaw": [
      0.00604,
      -0.4971,
      -0.01045
    ],
    "tcp_rotation_matrix": [
      [
        0.8228,
        0.19465,
        0.53396
      ],
      [
        0.18276,
        -0.98024,
        0.07572
      ],
      [
        0.53814,
        0.03528,
        -0.84211
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 3.2030247189104557,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25
                  },
                  "note": "Retreat toward robot to free space before reorienting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.08396,
      -1.65051,
      0.12343,
      -3.02998,
      0.15025,
      1.94976,
      -0.11091
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25141,
      0.05506,
      0.94938
    ],
    "tcp_roll_pitch_yaw": [
      0.00607,
      -0.49746,
      -0.01042
    ],
    "tcp_rotation_matrix": [
      [
        0.8226,
        0.19468,
        0.53426
      ],
      [
        0.18278,
        -0.98023,
        0.07576
      ],
      [
        0.53844,
        0.03533,
        -0.84192
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.208243164233863,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Now with more clearance, pitch gripper more forward to see the dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.08396,
      -1.65051,
      0.12343,
      -3.02998,
      0.15025,
      1.94976,
      -0.11091
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25141,
      0.05506,
      0.94938
    ],
    "tcp_roll_pitch_yaw": [
      0.00607,
      -0.49746,
      -0.01042
    ],
    "tcp_rotation_matrix": [
      [
        0.8226,
        0.19468,
        0.53426
      ],
      [
        0.18278,
        -0.98023,
        0.07576
      ],
      [
        0.53844,
        0.03533,
        -0.84192
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.407261745072901,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.7
                  },
                  "note": "Lower the gripper substantially to look at the dresser's front face/drawers from a lower vantage."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.08396,
      -1.65051,
      0.12343,
      -3.02998,
      0.15025,
      1.94976,
      -0.11091
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25141,
      0.05506,
      0.94938
    ],
    "tcp_roll_pitch_yaw": [
      0.00607,
      -0.49746,
      -0.01042
    ],
    "tcp_rotation_matrix": [
      [
        0.8226,
        0.19468,
        0.53426
      ],
      [
        0.18278,
        -0.98023,
        0.07576
      ],
      [
        0.53844,
        0.03533,
        -0.84192
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 3.202833877876401,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.88,
                    "x": 0.3
                  },
                  "note": "Modest lowering with slight forward to stay in reachable workspace."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.08396,
      -1.65051,
      0.12343,
      -3.02998,
      0.15025,
      1.94976,
      -0.11091
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25141,
      0.05506,
      0.94938
    ],
    "tcp_roll_pitch_yaw": [
      0.00607,
      -0.49746,
      -0.01042
    ],
    "tcp_rotation_matrix": [
      [
        0.8226,
        0.19468,
        0.53426
      ],
      [
        0.18278,
        -0.98023,
        0.07576
      ],
      [
        0.53844,
        0.03533,
        -0.84192
      ]
    ],
    "simulated_seconds_remaining": 26.07,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 3.6031334353610873,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0.0
                  },
                  "note": "Return gripper to downward orientation to restore a well-conditioned arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04383,
      -1.08133,
      0.06728,
      -2.68637,
      0.13507,
      1.68345,
      -0.11783
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25142,
      0.05507,
      0.94936
    ],
    "tcp_roll_pitch_yaw": [
      0.00609,
      -0.00407,
      -0.01044
    ],
    "tcp_rotation_matrix": [
      [
        0.97973,
        0.18696,
        0.07191
      ],
      [
        0.18113,
        -0.98015,
        0.0806
      ],
      [
        0.08555,
        -0.06594,
        -0.99415
      ]
    ],
    "simulated_seconds_remaining": 25.08,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 12.009485793299973,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25
                  },
                  "note": "Translating left to map where the dresser body is relative to the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.15503,
      -0.85353,
      0.46105,
      -2.51399,
      0.39049,
      1.80557,
      0.22773
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25142,
      0.24865,
      0.94936
    ],
    "tcp_roll_pitch_yaw": [
      0.006,
      -0.00409,
      -0.01032
    ],
    "tcp_rotation_matrix": [
      [
        0.97971,
        0.18708,
        0.07192
      ],
      [
        0.18125,
        -0.98014,
        0.08052
      ],
      [
        0.08556,
        -0.06585,
        -0.99415
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.204361293464899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.1
                  },
                  "note": "Testing the opposite direction to locate the dresser body."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 40,
    "motion_seconds": 2.64,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.09642,
      -1.01826,
      -0.25232,
      -2.63344,
      -0.1195,
      1.68085,
      -0.412
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25144,
      -0.09865,
      0.94937
    ],
    "tcp_roll_pitch_yaw": [
      0.0061,
      -0.00411,
      -0.01045
    ],
    "tcp_rotation_matrix": [
      [
        0.97973,
        0.18696,
        0.07195
      ],
      [
        0.18112,
        -0.98015,
        0.08061
      ],
      [
        0.08559,
        -0.06595,
        -0.99415
      ]
    ],
    "simulated_seconds_remaining": 20.856,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 11.61018346901983,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42
                  },
                  "note": "Probing forward to see whether the dresser lies ahead in +x."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01782,
      -0.58384,
      -0.28323,
      -2.28541,
      -0.09181,
      1.60853,
      -0.38147
    ],
    "gripper_open": 0.9748,
    "tcp_xyz": [
      0.33507,
      -0.10956,
      0.97496
    ],
    "tcp_roll_pitch_yaw": [
      0.00831,
      0.1629,
      -0.01085
    ],
    "tcp_rotation_matrix": [
      [
        0.98049,
        0.17251,
        -0.09421
      ],
      [
        0.18054,
        -0.97992,
        0.08458
      ],
      [
        -0.07772,
        -0.09994,
        -0.99195
      ]
    ],
    "simulated_seconds_remaining": 19.404,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 14.00993320159614,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.78,
                    "pitch": 0.0
                  },
                  "note": "Descending onto/next to the dresser top to determine its surface height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01162,
      -1.01051,
      -0.37557,
      -2.79024,
      -0.13797,
      2.30746,
      -0.43523
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.36299,
      -0.11306,
      0.95058
    ],
    "tcp_roll_pitch_yaw": [
      -0.00324,
      -0.46042,
      -0.00956
    ],
    "tcp_rotation_matrix": [
      [
        0.84262,
        0.19264,
        0.50288
      ],
      [
        0.18405,
        -0.98061,
        0.06726
      ],
      [
        0.50608,
        0.03588,
        -0.86174
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 11.20920666307211,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "z": 0.85,
                    "pitch": 0.0
                  },
                  "note": "Retreating and lowering to free the gripper from contact and get a view of the dresser's near face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.17634,
      -1.13399,
      -0.35075,
      -2.91838,
      -0.23483,
      1.8462,
      -0.46368
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22086,
      -0.11305,
      0.85055
    ],
    "tcp_roll_pitch_yaw": [
      -0.00324,
      -0.00273,
      -0.00956
    ],
    "tcp_rotation_matrix": [
      [
        0.9797,
        0.1877,
        0.07043
      ],
      [
        0.18274,
        -0.98057,
        0.0714
      ],
      [
        0.08246,
        -0.05708,
        -0.99496
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.805920930579305,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.3
                  },
                  "note": "Continuing right (-y) where the wooden dresser appears to be, to center it in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.17232,
      -0.72547,
      -0.73333,
      -2.59019,
      -0.3953,
      1.98351,
      -0.80883
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2238,
      -0.29563,
      0.85274
    ],
    "tcp_roll_pitch_yaw": [
      -0.00832,
      -0.0068,
      0.01016
    ],
    "tcp_rotation_matrix": [
      [
        0.97556,
        0.20721,
        0.0731
      ],
      [
        0.20242,
        -0.97695,
        0.06776
      ],
      [
        0.08545,
        -0.0513,
        -0.99502
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 14.811473367735744,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.11,
                    "x": 0.3,
                    "pitch": -0.5
                  },
                  "note": "Returning in front of dresser and tilting camera forward-down to inspect the front face for handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.17232,
      -0.72547,
      -0.73333,
      -2.59019,
      -0.3953,
      1.98351,
      -0.80883
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2238,
      -0.29563,
      0.85274
    ],
    "tcp_roll_pitch_yaw": [
      -0.00832,
      -0.0068,
      0.01016
    ],
    "tcp_rotation_matrix": [
      [
        0.97556,
        0.20721,
        0.0731
      ],
      [
        0.20242,
        -0.97695,
        0.06776
      ],
      [
        0.08545,
        -0.0513,
        -0.99502
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 3.402632716111839,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.11,
                    "x": 0.3
                  },
                  "note": "Move back in front of the dresser without rotation change (IK-safe)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02813,
      -0.83327,
      -0.37783,
      -2.77492,
      -0.20583,
      2.02331,
      -0.40123
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29802,
      -0.11468,
      0.85348
    ],
    "tcp_roll_pitch_yaw": [
      -0.0025,
      -0.00909,
      -0.00549
    ],
    "tcp_rotation_matrix": [
      [
        0.9784,
        0.19206,
        0.07646
      ],
      [
        0.18667,
        -0.97975,
        0.07239
      ],
      [
        0.08882,
        -0.05655,
        -0.99444
      ]
    ],
    "simulated_seconds_remaining": 13.2,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.004443704150617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.7
                  },
                  "note": "Descend to locate the dresser top/front; contact or arrival height informs handle position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.008,
      -0.78636,
      -0.5185,
      -2.97958,
      -0.25909,
      2.58167,
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    "gripper_open": 1.0,
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
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      [
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      [
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    ],
    "simulated_seconds_remaining": 11.88,
    "calls_remaining_including_this": 35
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  "api_seconds": 10.008498248644173,
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                  "note": "Move back over the near edge to then descend in front of the dresser's front face."
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              }
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{
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                  "note": "Descending in front of the presumed front face to reach drawer handle height."
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              }
            }
          ]
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      }
    ]
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  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
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{
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                  "note": "Moving beside/below the dresser's right side face to search for a drawer handle at that height."
                }
              }
            }
          ]
        }
      }
    ]
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{
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                  "note": "Reaching forward over the table toward the dark box seen ahead, which may be the dresser with drawers."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 27,
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                  "note": "Final attempt: press up against the obstructing front face near the top edge to engage a handle."
                }
              }
            }
          ]
        }
      }
    ]
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{
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                "args": {
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                    "z": 0.79,
                    "gripper": 0.0
                  },
                  "note": "Descending to the top-front edge and closing fingers to try to grip the drawer edge/handle."
                }
              }
            }
          ]
        }
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    ]
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  "execution": {
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{
  "call": 29,
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    "instruction": "open the dresser.",
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    ],
    "simulated_seconds_remaining": 3.828,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 3.4033881910145283,
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    "candidates": [
      {
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          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3
                  },
                  "note": "Pulling back to test whether the closed gripper caught a drawer front and can open it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 30,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.03108,
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    ],
    "tcp_rotation_matrix": [
      [
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      ],
      [
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      ],
      [
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    ],
    "simulated_seconds_remaining": 2.64,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 4.203605427406728,
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    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the dresser's drawer front/handle: the wrist and exterior views only showed a large dark wooden surface (top/side) with poor lighting, many target poses were IK-infeasible, and the remaining simulated motion time (2.6 s) is insufficient to search for and pull a handle."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 586,
  "house_index": 316,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 35,
  "api_calls": 36,
  "wall_seconds": 394.1390926837921,
  "usage": {
    "input_tokens": 72,
    "cache_creation_input_tokens": 34909,
    "cache_read_input_tokens": 671584,
    "output_tokens": 16174
  },
  "estimated_cost_usd": 0.95868325
}


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.



MODEL RESPONSES


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        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01AFWUAyPJtdNcfdHrjJSZ3e",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
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      "inference_geo": "global"
    }
  }
}

{
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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezgpdf6xLWLHVTkyyLMT",
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      {
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "z": 1.05,
            "x": 0.35
          },
          "note": "Raise and extend slightly to get a clearer wrist view of the nightstand drawers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
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        "thinking": ""
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      {
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          },
          "note": "Move forward-left toward the nightstand seen in the exterior view to inspect drawers with wrist camera."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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    "model": "claude-opus-5",
    "id": "msg_011Cezgqqxoc8eySaAzQS2bQ",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.6,
            "z": 1.0
          },
          "note": "Pitch the gripper from downward to forward-facing so the wrist camera looks ahead at the nightstand front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezgs8qMJNKKYfpBbC4VF",
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        "thinking": ""
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        "input": {
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          },
          "note": "Shift left toward the nightstand to center its front face in the wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezgsqmTDVW3hXnKd1M3B",
    "type": "message",
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        "thinking": ""
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          "note": "Probe further left to learn image-motion mapping and center the drawer face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 7,
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    "id": "msg_011Cezgv1TRXFQ1yDEMfUUdY",
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        "thinking": ""
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        "input": {
          "targets": {
            "y": 0.25,
            "x": 0.6
          },
          "note": "Return right and push forward; nightstand likely further in +x. Checking wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 8,
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    "model": "claude-opus-5",
    "id": "msg_011CezgvuehgvCDSZSW6gNyi",
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            "y": 0.05,
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          },
          "note": "Blue bed appears at image right (=+y), so nightstand at image left means smaller y; shifting right to center it."
        },
        "caller": {
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        }
      }
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{
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  "response": {
    "model": "claude-opus-5",
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          "note": "Drawer handle (horizontal bar) visible slightly below center; rolling 90° so fingers straddle the bar vertically, and backing off slightly."
        },
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{
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          "note": "Computed orientation so tool +z points along world +x and fingers open vertically; backing off to avoid collision while rotating."
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{
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          "note": "Trying the alternate wrist-flip solution for forward-facing tool with vertical finger axis."
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{
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          "note": "Returning to the known-good forward-facing orientation before attempting the roll change."
        },
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{
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          "note": "Small incremental roll change to escape the awkward configuration."
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{
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          "note": "Rolling back to forward-facing tool orientation in small step."
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{
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          "note": "Requesting forward-facing tool with vertical fingers from this new arm configuration."
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{
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          "note": "Intermediate orientation step toward the goal pose to avoid large joint jumps."
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{
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            "x": 0.33,
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          "note": "Retreating to free space before re-orienting, since poses near the nightstand are being rejected."
        },
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{
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          "note": "In free space now; requesting forward-facing tool with vertical finger axis."
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{
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          "note": "Trying the mirrored solution for forward tool axis with vertical fingers."
        },
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{
  "api_call": 20,
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          "note": "Returning to forward-facing tool orientation (fingers horizontal) which was reachable earlier."
        },
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{
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          "note": "Stepping roll gradually with slight position change to keep IK happy."
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{
  "api_call": 22,
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          "note": "Continuing roll rotation toward forward-facing tool orientation."
        },
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{
  "api_call": 23,
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          },
          "note": "Handle bar now visible; finishing rotation to face +x and moving slightly closer."
        },
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{
  "api_call": 24,
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        "input": {
          "targets": {
            "roll": 2.9
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          "note": "Smaller roll increment toward forward facing."
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        "caller": {
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{
  "api_call": 25,
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    "model": "claude-opus-5",
    "id": "msg_011CezhBQJmnpbgmzrU9FqhL",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01YS1HVEHMECepz3dLhVasdm",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.46,
            "y": -0.05,
            "z": 0.985
          },
          "note": "Advancing along tool forward axis toward the visible drawer handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 580,
      "cache_read_input_tokens": 25638,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 580,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 494,
      "output_tokens_details": {
        "thinking_tokens": 379
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhCBHTjJi2B4WTJnH7v",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0136f13Jpdg8WopVT5d9zXYq",
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        "input": {
          "targets": {
            "x": 0.5,
            "y": -0.085,
            "z": 0.978
          },
          "note": "Another small advance along tool forward axis; handle staying near image center."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 988,
      "cache_read_input_tokens": 26218,
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        "ephemeral_5m_input_tokens": 988,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 311,
      "output_tokens_details": {
        "thinking_tokens": 199
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhCohxsZKmYmUGNxiMC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01SXuFQ8bFvTpd66fKv6x7Jy",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.95,
            "x": 0.51,
            "y": -0.09
          },
          "note": "Handle appears below the fingers; lowering to align the gripper with the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 801,
      "cache_read_input_tokens": 27206,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 801,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 268,
      "output_tokens_details": {
        "thinking_tokens": 150
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhE8KB4jfZo1nMvLrxC",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Ni5fp1bcjVMzMPxnNQjGaL",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Closing gripper to attempt grasping/hooking the drawer handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 756,
      "cache_read_input_tokens": 28007,
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        "ephemeral_5m_input_tokens": 756,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 279,
      "output_tokens_details": {
        "thinking_tokens": 178
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhF1cdfCmow9d5NDGqN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01G5fe2vXCMo4HLg3sZj9Xu5",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.46,
            "y": -0.045,
            "gripper": 0.0
          },
          "note": "Backing off slightly and closing the gripper to hook the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
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      "cache_creation_input_tokens": 769,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 292,
      "output_tokens_details": {
        "thinking_tokens": 178
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhFk4XRXspbwF9urCB9",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NUWpfQMPuTpXeJc64VmU1s",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1.0,
            "x": 0.515,
            "y": -0.095,
            "z": 0.962
          },
          "note": "Opening fingers and advancing to straddle the handle bar before closing."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 780,
      "cache_read_input_tokens": 29532,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 780,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 287,
      "output_tokens_details": {
        "thinking_tokens": 163
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhGLELhqSSBMiVSR58E",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LAQ9kkaGE5xUEZmCKfhB4L",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Closing the fingers around/behind the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 776,
      "cache_read_input_tokens": 30312,
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        "ephemeral_5m_input_tokens": 776,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 209,
      "output_tokens_details": {
        "thinking_tokens": 115
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhGqxW7AGrBNAiFtNwJ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012Sy8Du3uENLDtV1N7nUisE",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0,
            "x": 0.43,
            "y": -0.025
          },
          "note": "Pulling back along the approach axis with fingers closed to draw the drawer open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 699,
      "cache_read_input_tokens": 31088,
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        "ephemeral_5m_input_tokens": 699,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 337,
      "output_tokens_details": {
        "thinking_tokens": 218
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhHLfAnF1UpwyU6S98V",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01DfM4eiYkYQLLaSeZP5Fv1b",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0,
            "x": 0.48,
            "y": -0.06
          },
          "note": "Smaller retreat step with closed fingers to pull the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
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      "input_tokens": 2,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 181,
      "output_tokens_details": {
        "thinking_tokens": 66
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhHsKt4XGnN2C3WmN5T",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019gGSLim8YKDGkwZKsSc3py",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1.0,
            "x": 0.522,
            "y": -0.1,
            "z": 0.96
          },
          "note": "Re-opening and pushing fingers deeper past the handle for a hook grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 670,
      "cache_read_input_tokens": 32614,
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        "ephemeral_5m_input_tokens": 670,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 448,
      "output_tokens_details": {
        "thinking_tokens": 320
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhJfv4znJNn3ofVYKNF",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01DqyJyLuBKaj7HCqE5dWB6n",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0,
            "x": 0.47,
            "y": -0.05
          },
          "note": "Closing on the handle while retreating to pull the drawer open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 937,
      "cache_read_input_tokens": 33284,
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        "ephemeral_5m_input_tokens": 937,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 199,
      "output_tokens_details": {
        "thinking_tokens": 86
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 36,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhK7rnb47eFKzJV12th",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NVqJMdZMqLUsWgH52yH5Az",
        "name": "give_up",
        "input": {
          "note": "Could not grasp the nightstand drawer handle: orientation changes to align fingers vertically with the horizontal bar handle were repeatedly rejected by IK, and the remaining hook attempts failed to engage before the motion time budget ran out."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
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      },
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 9.608286334201694,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05,
                    "x": 0.35
                  },
                  "note": "Raise and extend slightly to get a clearer wrist view of the nightstand drawers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01008,
      -0.46034,
      0.02307,
      -2.0113,
      -0.06142,
      1.34692,
      -0.15263
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34904,
      -0.01179,
      1.0491
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -2e-05,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.96653,
        0.15815,
        -0.20201
      ],
      [
        0.14638,
        -0.9866,
        -0.07201
      ],
      [
        -0.21069,
        0.04003,
        -0.97673
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.606319694779813,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.15
                  },
                  "note": "Move forward-left toward the nightstand seen in the exterior view to inspect drawers with wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10435,
      0.09786,
      0.20671,
      -1.41809,
      -0.02754,
      1.2977,
      0.15289
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49908,
      0.14907,
      1.04902
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00015,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.96647,
        0.15831,
        -0.20217
      ],
      [
        0.14652,
        -0.98658,
        -0.07206
      ],
      [
        -0.21086,
        0.04003,
        -0.9767
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 14.612866641022265,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.6,
                    "z": 1.0
                  },
                  "note": "Pitch the gripper from downward to forward-facing so the wrist camera looks ahead at the nightstand front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.80634,
      -1.04696,
      1.05766,
      -2.87968,
      -0.28782,
      3.65094,
      0.93881
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49905,
      0.14915,
      1.00024
    ],
    "tcp_roll_pitch_yaw": [
      -3.14031,
      -1.54594,
      3.14004
    ],
    "tcp_rotation_matrix": [
      [
        0.18666,
        -0.04421,
        0.98143
      ],
      [
        0.14637,
        -0.98659,
        -0.07228
      ],
      [
        0.97146,
        0.15714,
        -0.17769
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.807156822644174,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3,
                    "x": 0.45
                  },
                  "note": "Shift left toward the nightstand to center its front face in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.51965,
      -1.19851,
      1.1969,
      -2.71681,
      -0.18759,
      3.18781,
      1.10205
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45038,
      0.2989,
      1.00028
    ],
    "tcp_roll_pitch_yaw": [
      -3.13764,
      -1.54585,
      3.13769
    ],
    "tcp_rotation_matrix": [
      [
        0.18653,
        -0.04392,
        0.98147
      ],
      [
        0.14649,
        -0.98659,
        -0.07199
      ],
      [
        0.97147,
        0.1572,
        -0.1776
      ]
    ],
    "simulated_seconds_remaining": 23.298,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 28.02826099190861,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.42
                  },
                  "note": "Probe further left to learn image-motion mapping and center the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.61078,
      -1.20034,
      1.35287,
      -2.3967,
      -0.14475,
      2.94476,
      1.17666
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45035,
      0.41879,
      1.0003
    ],
    "tcp_roll_pitch_yaw": [
      -3.13601,
      -1.54579,
      3.13626
    ],
    "tcp_rotation_matrix": [
      [
        0.18644,
        -0.04373,
        0.98149
      ],
      [
        0.14657,
        -0.98659,
        -0.0718
      ],
      [
        0.97147,
        0.15724,
        -0.17753
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.009240878745914,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25,
                    "x": 0.6
                  },
                  "note": "Return right and push forward; nightstand likely further in +x. Checking wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.10601,
      -1.04401,
      1.35973,
      -2.46102,
      -0.23687,
      3.48571,
      1.07388
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59914,
      0.25086,
      1.0003
    ],
    "tcp_roll_pitch_yaw": [
      -3.13867,
      -1.54583,
      3.13857
    ],
    "tcp_rotation_matrix": [
      [
        0.18654,
        -0.04407,
        0.98146
      ],
      [
        0.14644,
        -0.98659,
        -0.07213
      ],
      [
        0.97147,
        0.15718,
        -0.17758
      ]
    ],
    "simulated_seconds_remaining": 20.394,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.407694553025067,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.05,
                    "x": 0.55
                  },
                  "note": "Blue bed appears at image right (=+y), so nightstand at image left means smaller y; shifting right to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.23665,
      -0.87691,
      1.11615,
      -2.78117,
      -0.4324,
      3.98958,
      0.88599
    ],
    "gripper_open": 0.9741,
    "tcp_xyz": [
      0.54938,
      0.06539,
      1.00358
    ],
    "tcp_roll_pitch_yaw": [
      -3.09906,
      -1.53359,
      3.13819
    ],
    "tcp_rotation_matrix": [
      [
        0.16873,
        -0.00729,
        0.98564
      ],
      [
        0.15464,
        -0.98739,
        -0.03377
      ],
      [
        0.97346,
        0.15812,
        -0.16548
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 37.829250323586166,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.5708,
                    "x": 0.48,
                    "z": 0.96
                  },
                  "note": "Drawer handle (horizontal bar) visible slightly below center; rolling 90° so fingers straddle the bar vertically, and backing off slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.36421,
      -1.36229,
      1.47202,
      -1.94673,
      -0.02128,
      1.68206,
      1.40914
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48032,
      0.06532,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      1.57582,
      -1.53351,
      3.13782
    ],
    "tcp_rotation_matrix": [
      [
        0.11052,
        -0.99186,
        -0.06322
      ],
      [
        -0.21039,
        0.03882,
        -0.97685
      ],
      [
        0.97135,
        0.12126,
        -0.20439
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 17.616000580601394,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.53,
                    "pitch": -0.159,
                    "yaw": 1.777,
                    "x": 0.42
                  },
                  "note": "Computed orientation so tool +z points along world +x and fingers open vertically; backing off to avoid collision while rotating."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.36421,
      -1.36229,
      1.47202,
      -1.94673,
      -0.02128,
      1.68206,
      1.40914
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48032,
      0.06532,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      1.57582,
      -1.53351,
      3.13782
    ],
    "tcp_rotation_matrix": [
      [
        0.11052,
        -0.99186,
        -0.06322
      ],
      [
        -0.21039,
        0.03882,
        -0.97685
      ],
      [
        0.97135,
        0.12126,
        -0.20439
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 18.618620534427464,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.611,
                    "pitch": 0.159,
                    "yaw": -1.777,
                    "x": 0.42
                  },
                  "note": "Trying the alternate wrist-flip solution for forward-facing tool with vertical finger axis."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.36421,
      -1.36229,
      1.47202,
      -1.94673,
      -0.02128,
      1.68206,
      1.40914
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48032,
      0.06532,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      1.57582,
      -1.53351,
      3.13782
    ],
    "tcp_rotation_matrix": [
      [
        0.11052,
        -0.99186,
        -0.06322
      ],
      [
        -0.21039,
        0.03882,
        -0.97685
      ],
      [
        0.97135,
        0.12126,
        -0.20439
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 14.612220704555511,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": -1.55,
                    "yaw": 0,
                    "x": 0.45,
                    "y": 0.06,
                    "z": 1.0
                  },
                  "note": "Returning to the known-good forward-facing orientation before attempting the roll change."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.36421,
      -1.36229,
      1.47202,
      -1.94673,
      -0.02128,
      1.68206,
      1.40914
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48032,
      0.06532,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      1.57582,
      -1.53351,
      3.13782
    ],
    "tcp_rotation_matrix": [
      [
        0.11052,
        -0.99186,
        -0.06322
      ],
      [
        -0.21039,
        0.03882,
        -0.97685
      ],
      [
        0.97135,
        0.12126,
        -0.20439
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 3.8036124100908637,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.8,
                    "x": 0.45
                  },
                  "note": "Small incremental roll change to escape the awkward configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.95711,
      -1.37781,
      1.53053,
      -1.26913,
      0.05406,
      0.8281,
      1.51839
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45023,
      0.06511,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      0.80452,
      -1.5334,
      3.13758
    ],
    "tcp_rotation_matrix": [
      [
        -0.07778,
        -0.68566,
        -0.72376
      ],
      [
        -0.25302,
        0.71576,
        -0.6509
      ],
      [
        0.96433,
        0.1325,
        -0.22915
      ]
    ],
    "simulated_seconds_remaining": 14.982,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 10.608741879463196,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.0
                  },
                  "note": "Rolling back to forward-facing tool orientation in small step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.95711,
      -1.37781,
      1.53053,
      -1.26913,
      0.05406,
      0.8281,
      1.51839
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45023,
      0.06511,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      0.80452,
      -1.5334,
      3.13758
    ],
    "tcp_rotation_matrix": [
      [
        -0.07778,
        -0.68566,
        -0.72376
      ],
      [
        -0.25302,
        0.71576,
        -0.6509
      ],
      [
        0.96433,
        0.1325,
        -0.22915
      ]
    ],
    "simulated_seconds_remaining": 14.982,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 15.812975057400763,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.53,
                    "pitch": -0.159,
                    "yaw": 1.777
                  },
                  "note": "Requesting forward-facing tool with vertical fingers from this new arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.95711,
      -1.37781,
      1.53053,
      -1.26913,
      0.05406,
      0.8281,
      1.51839
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45023,
      0.06511,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      0.80452,
      -1.5334,
      3.13758
    ],
    "tcp_rotation_matrix": [
      [
        -0.07778,
        -0.68566,
        -0.72376
      ],
      [
        -0.25302,
        0.71576,
        -0.6509
      ],
      [
        0.96433,
        0.1325,
        -0.22915
      ]
    ],
    "simulated_seconds_remaining": 14.982,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.606383268721402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.0,
                    "pitch": -1.0,
                    "yaw": 2.5
                  },
                  "note": "Intermediate orientation step toward the goal pose to avoid large joint jumps."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.95711,
      -1.37781,
      1.53053,
      -1.26913,
      0.05406,
      0.8281,
      1.51839
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45023,
      0.06511,
      0.96013
    ],
    "tcp_roll_pitch_yaw": [
      0.80452,
      -1.5334,
      3.13758
    ],
    "tcp_rotation_matrix": [
      [
        -0.07778,
        -0.68566,
        -0.72376
      ],
      [
        -0.25302,
        0.71576,
        -0.6509
      ],
      [
        0.96433,
        0.1325,
        -0.22915
      ]
    ],
    "simulated_seconds_remaining": 14.982,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.605992692522705,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "z": 1.05,
                    "y": 0.0
                  },
                  "note": "Retreating to free space before re-orienting, since poses near the nightstand are being rejected."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.58228,
      -1.28407,
      1.32293,
      -1.85655,
      -0.16375,
      1.07287,
      1.39157
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33097,
      0.00054,
      1.04931
    ],
    "tcp_roll_pitch_yaw": [
      0.8037,
      -1.53325,
      3.13833
    ],
    "tcp_rotation_matrix": [
      [
        -0.07794,
        -0.68563,
        -0.72377
      ],
      [
        -0.25304,
        0.71581,
        -0.65084
      ],
      [
        0.96431,
        0.13242,
        -0.22928
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 3.203099121339619,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.53,
                    "pitch": -0.159,
                    "yaw": 1.777
                  },
                  "note": "In free space now; requesting forward-facing tool with vertical finger axis."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.58228,
      -1.28407,
      1.32293,
      -1.85655,
      -0.16375,
      1.07287,
      1.39157
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33097,
      0.00054,
      1.04931
    ],
    "tcp_roll_pitch_yaw": [
      0.8037,
      -1.53325,
      3.13833
    ],
    "tcp_rotation_matrix": [
      [
        -0.07794,
        -0.68563,
        -0.72377
      ],
      [
        -0.25304,
        0.71581,
        -0.65084
      ],
      [
        0.96431,
        0.13242,
        -0.22928
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.404132701456547,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.611,
                    "pitch": 0.159,
                    "yaw": -1.777
                  },
                  "note": "Trying the mirrored solution for forward tool axis with vertical fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.58228,
      -1.28407,
      1.32293,
      -1.85655,
      -0.16375,
      1.07287,
      1.39157
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33097,
      0.00054,
      1.04931
    ],
    "tcp_roll_pitch_yaw": [
      0.8037,
      -1.53325,
      3.13833
    ],
    "tcp_rotation_matrix": [
      [
        -0.07794,
        -0.68563,
        -0.72377
      ],
      [
        -0.25304,
        0.71581,
        -0.65084
      ],
      [
        0.96431,
        0.13242,
        -0.22928
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 16.61365948151797,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 3.1
                  },
                  "note": "Returning to forward-facing tool orientation (fingers horizontal) which was reachable earlier."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.58228,
      -1.28407,
      1.32293,
      -1.85655,
      -0.16375,
      1.07287,
      1.39157
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33097,
      0.00054,
      1.04931
    ],
    "tcp_roll_pitch_yaw": [
      0.8037,
      -1.53325,
      3.13833
    ],
    "tcp_rotation_matrix": [
      [
        -0.07794,
        -0.68563,
        -0.72377
      ],
      [
        -0.25304,
        0.71581,
        -0.65084
      ],
      [
        0.96431,
        0.13242,
        -0.22928
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 6.609179082326591,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.6,
                    "x": 0.4,
                    "z": 1.0
                  },
                  "note": "Stepping roll gradually with slight position change to keep IK happy."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.09247,
      -1.29396,
      1.31103,
      -2.31217,
      -0.1662,
      1.82059,
      1.39623
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39957,
      0.00052,
      1.00026
    ],
    "tcp_roll_pitch_yaw": [
      1.59684,
      -1.53332,
      3.13708
    ],
    "tcp_rotation_matrix": [
      [
        0.11456,
        -0.99247,
        -0.04337
      ],
      [
        -0.20735,
        0.0188,
        -0.97809
      ],
      [
        0.97154,
        0.12105,
        -0.20363
      ]
    ],
    "simulated_seconds_remaining": 12.21,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.0038290517404675,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 2.5
                  },
                  "note": "Continuing roll rotation toward forward-facing tool orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.50821,
      -1.41486,
      0.93991,
      -3.03322,
      -0.34821,
      2.83341,
      1.18028
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39955,
      0.00033,
      1.00026
    ],
    "tcp_roll_pitch_yaw": [
      2.49308,
      -1.53346,
      3.13919
    ],
    "tcp_rotation_matrix": [
      [
        0.22007,
        -0.63511,
        0.74041
      ],
      [
        -0.01113,
        -0.7606,
        -0.64912
      ],
      [
        0.97542,
        0.13461,
        -0.17446
      ]
    ],
    "simulated_seconds_remaining": 10.692,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.405116262845695,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 3.1,
                    "x": 0.45
                  },
                  "note": "Handle bar now visible; finishing rotation to face +x and moving slightly closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.50821,
      -1.41486,
      0.93991,
      -3.03322,
      -0.34821,
      2.83341,
      1.18028
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39955,
      0.00033,
      1.00026
    ],
    "tcp_roll_pitch_yaw": [
      2.49308,
      -1.53346,
      3.13919
    ],
    "tcp_rotation_matrix": [
      [
        0.22007,
        -0.63511,
        0.74041
      ],
      [
        -0.01113,
        -0.7606,
        -0.64912
      ],
      [
        0.97542,
        0.13461,
        -0.17446
      ]
    ],
    "simulated_seconds_remaining": 10.692,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 2.802903481759131,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 2.9
                  },
                  "note": "Smaller roll increment toward forward facing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.50821,
      -1.41486,
      0.93991,
      -3.03322,
      -0.34821,
      2.83341,
      1.18028
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39955,
      0.00033,
      1.00026
    ],
    "tcp_roll_pitch_yaw": [
      2.49308,
      -1.53346,
      3.13919
    ],
    "tcp_rotation_matrix": [
      [
        0.22007,
        -0.63511,
        0.74041
      ],
      [
        -0.01113,
        -0.7606,
        -0.64912
      ],
      [
        0.97542,
        0.13461,
        -0.17446
      ]
    ],
    "simulated_seconds_remaining": 10.692,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 9.408385507762432,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.05,
                    "z": 0.985
                  },
                  "note": "Advancing along tool forward axis toward the visible drawer handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.92297,
      -1.29253,
      1.03636,
      -2.96392,
      -0.375,
      3.18927,
      1.22986
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45903,
      -0.04929,
      0.98521
    ],
    "tcp_roll_pitch_yaw": [
      2.49385,
      -1.53356,
      3.13811
    ],
    "tcp_rotation_matrix": [
      [
        0.22016,
        -0.63533,
        0.74019
      ],
      [
        -0.01117,
        -0.7604,
        -0.64936
      ],
      [
        0.9754,
        0.13469,
        -0.17451
      ]
    ],
    "simulated_seconds_remaining": 9.834,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 7.6065716948360205,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.085,
                    "z": 0.978
                  },
                  "note": "Another small advance along tool forward axis; handle staying near image center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.19939,
      -1.23602,
      1.13014,
      -2.87698,
      -0.36734,
      3.37481,
      1.2481
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49903,
      -0.08423,
      0.97816
    ],
    "tcp_roll_pitch_yaw": [
      2.49425,
      -1.5336,
      3.13747
    ],
    "tcp_rotation_matrix": [
      [
        0.2202,
        -0.63551,
        0.74003
      ],
      [
        -0.01121,
        -0.76025,
        -0.64954
      ],
      [
        0.97539,
        0.13473,
        -0.17453
      ]
    ],
    "simulated_seconds_remaining": 9.174,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 17.2143889432773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95,
                    "x": 0.51,
                    "y": -0.09
                  },
                  "note": "Handle appears below the fingers; lowering to align the gripper with the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.28155,
      -1.2746,
      1.22919,
      -2.87368,
      -0.27104,
      3.45852,
      1.30689
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50942,
      -0.08776,
      0.96608
    ],
    "tcp_roll_pitch_yaw": [
      2.22192,
      -1.468,
      -2.87033
    ],
    "tcp_rotation_matrix": [
      [
        0.15956,
        -0.63925,
        0.75226
      ],
      [
        -0.0375,
        -0.7654,
        -0.64247
      ],
      [
        0.98648,
        0.0743,
        -0.1461
      ]
    ],
    "simulated_seconds_remaining": 8.646,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 10.609510094858706,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Closing gripper to attempt grasping/hooking the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.2741,
      -1.27683,
      1.22846,
      -2.8809,
      -0.27153,
      3.46138,
      1.30742
    ],
    "gripper_open": 0.9994,
    "tcp_xyz": [
      0.50757,
      -0.08652,
      0.96499
    ],
    "tcp_roll_pitch_yaw": [
      2.22071,
      -1.46863,
      -2.86558
    ],
    "tcp_rotation_matrix": [
      [
        0.16032,
        -0.63649,
        0.75444
      ],
      [
        -0.03688,
        -0.76765,
        -0.6398
      ],
      [
        0.98638,
        0.07475,
        -0.14654
      ]
    ],
    "simulated_seconds_remaining": 7.722,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 8.607702461071312,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": -0.045,
                    "gripper": 0.0
                  },
                  "note": "Backing off slightly and closing the gripper to hook the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.96155,
      -1.34166,
      1.15685,
      -2.99557,
      -0.27529,
      3.26476,
      1.31034
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.46105,
      -0.04583,
      0.965
    ],
    "tcp_roll_pitch_yaw": [
      2.2212,
      -1.46861,
      -2.86589
    ],
    "tcp_rotation_matrix": [
      [
        0.16029,
        -0.63636,
        0.75456
      ],
      [
        -0.03681,
        -0.76776,
        -0.63968
      ],
      [
        0.98638,
        0.07476,
        -0.14649
      ]
    ],
    "simulated_seconds_remaining": 6.798,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 6.405969965271652,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1.0,
                    "x": 0.515,
                    "y": -0.095,
                    "z": 0.962
                  },
                  "note": "Opening fingers and advancing to straddle the handle bar before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.31749,
      -1.28024,
      1.23917,
      -2.86636,
      -0.26294,
      3.49854,
      1.31075
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51381,
      -0.09132,
      0.96868
    ],
    "tcp_roll_pitch_yaw": [
      2.28341,
      -1.45571,
      -2.92108
    ],
    "tcp_rotation_matrix": [
      [
        0.14654,
        -0.63225,
        0.76078
      ],
      [
        -0.03246,
        -0.77175,
        -0.6351
      ],
      [
        0.98867,
        0.06837,
        -0.13362
      ]
    ],
    "simulated_seconds_remaining": 5.874,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 6.005653381347656,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Closing the fingers around/behind the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.31049,
      -1.28274,
      1.2387,
      -2.87243,
      -0.26309,
      3.49941,
      1.31143
    ],
    "gripper_open": 0.9999,
    "tcp_xyz": [
      0.51217,
      -0.09018,
      0.96782
    ],
    "tcp_roll_pitch_yaw": [
      2.28569,
      -1.45627,
      -2.92118
    ],
    "tcp_rotation_matrix": [
      [
        0.1471,
        -0.63054,
        0.76209
      ],
      [
        -0.03177,
        -0.77308,
        -0.63351
      ],
      [
        0.98861,
        0.06898,
        -0.13375
      ]
    ],
    "simulated_seconds_remaining": 4.95,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 6.605751005001366,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0,
                    "x": 0.43,
                    "y": -0.025
                  },
                  "note": "Pulling back along the approach axis with fingers closed to draw the drawer open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.31049,
      -1.28274,
      1.2387,
      -2.87243,
      -0.26309,
      3.49941,
      1.31143
    ],
    "gripper_open": 0.9999,
    "tcp_xyz": [
      0.51217,
      -0.09018,
      0.96782
    ],
    "tcp_roll_pitch_yaw": [
      2.28569,
      -1.45627,
      -2.92118
    ],
    "tcp_rotation_matrix": [
      [
        0.1471,
        -0.63054,
        0.76209
      ],
      [
        -0.03177,
        -0.77308,
        -0.63351
      ],
      [
        0.98861,
        0.06898,
        -0.13375
      ]
    ],
    "simulated_seconds_remaining": 4.95,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 5.805526711046696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0,
                    "x": 0.48,
                    "y": -0.06
                  },
                  "note": "Smaller retreat step with closed fingers to pull the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.0992,
      -1.3249,
      1.18865,
      -2.95496,
      -0.26816,
      3.37222,
      1.31515
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4807,
      -0.06062,
      0.96781
    ],
    "tcp_roll_pitch_yaw": [
      2.28586,
      -1.45628,
      -2.92128
    ],
    "tcp_rotation_matrix": [
      [
        0.1471,
        -0.63048,
        0.76214
      ],
      [
        -0.03174,
        -0.77313,
        -0.63345
      ],
      [
        0.98861,
        0.06899,
        -0.13374
      ]
    ],
    "simulated_seconds_remaining": 4.026,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 9.608622076921165,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1.0,
                    "x": 0.522,
                    "y": -0.1,
                    "z": 0.96
                  },
                  "note": "Re-opening and pushing fingers deeper past the handle for a hook grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.36837,
      -1.29328,
      1.2676,
      -2.85076,
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    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5216,
      -0.09588,
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    ],
    "tcp_roll_pitch_yaw": [
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      -1.39379,
      -2.89426
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    "tcp_rotation_matrix": [
      [
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      [
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    ],
    "simulated_seconds_remaining": 3.102,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 4.804726014845073,
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      {
        "content": {
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                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0,
                    "x": 0.47,
                    "y": -0.05
                  },
                  "note": "Closing on the handle while retreating to pull the drawer open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 35,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
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  "api_seconds": 4.804693657904863,
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      {
        "content": {
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            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not grasp the nightstand drawer handle: orientation changes to align fingers vertically with the horizontal bar handle were repeatedly rejected by IK, and the remaining hook attempts failed to engage before the motion time budget ran out."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 614,
  "house_index": 317,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 20,
  "api_calls": 21,
  "wall_seconds": 229.97976541519165,
  "usage": {
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    "cache_creation_input_tokens": 23451,
    "cache_read_input_tokens": 222976,
    "output_tokens": 12176
  },
  "estimated_cost_usd": 0.56266675
}


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.



MODEL RESPONSES


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          "note": "Raise and pitch up to view scene ahead with wrist camera to locate the table drawer."
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        }
      }
    ],
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      }
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          "note": "Move forward-left toward the bedside table, gripper facing forward, lower to drawer height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezh5EDsY3gxyDukkyEUn",
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          "note": "Back off and drop below the table top level to view the drawer front face."
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{
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          },
          "note": "Retreat to a clean pose; previous target wasn't reached, likely collision with table."
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{
  "api_call": 8,
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      }
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{
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        "caller": {
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      }
    ],
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{
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    ],
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{
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{
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{
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{
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    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1013,
      "cache_read_input_tokens": 13995,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1013,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 902,
      "output_tokens_details": {
        "thinking_tokens": 787
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhEgzx4AD18xwVoZN2n",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014s2yz1ApvwHZMWgCfgycJ8",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "y": 0.55,
            "z": 0.82
          },
          "note": "Nightstand appears further left/forward; probe reach toward its front face center."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1390,
      "cache_read_input_tokens": 15008,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1390,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1011,
      "output_tokens_details": {
        "thinking_tokens": 896
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhG6LfLqdgNJZs4frVF",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014kkiEGfH62osAUNdvA5eaK",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 1.5,
            "roll": 0.0,
            "pitch": -1.45,
            "x": 0.45,
            "y": 0.45,
            "z": 0.82
          },
          "note": "Turn camera/gripper to face +y where the wooden nightstand face appears to be, to find its handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1500,
      "cache_read_input_tokens": 16398,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1500,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 752,
      "output_tokens_details": {
        "thinking_tokens": 598
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhH66JxkUAQFVGygP9P",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EgJZvsNYDmEeFD54jbFjnr",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "y": 0.4,
            "z": 0.85,
            "yaw": 0.8,
            "roll": 0.0,
            "pitch": -1.45
          },
          "note": "Pull in closer and rotate partially toward +y to inspect the nightstand face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1241,
      "cache_read_input_tokens": 17898,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1241,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 187,
      "output_tokens_details": {
        "thinking_tokens": 40
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhHQ2ZtiEHJGSg58gMX",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01ShzSkYNo6yLN2hnkM488Kt",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.48,
            "z": 0.82,
            "pitch": -1.45,
            "roll": 0.0
          },
          "note": "Small nudge toward the wooden face while straightening roll, staying within reach."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 676,
      "cache_read_input_tokens": 19139,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 676,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 500,
      "output_tokens_details": {
        "thinking_tokens": 365
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhJ4CEXU5ResMRSViof",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UmwasNsmrkdhgGKibDxNKF",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "y": 0.42,
            "z": 0.68
          },
          "note": "Wrist image is rotated 90°: wood is below us (table top), wall ahead. Drop below top height to see the drawer front and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 994,
      "cache_read_input_tokens": 19815,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 994,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1212,
      "output_tokens_details": {
        "thinking_tokens": 1076
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhKYDFSJAu7bjakcj8k",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01BEqJqf4FMq3WHACYtU1r6u",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.54
          },
          "note": "Advance toward the drawer front face to look for a handle within reach."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1701,
      "cache_read_input_tokens": 20809,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1701,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 455,
      "output_tokens_details": {
        "thinking_tokens": 359
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhLEm39xyXEX7nXrt3o",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_016vnC4gm2c5yYq764NWV1UV",
        "name": "give_up",
        "input": {
          "note": "The only articulated object (bedside table with drawers) sits beyond the arm's reach: x was limited to ~0.55 m at that y/z, and the wrist camera never showed the drawer front or handle, only the table's side/top. IK rejected closer/rotated approach poses and the simulated time budget is nearly exhausted, so the drawer could not be grasped or opened."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 941,
      "cache_read_input_tokens": 22510,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 941,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 233,
      "output_tokens_details": {
        "thinking_tokens": 68
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 8.606932455673814,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.1,
                    "pitch": -0.5
                  },
                  "note": "Raise and pitch up to view scene ahead with wrist camera to locate the table drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02231,
      -0.86208,
      0.04172,
      -2.38424,
      -0.10412,
      2.03867,
      0.01444
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39931,
      -0.01234,
      1.09943
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.49602,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.8695,
        -0.01274,
        0.49377
      ],
      [
        0.05232,
        -0.99167,
        -0.11771
      ],
      [
        0.49115,
        0.12818,
        -0.86159
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.203929957002401,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Pitch further up to see ahead and identify the table/nightstand front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.05428,
      -1.17168,
      0.04632,
      -2.82509,
      -0.14283,
      2.66869,
      0.09208
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39933,
      -0.01238,
      1.09928
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.9954,
      -0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.52812,
        -0.07271,
        0.84605
      ],
      [
        0.05228,
        -0.99165,
        -0.11786
      ],
      [
        0.84756,
        0.10647,
        -0.51991
      ]
    ],
    "simulated_seconds_remaining": 27.984,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.006513217464089,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0.0,
                    "y": 0.3,
                    "x": 0.45,
                    "z": 0.95
                  },
                  "note": "Move forward-left toward the bedside table, gripper facing forward, lower to drawer height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 40,
    "motion_seconds": 2.64,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02974,
      -0.0422,
      0.65385,
      -1.85857,
      -0.08775,
      1.77719,
      0.59205
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44987,
      0.2991,
      0.95035
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.00278,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99841,
        0.04945,
        0.02695
      ],
      [
        0.05229,
        -0.99167,
        -0.11773
      ],
      [
        0.02091,
        0.11896,
        -0.99268
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.207322082482278,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 0.85
                  },
                  "note": "Move forward and down toward the nightstand front to find the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01653,
      0.1571,
      0.63079,
      -1.71567,
      -0.2443,
      1.83385,
      0.66133
    ],
    "gripper_open": 0.9852,
    "tcp_xyz": [
      0.51632,
      0.31375,
      0.9308
    ],
    "tcp_roll_pitch_yaw": [
      0.00267,
      -0.061,
      -0.0027
    ],
    "tcp_rotation_matrix": [
      [
        0.99563,
        0.03999,
        0.08439
      ],
      [
        0.04961,
        -0.9921,
        -0.11524
      ],
      [
        0.07911,
        0.11893,
        -0.98975
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.209766455926001,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.78,
                    "pitch": 0.2
                  },
                  "note": "Back off and drop below the table top level to view the drawer front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.0091,
      0.05511,
      0.64895,
      -2.01566,
      -0.11767,
      2.52144,
      0.66819
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53619,
      0.4014,
      0.9224
    ],
    "tcp_roll_pitch_yaw": [
      0.37602,
      -0.36655,
      -0.03397
    ],
    "tcp_rotation_matrix": [
      [
        0.9201,
        0.10457,
        0.37747
      ],
      [
        0.01079,
        -0.97011,
        0.24243
      ],
      [
        0.39154,
        -0.21899,
        -0.89372
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.6048053577542305,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.2,
                    "z": 0.95,
                    "pitch": 0.0,
                    "roll": 0.0,
                    "yaw": 0.0
                  },
                  "note": "Retreat to a clean pose; previous target wasn't reached, likely collision with table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02595,
      -0.52172,
      0.46158,
      -2.28847,
      0.10965,
      1.78631,
      0.35401
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35074,
      0.20076,
      0.94992
    ],
    "tcp_roll_pitch_yaw": [
      0.00139,
      -0.00158,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.99843,
        0.04979,
        0.02579
      ],
      [
        0.05246,
        -0.99183,
        -0.11628
      ],
      [
        0.01979,
        0.11745,
        -0.99288
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 12.61082467250526,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.57
                  },
                  "note": "Yaw 90° so the gripper/wrist camera faces +y, expecting the drawer front faces -y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.38937,
      -0.58819,
      0.12486,
      -2.42151,
      0.0385,
      1.95143,
      -1.1314
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35075,
      0.20075,
      0.94993
    ],
    "tcp_roll_pitch_yaw": [
      0.00143,
      -0.00162,
      1.56525
    ],
    "tcp_rotation_matrix": [
      [
        -0.04679,
        0.9921,
        0.11639
      ],
      [
        0.99871,
        0.04415,
        0.02517
      ],
      [
        0.01983,
        0.11742,
        -0.99288
      ]
    ],
    "simulated_seconds_remaining": 18.084,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 14.215150520205498,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.0,
                    "x": 0.4,
                    "y": 0.35,
                    "z": 0.78
                  },
                  "note": "Reset yaw and get below table-top height in front of the drawer face (which likely faces -x)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.20524,
      0.0942,
      0.5603,
      -2.16244,
      -0.18477,
      2.17207,
      0.81913
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39983,
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    ],
    "tcp_roll_pitch_yaw": [
      0.00139,
      -0.00138,
      0.0049
    ],
    "tcp_rotation_matrix": [
      [
        0.99817,
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      ],
      [
        0.05722,
        -0.99158,
        -0.11616
      ],
      [
        0.01959,
        0.11745,
        -0.99289
      ]
    ],
    "simulated_seconds_remaining": 15.708,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 11.00871155783534,
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    "candidates": [
      {
        "content": {
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          "parts": [
            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "y": 0.5
                  },
                  "note": "Shift left toward the wooden nightstand seen at wrist-image left to judge its face position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
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    "instruction": "open the table.",
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    "tcp_rotation_matrix": [
      [
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      ],
      [
        0.05439,
        -0.98988,
        -0.13104
      ],
      [
        0.01594,
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    ],
    "simulated_seconds_remaining": 14.388,
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  },
  "api_seconds": 10.007728566415608,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
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                  "targets": {
                    "x": 0.6,
                    "y": 0.4
                  },
                  "note": "Push forward in +x toward the nightstand which appears ahead in exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
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      0.37079,
      0.69882,
      0.47327,
      -1.2735,
      -0.31876,
      1.79241,
      0.76311
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    "gripper_open": 1.0,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
      0.03715,
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    ],
    "tcp_rotation_matrix": [
      [
        0.99363,
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      ],
      [
        0.08404,
        -0.993,
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      ],
      [
        -0.07506,
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      ]
    ],
    "simulated_seconds_remaining": 12.606,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 21.216312195174396,
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    "candidates": [
      {
        "content": {
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            {
              "functionCall": {
                "name": "move_to",
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                  "targets": {
                    "x": 0.35,
                    "y": 0.3,
                    "z": 0.9,
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                  },
                  "note": "Realized gripper points down at pitch 0; pitch to -1.45 to look/point horizontally (+x) toward the nightstand front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
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    ],
    "tcp_rotation_matrix": [
      [
        0.10333,
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      ],
      [
        0.05544,
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      [
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      ]
    ],
    "simulated_seconds_remaining": 10.23,
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  },
  "api_seconds": 11.609469068236649,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
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                  "targets": {
                    "x": 0.45,
                    "y": 0.35,
                    "z": 0.85
                  },
                  "note": "Approach the wooden front face to locate the drawer handle with the now-horizontal wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
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      0.03587,
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      0.3494,
      0.8505
    ],
    "tcp_roll_pitch_yaw": [
      0.03373,
      -1.44512,
      0.0358
    ],
    "tcp_rotation_matrix": [
      [
        0.1035,
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      ],
      [
        0.05545,
        -0.99728,
        -0.04859
      ],
      [
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        -0.10086
      ]
    ],
    "simulated_seconds_remaining": 9.108,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 17.01276176609099,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
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                  "targets": {
                    "x": 0.52,
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                  "note": "Move in close to the drawer front near its center to spot the handle before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
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    ],
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      [
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      ],
      [
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      ],
      [
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    ],
    "simulated_seconds_remaining": 8.052,
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  },
  "api_seconds": 18.413478253409266,
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    "candidates": [
      {
        "content": {
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                    "x": 0.55,
                    "y": 0.55,
                    "z": 0.82
                  },
                  "note": "Nightstand appears further left/forward; probe reach toward its front face center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 15,
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    "instruction": "open the table.",
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    ],
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      [
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    ],
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  },
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      {
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                    "roll": 0.0,
                    "pitch": -1.45,
                    "x": 0.45,
                    "y": 0.45,
                    "z": 0.82
                  },
                  "note": "Turn camera/gripper to face +y where the wooden nightstand face appears to be, to find its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
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    ],
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  },
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      {
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                    "y": 0.4,
                    "z": 0.85,
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                  },
                  "note": "Pull in closer and rotate partially toward +y to inspect the nightstand face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
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}

{
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  },
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      {
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                    "x": 0.45,
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                    "z": 0.82,
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                    "roll": 0.0
                  },
                  "note": "Small nudge toward the wooden face while straightening roll, staying within reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 18,
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    "instruction": "open the table.",
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      ],
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    ],
    "simulated_seconds_remaining": 5.94,
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  },
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      {
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                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.42,
                    "z": 0.68
                  },
                  "note": "Wrist image is rotated 90°: wood is below us (table top), wall ahead. Drop below top height to see the drawer front and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
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    "tcp_roll_pitch_yaw": [
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    ],
    "tcp_rotation_matrix": [
      [
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      [
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      [
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    ],
    "simulated_seconds_remaining": 4.62,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.007256861776114,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54
                  },
                  "note": "Advance toward the drawer front face to look for a handle within reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.46116,
      0.78495,
      0.57785,
      -2.07588,
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    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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    ],
    "tcp_rotation_matrix": [
      [
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      ],
      [
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      ],
      [
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      ]
    ],
    "simulated_seconds_remaining": 3.498,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.40476693585515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The only articulated object (bedside table with drawers) sits beyond the arm's reach: x was limited to ~0.55 m at that y/z, and the wrist camera never showed the drawer front or handle, only the table's side/top. IK rejected closer/rotated approach poses and the simulated time budget is nearly exhausted, so the drawer could not be grasped or opened."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 635,
  "house_index": 318,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 41,
  "api_calls": 42,
  "wall_seconds": 336.58269238471985,
  "usage": {
    "input_tokens": 84,
    "cache_creation_input_tokens": 35568,
    "cache_read_input_tokens": 789060,
    "output_tokens": 14418
  },
  "estimated_cost_usd": 0.9777
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhM5ePo2hWFxZKXNfZh",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FebMeqattYuZ3tqA8UUa7y",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1779,
      "cache_read_input_tokens": 0,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1779,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 86,
      "output_tokens_details": {
        "thinking_tokens": 62
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhMHUn8LyjS843oXUU8",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01Gc7kn7r4dQdQVs9Ke5ihuc",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": -1.571,
            "yaw": 1.571,
            "x": 0.35,
            "z": 1.0
          },
          "note": "Rotate gripper to point forward (+x) with fingers vertical to grasp horizontal drawer handle; keep some distance to inspect."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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    "stop_reason": "tool_use",
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      "input_tokens": 2,
      "cache_creation_input_tokens": 518,
      "cache_read_input_tokens": 1779,
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      },
      "output_tokens": 2568,
      "output_tokens_details": {
        "thinking_tokens": 2420
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      "service_tier": "standard",
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  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhPkdURkugBATgS1FV5",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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            "roll": -1.571
          },
          "note": "IK failed for full rotation; try roll alone first as an intermediate step."
        },
        "caller": {
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      }
    ],
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        "thinking_tokens": 38
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  }
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{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQ4Mq1gMdg4hCjvSCk",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01N6Y2LtQmN2stnuZEuvzmd4",
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        "input": {
          "targets": {
            "yaw": 1.571
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          "note": "Add yaw to point gripper forward toward dresser with vertical fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "output_tokens": 115,
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        "thinking_tokens": 13
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{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQJ2raDe6hvMAGnCzg",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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          "targets": {
            "yaw": 0.8
          },
          "note": "Full yaw unreachable; rotate halfway to test feasibility."
        },
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    ],
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{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQbaY8XtV8Het6TBXx",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01DKUpVRFoFiRnuS7iLLDxvp",
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          "targets": {
            "yaw": 0.4
          },
          "note": "Try a small yaw increment to find a reachable configuration."
        },
        "caller": {
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        "thinking_tokens": 339
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{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhRER6ZYdwC3DTt9i37",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_011uHz63ZxmggEYweN2Wc9cf",
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        "input": {
          "targets": {
            "yaw": 0.9
          },
          "note": "Continue rotating yaw incrementally toward forward-facing gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 8,
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    "model": "claude-opus-5",
    "id": "msg_011CezhRU3dwrTcdo4FoYiTR",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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          "targets": {
            "yaw": 0.6,
            "x": 0.3,
            "y": 0.05,
            "z": 0.95
          },
          "note": "Combine small yaw with position change to escape the joint-limit configuration."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "output_tokens": 194,
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        "thinking_tokens": 70
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}

{
  "api_call": 9,
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    "model": "claude-opus-5",
    "id": "msg_011CezhRpibmWEmJqFSSpkBK",
    "type": "message",
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 1.0,
            "y": 0.1
          },
          "note": "Continue yaw rotation with slight left shift to keep IK feasible."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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      "output_tokens": 108,
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}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhS5d3GFWwRU6intayU",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "input": {
          "targets": {
            "roll": 1.571,
            "yaw": 0.0
          },
          "note": "Yaw+90 blocked; try mirrored solution: roll +90 then later yaw -90 to face dresser."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 11,
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    "model": "claude-opus-5",
    "id": "msg_011CezhTLDQet96HDQMvTnDv",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "yaw": -1.571
          },
          "note": "Rotate yaw -90 to point gripper forward at dresser with vertical fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
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{
  "api_call": 12,
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    "model": "claude-opus-5",
    "id": "msg_011CezhTfWmHLYJXpTvimskX",
    "type": "message",
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      {
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        "input": {
          "targets": {
            "yaw": -0.8
          },
          "note": "Try halfway yaw rotation toward forward-facing."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 13,
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "roll": 0,
            "pitch": -1.571
          },
          "note": "Yaw rotations blocked; instead use pitch -90 to point gripper forward (fingers horizontal) to hook the drawer handle."
        },
        "caller": {
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{
  "api_call": 14,
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    "model": "claude-opus-5",
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        "input": {
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            "roll": 0
          },
          "note": "Step back to neutral roll (gripper pointing down) before pitching forward."
        },
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{
  "api_call": 15,
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          "note": "Pitch forward in a step to tilt gripper toward dresser front."
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{
  "api_call": 16,
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    "model": "claude-opus-5",
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      {
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        "input": {
          "targets": {
            "pitch": -0.4
          },
          "note": "Smaller pitch step to test reachability."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhVqizGo8BP9SjNsQzp",
    "type": "message",
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      {
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        "input": {
          "targets": {
            "pitch": -0.8
          },
          "note": "Continue incremental pitch toward -90 to face the drawer front."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 18,
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    "model": "claude-opus-5",
    "id": "msg_011CezhWEyiKJScF3v2c3VPv",
    "type": "message",
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      {
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        "input": {
          "targets": {
            "pitch": -0.6,
            "x": 0.4,
            "y": -0.05,
            "z": 0.9
          },
          "note": "Move closer/lower toward drawer while pitching more; changing position may free IK."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhWtu12qFbvtJLMpQtM",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.0,
            "x": 0.45,
            "z": 0.88
          },
          "note": "Continue pitching forward and advancing toward the drawer handle."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
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    "content": [
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.8,
            "x": 0.42
          },
          "note": "Smaller combined step: pitch to -0.8 and advance slightly."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "output_tokens": 108,
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}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhXPRVbnGMfctrPzxUH",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01SJq2f1w7UEnEat2LPESKz9",
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          "targets": {
            "pitch": -1.1
          },
          "note": "Keep pitching forward toward horizontal approach."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhZq4uSKXh35cByKPiY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01SeU2YzJqpmWaWUzCCVmK4A",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": -1.571,
            "pitch": 0
          },
          "note": "Revert pitch and set roll -90 (fingers vertical) as prerequisite for yaw-based forward facing."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhc6p149KnP5LQisAKd",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
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            "yaw": 1.571
          },
          "note": "Attempt full yaw +90 from this new posture to face the drawer with vertical fingers."
        },
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          "type": "direct"
        }
      }
    ],
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{
  "api_call": 24,
  "response": {
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      {
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          "targets": {
            "yaw": 0.5
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          "note": "Increment yaw in steps; test 0.5 rad."
        },
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  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhd1MN9yikTnijeWber",
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    "content": [
      {
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        "input": {
          "targets": {
            "yaw": 1.0
          },
          "note": "Continue yaw toward +90."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhdEA4FdoL2h9Xh316P",
    "type": "message",
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    "content": [
      {
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        "name": "move_to",
        "input": {
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            "yaw": 0.75,
            "y": -0.15
          },
          "note": "Shift right while yawing to help IK reach forward-facing pose."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhdUkPkzbXWKacb8MC4",
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "yaw": 1.1,
            "y": -0.2
          },
          "note": "Continue yaw with further right shift toward forward-facing gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 28,
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    "id": "msg_011CezhdtyuquxLdMid1AUQU",
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      {
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          "targets": {
            "yaw": 0.95,
            "y": -0.16,
            "z": 0.85
          },
          "note": "Smaller yaw increment plus slight lowering to keep IK feasible."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhe8vJRa1GR1ZSEE9aB",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.45,
            "y": -0.03,
            "z": 0.95
          },
          "note": "Keep current diagonal orientation (fingers vertical) and move toward estimated handle area to view it in wrist camera."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhf458sUTjWiG3VKW8n",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01XgDgc1Ks9EuR4dhZQBBuGH",
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        "input": {
          "targets": {
            "x": 0.53,
            "y": 0.0,
            "z": 0.94
          },
          "note": "Advance toward drawer handle so the vertical fingers straddle the horizontal bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 31,
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    "model": "claude-opus-5",
    "id": "msg_011Cezhfr3MRzxwScguYSZCK",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01WxDRa3YQfjrem4sqxVctTc",
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        "input": {
          "targets": {
            "y": 0.03,
            "z": 0.96
          },
          "note": "Handle appears slightly left and above gripper; adjust up-left to bring it into the finger gap."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhgQFbUXJkGM2ZkbTyG",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.07
          },
          "note": "Shift further left to center the pale handle-like feature seen in the wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhgyCzg75bEbwkrUvka",
    "type": "message",
    "role": "assistant",
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      {
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        "thinking": ""
      },
      {
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        "id": "toolu_016PpS4gzt8vTCQE6ZayNhuF",
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        "input": {
          "targets": {
            "x": 0.55,
            "z": 0.96
          },
          "note": "Push in slightly and raise to handle height before closing fingers on the bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhi1xTrJhdmjdbabVdq",
    "type": "message",
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        "thinking": ""
      },
      {
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        "id": "toolu_01CuvZkYdn8iVDjehg3Q5fEp",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close fingers, hoping the handle bar is between the vertically-oriented fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhiP4yFWpZEAwmvL4t6",
    "type": "message",
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    "content": [
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "gripper": 1,
            "y": 0.13,
            "x": 0.52
          },
          "note": "Nothing was grasped; reopen and shift left along the handle bar where its pale end was visible."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 36,
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    "model": "claude-opus-5",
    "id": "msg_011Cezhj7JTsssovgcFJXs5X",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "id": "toolu_01GnsANV6T36poXyhQ8rs7Kv",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.985
          },
          "note": "Handle appears higher than fingers in exterior view; raise to ~0.985 m before closing."
        },
        "caller": {
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        }
      }
    ],
    "container": null,
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}

{
  "api_call": 37,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhjZc1BF22CxpKXPb8u",
    "type": "message",
    "role": "assistant",
    "content": [
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        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012uLuZk1JB5BLTksU2YPsjC",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close fingers at this height to try to capture the horizontal handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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  }
}

{
  "api_call": 38,
  "response": {
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    "id": "msg_011Cezhjsne3ebJGkuSqefPn",
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        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01PZjY9nLLAVoRaAjtY8yfFb",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4
          },
          "note": "Attempt to hook closed fingers behind the handle and pull the drawer out."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 671,
      "cache_read_input_tokens": 32762,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 671,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 169,
      "output_tokens_details": {
        "thinking_tokens": 68
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 39,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhkELAjdTuLVgRHjdCo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018CzXf2XGpTev7GypTBGy1w",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "y": 0.18,
            "z": 1.0,
            "x": 0.5
          },
          "note": "Final attempt: reopen and reposition further left/up onto the visible handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 659,
      "cache_read_input_tokens": 33433,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 659,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 370,
      "output_tokens_details": {
        "thinking_tokens": 244
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 40,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhkxVwdyyfDBLTTTjC1",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01GYYkYFSovXm2JFJxKXC9pU",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close on handle at new position."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 861,
      "cache_read_input_tokens": 34092,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 861,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 130,
      "output_tokens_details": {
        "thinking_tokens": 46
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 41,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhmL4jN4FkJbzXeAvqS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_011YCLQ6XAk9KwHATC7bynMG",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42
          },
          "note": "Last pull attempt with remaining time."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 620,
      "cache_read_input_tokens": 34953,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 620,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 87,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 42,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhmapj9SvLvP3HHuygW",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "text",
        "text": "Simulated time is exhausted and the drawer was never engaged — IK/joint limits prevented me from orienting the gripper squarely at the drawer front, so the fingers never captured the handle bar."
      },
      {
        "type": "tool_use",
        "id": "toolu_01R8ietsgQJ5impFpwU5wd16",
        "name": "give_up",
        "input": {
          "note": "Could not orient gripper to face the drawer front (yaw rotations repeatedly rejected by IK), so the handle was never grasped; simulated time ran out."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 578,
      "cache_read_input_tokens": 35573,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 578,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 161,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 36.43168445210904,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.571,
                    "yaw": 1.571,
                    "x": 0.35,
                    "z": 1.0
                  },
                  "note": "Rotate gripper to point forward (+x) with fingers vertical to grasp horizontal drawer handle; keep some distance to inspect."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": 3.603573549538851,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.571
                  },
                  "note": "IK failed for full rotation; try roll alone first as an intermediate step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.30375,
      -0.48404,
      1.0029,
      -2.56894,
      -0.90691,
      1.32868,
      0.52656
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31413,
      -0.01798,
      0.99093
    ],
    "tcp_roll_pitch_yaw": [
      -1.5666,
      0.00036,
      -0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.98985,
        0.13911,
        0.02894
      ],
      [
        0.02405,
        0.0367,
        -0.99904
      ],
      [
        -0.14004,
        0.9896,
        0.03299
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.003070934675634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.571
                  },
                  "note": "Add yaw to point gripper forward toward dresser with vertical fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.30375,
      -0.48404,
      1.0029,
      -2.56894,
      -0.90691,
      1.32868,
      0.52656
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31413,
      -0.01798,
      0.99093
    ],
    "tcp_roll_pitch_yaw": [
      -1.5666,
      0.00036,
      -0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.98985,
        0.13911,
        0.02894
      ],
      [
        0.02405,
        0.0367,
        -0.99904
      ],
      [
        -0.14004,
        0.9896,
        0.03299
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 4.004128746688366,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.8
                  },
                  "note": "Full yaw unreachable; rotate halfway to test feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.30375,
      -0.48404,
      1.0029,
      -2.56894,
      -0.90691,
      1.32868,
      0.52656
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31413,
      -0.01798,
      0.99093
    ],
    "tcp_roll_pitch_yaw": [
      -1.5666,
      0.00036,
      -0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.98985,
        0.13911,
        0.02894
      ],
      [
        0.02405,
        0.0367,
        -0.99904
      ],
      [
        -0.14004,
        0.9896,
        0.03299
      ]
    ],
    "simulated_seconds_remaining": 27.654,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 8.20762234274298,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.4
                  },
                  "note": "Try a small yaw increment to find a reachable configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.06984,
      -0.83922,
      0.77221,
      -2.88652,
      -1.02711,
      1.68137,
      0.40528
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31408,
      -0.01802,
      0.99102
    ],
    "tcp_roll_pitch_yaw": [
      -1.56688,
      0.00024,
      0.39583
    ],
    "tcp_rotation_matrix": [
      [
        0.90395,
        0.11396,
        0.41216
      ],
      [
        0.40409,
        0.08774,
        -0.9105
      ],
      [
        -0.13993,
        0.9896,
        0.03326
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.2035836838185787,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.9
                  },
                  "note": "Continue rotating yaw incrementally toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.06984,
      -0.83922,
      0.77221,
      -2.88652,
      -1.02711,
      1.68137,
      0.40528
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31408,
      -0.01802,
      0.99102
    ],
    "tcp_roll_pitch_yaw": [
      -1.56688,
      0.00024,
      0.39583
    ],
    "tcp_rotation_matrix": [
      [
        0.90395,
        0.11396,
        0.41216
      ],
      [
        0.40409,
        0.08774,
        -0.9105
      ],
      [
        -0.13993,
        0.9896,
        0.03326
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.606245352886617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.6,
                    "x": 0.3,
                    "y": 0.05,
                    "z": 0.95
                  },
                  "note": "Combine small yaw with position change to escape the joint-limit configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.21643,
      -0.80462,
      0.91801,
      -2.91844,
      -0.93228,
      1.70832,
      0.4903
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30019,
      0.04925,
      0.95048
    ],
    "tcp_roll_pitch_yaw": [
      -1.56691,
      0.00028,
      0.59771
    ],
    "tcp_rotation_matrix": [
      [
        0.80457,
        0.09406,
        0.58636
      ],
      [
        0.57713,
        0.10886,
        -0.80937
      ],
      [
        -0.13996,
        0.9896,
        0.0333
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 3.4034515162929893,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.0,
                    "y": 0.1
                  },
                  "note": "Continue yaw rotation with slight left shift to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.21643,
      -0.80462,
      0.91801,
      -2.91844,
      -0.93228,
      1.70832,
      0.4903
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30019,
      0.04925,
      0.95048
    ],
    "tcp_roll_pitch_yaw": [
      -1.56691,
      0.00028,
      0.59771
    ],
    "tcp_rotation_matrix": [
      [
        0.80457,
        0.09406,
        0.58636
      ],
      [
        0.57713,
        0.10886,
        -0.80937
      ],
      [
        -0.13996,
        0.9896,
        0.0333
      ]
    ],
    "simulated_seconds_remaining": 25.938,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 16.01588426809758,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.571,
                    "yaw": 0.0
                  },
                  "note": "Yaw+90 blocked; try mirrored solution: roll +90 then later yaw -90 to face dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 68,
    "motion_seconds": 4.488,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.67853,
      -1.30124,
      -1.342,
      -2.76668,
      0.32621,
      1.91046,
      -0.30572
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30018,
      0.04925,
      0.95047
    ],
    "tcp_roll_pitch_yaw": [
      1.56685,
      -0.001,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98976,
        0.13973,
        0.02924
      ],
      [
        -0.02318,
        -0.0448,
        0.99873
      ],
      [
        0.14086,
        -0.98918,
        -0.0411
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.405003481544554,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -1.571
                  },
                  "note": "Rotate yaw -90 to point gripper forward at dresser with vertical fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.67853,
      -1.30124,
      -1.342,
      -2.76668,
      0.32621,
      1.91046,
      -0.30572
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30018,
      0.04925,
      0.95047
    ],
    "tcp_roll_pitch_yaw": [
      1.56685,
      -0.001,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98976,
        0.13973,
        0.02924
      ],
      [
        -0.02318,
        -0.0448,
        0.99873
      ],
      [
        0.14086,
        -0.98918,
        -0.0411
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.003699969500303,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.8
                  },
                  "note": "Try halfway yaw rotation toward forward-facing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.67853,
      -1.30124,
      -1.342,
      -2.76668,
      0.32621,
      1.91046,
      -0.30572
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30018,
      0.04925,
      0.95047
    ],
    "tcp_roll_pitch_yaw": [
      1.56685,
      -0.001,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98976,
        0.13973,
        0.02924
      ],
      [
        -0.02318,
        -0.0448,
        0.99873
      ],
      [
        0.14086,
        -0.98918,
        -0.0411
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 13.02265465632081,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": -1.571
                  },
                  "note": "Yaw rotations blocked; instead use pitch -90 to point gripper forward (fingers horizontal) to hook the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.67853,
      -1.30124,
      -1.342,
      -2.76668,
      0.32621,
      1.91046,
      -0.30572
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30018,
      0.04925,
      0.95047
    ],
    "tcp_roll_pitch_yaw": [
      1.56685,
      -0.001,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98976,
        0.13973,
        0.02924
      ],
      [
        -0.02318,
        -0.0448,
        0.99873
      ],
      [
        0.14086,
        -0.98918,
        -0.0411
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.407594724558294,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0
                  },
                  "note": "Step back to neutral roll (gripper pointing down) before pitching forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.54692,
      -0.87869,
      -0.25221,
      -2.55503,
      -0.23728,
      1.70438,
      0.27282
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30016,
      0.0493,
      0.95042
    ],
    "tcp_roll_pitch_yaw": [
      0.00431,
      -0.00086,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.98985,
        0.13889,
        0.03008
      ],
      [
        0.13986,
        -0.98963,
        -0.03287
      ],
      [
        0.0252,
        0.03674,
        -0.99901
      ]
    ],
    "simulated_seconds_remaining": 19.074,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 3.2030896078795195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0
                  },
                  "note": "Pitch forward in a step to tilt gripper toward dresser 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 dresser.",
    "joint_positions": [
      0.54692,
      -0.87869,
      -0.25221,
      -2.55503,
      -0.23728,
      1.70438,
      0.27282
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30016,
      0.0493,
      0.95042
    ],
    "tcp_roll_pitch_yaw": [
      0.00431,
      -0.00086,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.98985,
        0.13889,
        0.03008
      ],
      [
        0.13986,
        -0.98963,
        -0.03287
      ],
      [
        0.0252,
        0.03674,
        -0.99901
      ]
    ],
    "simulated_seconds_remaining": 19.074,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 2.6026302222162485,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4
                  },
                  "note": "Smaller pitch step to test reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.48326,
      -1.23616,
      -0.1553,
      -2.84797,
      -0.37202,
      1.98163,
      0.35704
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30012,
      0.04928,
      0.9504
    ],
    "tcp_roll_pitch_yaw": [
      0.00429,
      -0.39594,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.9039,
        0.11405,
        0.41227
      ],
      [
        0.13983,
        -0.98963,
        -0.03283
      ],
      [
        0.40425,
        0.08732,
        -0.91047
      ]
    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 5.405075833201408,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Continue incremental pitch toward -90 to face the drawer 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 dresser.",
    "joint_positions": [
      0.48326,
      -1.23616,
      -0.1553,
      -2.84797,
      -0.37202,
      1.98163,
      0.35704
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30012,
      0.04928,
      0.9504
    ],
    "tcp_roll_pitch_yaw": [
      0.00429,
      -0.39594,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.9039,
        0.11405,
        0.41227
      ],
      [
        0.13983,
        -0.98963,
        -0.03283
      ],
      [
        0.40425,
        0.08732,
        -0.91047
      ]
    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.607025487348437,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6,
                    "x": 0.4,
                    "y": -0.05,
                    "z": 0.9
                  },
                  "note": "Move closer/lower toward drawer while pitching more; changing position may free IK."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.28447,
      -0.99178,
      -0.5155,
      -2.93823,
      -0.71739,
      2.57103,
      0.21772
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39933,
      -0.04936,
      0.90025
    ],
    "tcp_roll_pitch_yaw": [
      0.00434,
      -0.59832,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.80421,
        0.09404,
        0.58685
      ],
      [
        0.13969,
        -0.98965,
        -0.03284
      ],
      [
        0.57769,
        0.10839,
        -0.80903
      ]
    ],
    "simulated_seconds_remaining": 16.896,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 3.203008241020143,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0,
                    "x": 0.45,
                    "z": 0.88
                  },
                  "note": "Continue pitching forward and advancing toward the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.28447,
      -0.99178,
      -0.5155,
      -2.93823,
      -0.71739,
      2.57103,
      0.21772
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39933,
      -0.04936,
      0.90025
    ],
    "tcp_roll_pitch_yaw": [
      0.00434,
      -0.59832,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.80421,
        0.09404,
        0.58685
      ],
      [
        0.13969,
        -0.98965,
        -0.03284
      ],
      [
        0.57769,
        0.10839,
        -0.80903
      ]
    ],
    "simulated_seconds_remaining": 16.896,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 3.203749282285571,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8,
                    "x": 0.42
                  },
                  "note": "Smaller combined step: pitch to -0.8 and advance slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.13262,
      -0.87667,
      -0.50581,
      -3.01541,
      -0.90167,
      2.95902,
      0.33345
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41965,
      -0.04956,
      0.90004
    ],
    "tcp_roll_pitch_yaw": [
      0.00368,
      -0.7958,
      -0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.67533,
        0.07029,
        0.73416
      ],
      [
        0.13958,
        -0.98964,
        -0.03363
      ],
      [
        0.72419,
        0.12519,
        -0.67814
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 3.00302123837173,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Keep pitching forward toward horizontal approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.13262,
      -0.87667,
      -0.50581,
      -3.01541,
      -0.90167,
      2.95902,
      0.33345
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41965,
      -0.04956,
      0.90004
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    "tcp_roll_pitch_yaw": [
      0.00368,
      -0.7958,
      -0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.67533,
        0.07029,
        0.73416
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      [
        0.13958,
        -0.98964,
        -0.03363
      ],
      [
        0.72419,
        0.12519,
        -0.67814
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 60.248150032013655,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": -1.571,
                    "pitch": 0
                  },
                  "note": "Revert pitch and set roll -90 (fingers vertical) as prerequisite for yaw-based forward facing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06768,
      0.14705,
      0.61344,
      -2.35789,
      -1.21818,
      1.17614,
      0.85326
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41967,
      -0.04962,
      0.89986
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    "tcp_roll_pitch_yaw": [
      -1.56677,
      -0.00131,
      0.00146
    ],
    "tcp_rotation_matrix": [
      [
        0.99004,
        0.13739,
        0.03064
      ],
      [
        0.02577,
        0.03711,
        -0.99898
      ],
      [
        -0.13839,
        0.98982,
        0.0332
      ]
    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 3.603467421606183,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.571
                  },
                  "note": "Attempt full yaw +90 from this new posture to face the drawer with vertical fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06768,
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      0.61344,
      -2.35789,
      -1.21818,
      1.17614,
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    "gripper_open": 0.9966,
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      0.89986
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    "tcp_roll_pitch_yaw": [
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      0.00146
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    "tcp_rotation_matrix": [
      [
        0.99004,
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      [
        0.02577,
        0.03711,
        -0.99898
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      [
        -0.13839,
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        0.0332
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    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.2069322289899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.5
                  },
                  "note": "Increment yaw in steps; test 0.5 rad."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.04399,
      -0.27489,
      0.59717,
      -2.78567,
      -1.4957,
      1.66474,
      0.84253
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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      0.89996
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    "tcp_roll_pitch_yaw": [
      -1.56705,
      -0.00152,
      0.49578
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    "tcp_rotation_matrix": [
      [
        0.85935,
        0.10303,
        0.5009
      ],
      [
        0.49236,
        0.09799,
        -0.86486
      ],
      [
        -0.13819,
        0.98984,
        0.03348
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 2.8028939738869667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.0
                  },
                  "note": "Continue yaw toward +90."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
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      -0.27489,
      0.59717,
      -2.78567,
      -1.4957,
      1.66474,
      0.84253
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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      0.89996
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    "tcp_roll_pitch_yaw": [
      -1.56705,
      -0.00152,
      0.49578
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    "tcp_rotation_matrix": [
      [
        0.85935,
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        0.5009
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      [
        0.49236,
        0.09799,
        -0.86486
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      [
        -0.13819,
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        0.03348
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    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 3.20294738560915,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.75,
                    "y": -0.15
                  },
                  "note": "Shift right while yawing to help IK reach forward-facing pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.20776,
      -0.55862,
      0.30036,
      -3.01975,
      -2.20042,
      2.10225,
      1.00825
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42862,
      -0.12985,
      0.89795
    ],
    "tcp_roll_pitch_yaw": [
      -1.55533,
      0.01418,
      0.81172
    ],
    "tcp_rotation_matrix": [
      [
        0.66107,
        0.08658,
        0.74531
      ],
      [
        0.73447,
        0.12843,
        -0.66638
      ],
      [
        -0.15342,
        0.98793,
        0.02132
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.404808077961206,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.1,
                    "y": -0.2
                  },
                  "note": "Continue yaw with further right shift toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.20776,
      -0.55862,
      0.30036,
      -3.01975,
      -2.20042,
      2.10225,
      1.00825
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42862,
      -0.12985,
      0.89795
    ],
    "tcp_roll_pitch_yaw": [
      -1.55533,
      0.01418,
      0.81172
    ],
    "tcp_rotation_matrix": [
      [
        0.66107,
        0.08658,
        0.74531
      ],
      [
        0.73447,
        0.12843,
        -0.66638
      ],
      [
        -0.15342,
        0.98793,
        0.02132
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 3.2030708119273186,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.95,
                    "y": -0.16,
                    "z": 0.85
                  },
                  "note": "Smaller yaw increment plus slight lowering to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.20776,
      -0.55862,
      0.30036,
      -3.01975,
      -2.20042,
      2.10225,
      1.00825
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42862,
      -0.12985,
      0.89795
    ],
    "tcp_roll_pitch_yaw": [
      -1.55533,
      0.01418,
      0.81172
    ],
    "tcp_rotation_matrix": [
      [
        0.66107,
        0.08658,
        0.74531
      ],
      [
        0.73447,
        0.12843,
        -0.66638
      ],
      [
        -0.15342,
        0.98793,
        0.02132
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 12.010069653391838,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.03,
                    "z": 0.95
                  },
                  "note": "Keep current diagonal orientation (fingers vertical) and move toward estimated handle area to view it in wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.05757,
      -0.59258,
      0.45635,
      -2.89598,
      -1.73753,
      2.06997,
      0.75152
    ],
    "gripper_open": 0.9825,
    "tcp_xyz": [
      0.4416,
      -0.04401,
      0.93977
    ],
    "tcp_roll_pitch_yaw": [
      -1.51979,
      -0.01104,
      0.75813
    ],
    "tcp_rotation_matrix": [
      [
        0.69864,
        0.09941,
        0.70853
      ],
      [
        0.70403,
        0.08089,
        -0.70555
      ],
      [
        -0.12745,
        0.99175,
        -0.01347
      ]
    ],
    "simulated_seconds_remaining": 10.692,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 10.609027945436537,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.53,
                    "y": 0.0,
                    "z": 0.94
                  },
                  "note": "Advance toward drawer handle so the vertical fingers straddle the horizontal bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.11589,
      -0.24162,
      0.53966,
      -2.6135,
      -1.64896,
      1.9181,
      0.7602
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.51032,
      -0.01375,
      0.92079
    ],
    "tcp_roll_pitch_yaw": [
      -1.44601,
      -0.04326,
      0.66576
    ],
    "tcp_rotation_matrix": [
      [
        0.75709,
        0.12645,
        0.64096
      ],
      [
        0.64669,
        -0.00569,
        -0.76273
      ],
      [
        -0.0928,
        0.99196,
        -0.08608
      ]
    ],
    "simulated_seconds_remaining": 9.768,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 7.006120138801634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.03,
                    "z": 0.96
                  },
                  "note": "Handle appears slightly left and above gripper; adjust up-left to bring it into the finger gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06822,
      -0.26955,
      0.58032,
      -2.54867,
      -1.39471,
      1.87922,
      0.6457
    ],
    "gripper_open": 0.9597,
    "tcp_xyz": [
      0.49059,
      0.01574,
      0.92999
    ],
    "tcp_roll_pitch_yaw": [
      -1.34174,
      -0.0573,
      0.56484
    ],
    "tcp_rotation_matrix": [
      [
        0.81172,
        0.16888,
        0.5591
      ],
      [
        0.57936,
        -0.11181,
        -0.80737
      ],
      [
        -0.07383,
        0.97927,
        -0.1886
      ]
    ],
    "simulated_seconds_remaining": 9.108,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 7.606879511848092,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.07
                  },
                  "note": "Shift further left to center the pale handle-like feature seen in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02648,
      -0.17202,
      0.66693,
      -2.45187,
      -1.33237,
      1.74976,
      0.64984
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49062,
      0.06884,
      0.92999
    ],
    "tcp_roll_pitch_yaw": [
      -1.34171,
      -0.05732,
      0.56508
    ],
    "tcp_rotation_matrix": [
      [
        0.81158,
        0.1689,
        0.55929
      ],
      [
        0.57956,
        -0.11181,
        -0.80722
      ],
      [
        -0.07381,
        0.97927,
        -0.18863
      ]
    ],
    "simulated_seconds_remaining": 8.448,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 13.812175391241908,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 0.96
                  },
                  "note": "Push in slightly and raise to handle height before closing fingers on the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06341,
      -0.06091,
      0.64852,
      -2.28901,
      -1.29629,
      1.73466,
      0.57418
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.5295,
      0.0692,
      0.93529
    ],
    "tcp_roll_pitch_yaw": [
      -1.25211,
      -0.05112,
      0.49945
    ],
    "tcp_rotation_matrix": [
      [
        0.84168,
        0.20879,
        0.49797
      ],
      [
        0.5348,
        -0.19501,
        -0.82217
      ],
      [
        -0.07455,
        0.95832,
        -0.2758
      ]
    ],
    "simulated_seconds_remaining": 7.722,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 4.804757717065513,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close fingers, hoping the handle bar is between the vertically-oriented fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.06341,
      -0.06091,
      0.64852,
      -2.28901,
      -1.29629,
      1.73466,
      0.57418
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52951,
      0.06919,
      0.93529
    ],
    "tcp_roll_pitch_yaw": [
      -1.2521,
      -0.05112,
      0.49944
    ],
    "tcp_rotation_matrix": [
      [
        0.84169,
        0.20879,
        0.49796
      ],
      [
        0.53479,
        -0.19502,
        -0.82217
      ],
      [
        -0.07455,
        0.95832,
        -0.27581
      ]
    ],
    "simulated_seconds_remaining": 6.798,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 9.408254300244153,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "y": 0.13,
                    "x": 0.52
                  },
                  "note": "Nothing was grasped; reopen and shift left along the handle bar where its pale end was visible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00668,
      0.046,
      0.72126,
      -2.18301,
      -1.26363,
      1.58033,
      0.59614
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.5202,
      0.12877,
      0.93528
    ],
    "tcp_roll_pitch_yaw": [
      -1.25206,
      -0.05113,
      0.49962
    ],
    "tcp_rotation_matrix": [
      [
        0.84159,
        0.20884,
        0.49811
      ],
      [
        0.53495,
        -0.19503,
        -0.82207
      ],
      [
        -0.07454,
        0.95831,
        -0.27585
      ]
    ],
    "simulated_seconds_remaining": 5.874,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 6.205833477899432,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.985
                  },
                  "note": "Handle appears higher than fingers in exterior view; raise to ~0.985 m before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00061,
      -0.03669,
      0.71502,
      -2.14615,
      -1.22473,
      1.588,
      0.4891
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.52022,
      0.1288,
      0.98394
    ],
    "tcp_roll_pitch_yaw": [
      -1.2521,
      -0.05136,
      0.49963
    ],
    "tcp_rotation_matrix": [
      [
        0.8416,
        0.20863,
        0.49818
      ],
      [
        0.53496,
        -0.19509,
        -0.82204
      ],
      [
        -0.07431,
        0.95834,
        -0.2758
      ]
    ],
    "simulated_seconds_remaining": 5.214,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 4.003721193410456,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close fingers at this height to try to capture the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00061,
      -0.03669,
      0.71502,
      -2.14615,
      -1.22473,
      1.588,
      0.4891
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52022,
      0.1288,
      0.98395
    ],
    "tcp_roll_pitch_yaw": [
      -1.2521,
      -0.05136,
      0.49963
    ],
    "tcp_rotation_matrix": [
      [
        0.8416,
        0.20863,
        0.49818
      ],
      [
        0.53496,
        -0.19509,
        -0.82204
      ],
      [
        -0.07431,
        0.95834,
        -0.2758
      ]
    ],
    "simulated_seconds_remaining": 4.29,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 4.404187547042966,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4
                  },
                  "note": "Attempt to hook closed fingers behind the handle and pull the drawer out."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.12185,
      -0.37137,
      0.72869,
      -2.41143,
      -0.98442,
      1.61296,
      0.47277
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.40127,
      0.1289,
      0.984
    ],
    "tcp_roll_pitch_yaw": [
      -1.25222,
      -0.05142,
      0.49987
    ],
    "tcp_rotation_matrix": [
      [
        0.84149,
        0.20857,
        0.49839
      ],
      [
        0.53515,
        -0.19497,
        -0.82195
      ],
      [
        -0.07427,
        0.95838,
        -0.27568
      ]
    ],
    "simulated_seconds_remaining": 3.168,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 9.608321130275726,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "y": 0.18,
                    "z": 1.0,
                    "x": 0.5
                  },
                  "note": "Final attempt: reopen and reposition further left/up onto the visible handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04645,
      0.02447,
      0.79791,
      -2.04973,
      -1.196,
      1.44484,
      0.48748
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49887,
      0.17937,
      0.99978
    ],
    "tcp_roll_pitch_yaw": [
      -1.25214,
      -0.05133,
      0.4998
    ],
    "tcp_rotation_matrix": [
      [
        0.84151,
        0.20867,
        0.49832
      ],
      [
        0.5351,
        -0.19501,
        -0.82197
      ],
      [
        -0.07434,
        0.95835,
        -0.27576
      ]
    ],
    "simulated_seconds_remaining": 2.112,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 4.804574474692345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close on handle at new position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04645,
      0.02447,
      0.79791,
      -2.04973,
      -1.196,
      1.44484,
      0.48748
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.49889,
      0.17938,
      0.99978
    ],
    "tcp_roll_pitch_yaw": [
      -1.25214,
      -0.05133,
      0.4998
    ],
    "tcp_rotation_matrix": [
      [
        0.84151,
        0.20867,
        0.49832
      ],
      [
        0.5351,
        -0.19501,
        -0.82197
      ],
      [
        -0.07434,
        0.95835,
        -0.27576
      ]
    ],
    "simulated_seconds_remaining": 1.188,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 3.202953946776688,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42
                  },
                  "note": "Last pull attempt with remaining time."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.09811,
      -0.18673,
      0.81827,
      -2.21422,
      -1.03074,
      1.46862,
      0.49277
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42133,
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    ],
    "tcp_roll_pitch_yaw": [
      -1.25225,
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      0.50011
    ],
    "tcp_rotation_matrix": [
      [
        0.84136,
        0.20861,
        0.49859
      ],
      [
        0.53535,
        -0.19489,
        -0.82184
      ],
      [
        -0.07427,
        0.95838,
        -0.27565
      ]
    ],
    "simulated_seconds_remaining": 0.396,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 4.404016585089266,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not orient gripper to face the drawer front (yaw rotations repeatedly rejected by IK), so the handle was never grasped; simulated time ran out."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 639,
  "house_index": 321,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 8,
  "api_calls": 9,
  "wall_seconds": 54.178242206573486,
  "usage": {
    "input_tokens": 18,
    "cache_creation_input_tokens": 7653,
    "cache_read_input_tokens": 35326,
    "output_tokens": 2357
  },
  "estimated_cost_usd": 0.12450925
}


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.



MODEL RESPONSES


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        "thinking": ""
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        "type": "tool_use",
        "id": "toolu_013rJLS1ZbHUfM3A4MQ8aJYP",
        "name": "observe",
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        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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{
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    "model": "claude-opus-5",
    "id": "msg_011CezhNRJqtxGq25MBeX4Jb",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "z": 1.0
          },
          "note": "Move forward toward the desk to get a clearer wrist view of the table/drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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{
  "api_call": 3,
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    "model": "claude-opus-5",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.5,
            "z": 1.05
          },
          "note": "Rotating gripper from downward to forward-facing so the wrist camera looks ahead at the desk."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQ18MuyWQMZ75wgrRm",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.7
          },
          "note": "Incremental pitch rotation toward forward-facing gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQFz4zbqmsZRbH7LVe",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_017nv6vZ6RRKuqzigMMshMzD",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.45
          },
          "note": "Continue rotating to point gripper forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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{
  "api_call": 6,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQUcqqDs7GVZP9X39m",
    "type": "message",
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        "thinking": ""
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      {
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        "id": "toolu_01JesmcszPUjUcLdz2YCQvJm",
        "name": "move_to",
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          },
          "note": "Lowering while pitching forward; lower z may make the forward-facing pose reachable."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQjZkze39vH2hhqAp4",
    "type": "message",
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    "content": [
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        "thinking": ""
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        "input": {
          "targets": {
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          },
          "note": "Small incremental pitch step to find reachable range."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhQz8rF6A4EWyVf7cvp",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "x": 0.5,
            "pitch": -1.1
          },
          "note": "Extending forward while pitching more; extension should relieve elbow joint limit."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhRYdiow6AjCcp8vqET",
    "type": "message",
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        "thinking": ""
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        "id": "toolu_01ASvuAfRQgH7KcPMdxeUMYQ",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.3,
            "z": 1.05
          },
          "note": "Moving left toward the desk seen on the left in the exterior view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}


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": 9.006331868469715,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1.0
                  },
                  "note": "Move forward toward the desk to get a clearer wrist view of the table/drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03623,
      -0.22793,
      -0.07373,
      -1.90461,
      0.06664,
      1.26556,
      -0.00685
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37598,
      0.00347,
      1.00626
    ],
    "tcp_roll_pitch_yaw": [
      0.01388,
      0.24505,
      0.01994
    ],
    "tcp_rotation_matrix": [
      [
        0.91717,
        -0.03626,
        -0.39685
      ],
      [
        0.00083,
        -0.99567,
        0.09291
      ],
      [
        -0.39851,
        -0.08554,
        -0.91317
      ]
    ],
    "simulated_seconds_remaining": 28.512,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 14.611993931233883,
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              "functionCall": {
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                "args": {
                  "targets": {
                    "pitch": -1.5,
                    "z": 1.05
                  },
                  "note": "Rotating gripper from downward to forward-facing so the wrist camera looks ahead at the desk."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.03623,
      -0.22793,
      -0.07373,
      -1.90461,
      0.06664,
      1.26556,
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    "gripper_open": 1.0,
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      0.01994
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    "tcp_rotation_matrix": [
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    "calls_remaining_including_this": 55
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  "api_seconds": 3.002800388261676,
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                  "note": "Incremental pitch rotation toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
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      -1.00699,
      -0.0676,
      -2.69824,
      0.08455,
      2.21483,
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    "gripper_open": 0.9967,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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      0.02082
    ],
    "tcp_rotation_matrix": [
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        0.5007
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      [
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      ],
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    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 2.8027303647249937,
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                  "note": "Continue rotating to point gripper forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
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    "instruction": "open the table.",
    "joint_positions": [
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    "gripper_open": 0.9967,
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    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 53
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  "api_seconds": 3.4031201861798763,
  "response": {
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        "content": {
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              "functionCall": {
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                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "z": 0.92
                  },
                  "note": "Lowering while pitching forward; lower z may make the forward-facing pose reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 6,
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    "instruction": "open the table.",
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    "gripper_open": 0.9967,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
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      ],
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    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.203080100938678,
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                  },
                  "note": "Small incremental pitch step to find reachable range."
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              }
            }
          ]
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{
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                  },
                  "note": "Extending forward while pitching more; extension should relieve elbow joint limit."
                }
              }
            }
          ]
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      }
    ]
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{
  "call": 8,
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    "instruction": "open the table.",
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                  "note": "Moving left toward the desk seen on the left in the exterior view."
                }
              }
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          ]
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}

========================================================================
Opus 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,
  "source_episode_index": 675,
  "house_index": 322,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 24,
  "api_calls": 25,
  "wall_seconds": 225.77644109725952,
  "usage": {
    "input_tokens": 50,
    "cache_creation_input_tokens": 23859,
    "cache_read_input_tokens": 297348,
    "output_tokens": 10457
  },
  "estimated_cost_usd": 0.55946775
}


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.



MODEL RESPONSES


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          "note": "Moving forward and slightly down to get a better wrist view of the dresser front."
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          "note": "Probing further forward and left toward the dark dresser front to locate handles."
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          "note": "Re-centering yaw and advancing to approach dresser front face."
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          "note": "Backing off slightly and raising to inspect upper dresser region where a brown handle bar appeared in wrist view."
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          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 933,
      "cache_read_input_tokens": 11878,
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        "ephemeral_5m_input_tokens": 933,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 956,
      "output_tokens_details": {
        "thinking_tokens": 848
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhdAcySd9oHrxQjUgpa",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01P8bSiCZiMkLe38wauPWMJZ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6
          },
          "note": "Advancing forward at estimated handle height/lateral position to see if we contact/see the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1449,
      "cache_read_input_tokens": 12811,
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      },
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      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhdu57dCjgsV56wagSn",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QmXhweJbgk19uubyYXVDzL",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.44,
            "y": -0.18,
            "z": 0.85,
            "pitch": 0,
            "roll": 0,
            "yaw": 0
          },
          "note": "Repositioning to refined handle estimate (right/lower) just short of the dresser face at x~0.49."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhehwR1CtnHvhPjYQpo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MMpm3DdwR4tB7Dwwn5dQgu",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Gripper appears aligned with the right drawer handle in exterior view; closing to attempt grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhfCWNzZJoTDdYEpDNn",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01K3J4bnJxnTGGBszqHh1Dgb",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "gripper": 1
          },
          "note": "Opening gripper and probing forward here to find where contact occurs (handle vs flat face)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhfy6m1HQYfs4njJFvz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UVXs9GzcdNE2P1NmvPg79E",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.43,
            "y": -0.1,
            "z": 0.85,
            "pitch": 0,
            "roll": 0,
            "yaw": 0
          },
          "note": "Refining to handle estimate y=-0.10, z=0.85 based on exterior pixel mapping."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
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  }
}

{
  "api_call": 19,
  "response": {
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    "id": "msg_011CezhhEXykVVUNN8GaTyz7",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "id": "toolu_01SvmUhBEdMtjj25BfHo6U2C",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.47
          },
          "note": "Nudging forward 4cm so the handle sits between the fingers before closing."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhhnhVSS93GqngCUW9K",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014jjeqyy3eHtEjFWvZtSwhd",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing gripper at handle depth to grasp the drawer pull."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 120,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhiPWGX56rmqQVqHnaz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019jCTYDDqMgz4mpAjveLR7X",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.44,
            "y": 0.15,
            "z": 0.82,
            "gripper": 1
          },
          "note": "Previous crescent wasn't a graspable handle; targeting the other crescent (left, +y) as the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
      "inference_geo": "global"
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  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhj3gSJRcjwCpw7r551",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EwoUMEs7sqNAp4ouFyLdPp",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.47
          },
          "note": "Advancing to handle depth at the left handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 244,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhjTozsuYEWmGYaLkYX",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01HQTWxVkLZjmrXRWv3Xe6Ys",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing on the left handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
      "inference_geo": "global"
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  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhjpsmpz4qGH52fpN7C",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01WgEWnipMNc7JAdJP57GDyo",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.36
          },
          "note": "Pulling back with closed gripper in case fingers hook the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
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      },
      "output_tokens": 177,
      "output_tokens_details": {
        "thinking_tokens": 80
      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhk9VSx6qtvcfhDv9Qw",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01BRK1Dxu8hsvduJPQjhnTze",
        "name": "give_up",
        "input": {
          "note": "Scene was very dark; could not visually localize the dresser handle. Multiple grasp attempts at estimated handle positions closed on empty air, and simulated time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 161,
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      },
      "service_tier": "standard",
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  }
}


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": 9.407251531258225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.95
                  },
                  "note": "Moving forward and slightly down to get a better wrist view of the dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.00854,
      -0.40704,
      -0.04336,
      -2.24071,
      -0.08048,
      1.79237,
      0.08856
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.41877,
      -0.03993,
      0.95059
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.00028,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99234,
        -0.11557,
        -0.04372
      ],
      [
        -0.11805,
        -0.99124,
        -0.05928
      ],
      [
        -0.03649,
        0.06398,
        -0.99728
      ]
    ],
    "simulated_seconds_remaining": 28.842,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.204601180739701,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.1,
                    "z": 0.95
                  },
                  "note": "Probing further forward and left toward the dark dresser front to locate handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.08938,
      0.02064,
      0.096,
      -1.78583,
      -0.05459,
      1.72013,
      0.7669
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.53988,
      0.08751,
      0.94955
    ],
    "tcp_roll_pitch_yaw": [
      -0.03382,
      -0.00538,
      -0.45274
    ],
    "tcp_rotation_matrix": [
      [
        0.84036,
        -0.53682,
        -0.07492
      ],
      [
        -0.54136,
        -0.83812,
        -0.06694
      ],
      [
        -0.02686,
        0.09681,
        -0.99494
      ]
    ],
    "simulated_seconds_remaining": 27.258,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.406223525293171,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63,
                    "y": 0.0,
                    "z": 0.95,
                    "yaw": 0
                  },
                  "note": "Re-centering yaw and advancing to approach dresser front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.09483,
      0.12618,
      0.07277,
      -1.48933,
      -0.10651,
      1.23714,
      0.19425
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49211,
      0.0523,
      1.00683
    ],
    "tcp_roll_pitch_yaw": [
      -0.07357,
      0.32384,
      0.0556
    ],
    "tcp_rotation_matrix": [
      [
        0.93728,
        -0.01133,
        -0.34838
      ],
      [
        -0.06842,
        -0.98601,
        -0.15202
      ],
      [
        -0.34178,
        0.16633,
        -0.92494
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.406699946150184,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.0,
                    "z": 0.95,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Retry advancing with level orientation to probe dresser front distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.11994,
      0.0547,
      0.03636,
      -1.61434,
      -0.06412,
      1.31943,
      0.15741
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47977,
      0.05754,
      0.99271
    ],
    "tcp_roll_pitch_yaw": [
      -0.02024,
      0.30271,
      0.09971
    ],
    "tcp_rotation_matrix": [
      [
        0.94431,
        0.01365,
        -0.32876
      ],
      [
        -0.02489,
        -0.99331,
        -0.11274
      ],
      [
        -0.3281,
        0.11464,
        -0.93766
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.207437206059694,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 1.1
                  },
                  "note": "Backing off slightly and raising to inspect upper dresser region where a brown handle bar appeared in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.12825,
      -0.05455,
      0.04493,
      -1.46777,
      -0.05969,
      1.06328,
      0.15866
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4206,
      0.05755,
      1.09896
    ],
    "tcp_roll_pitch_yaw": [
      -0.02023,
      0.30258,
      0.09973
    ],
    "tcp_rotation_matrix": [
      [
        0.94436,
        0.01366,
        -0.32864
      ],
      [
        -0.02486,
        -0.99332,
        -0.11273
      ],
      [
        -0.32798,
        0.11462,
        -0.9377
      ]
    ],
    "simulated_seconds_remaining": 23.826,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 6.605513830669224,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.2
                  },
                  "note": "Raising further to center the bright handle blob seen above in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.1421,
      0.2059,
      0.05254,
      -0.82253,
      -0.09179,
      0.67843,
      0.13988
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4207,
      0.05756,
      1.19874
    ],
    "tcp_roll_pitch_yaw": [
      -0.02025,
      0.30238,
      0.09977
    ],
    "tcp_rotation_matrix": [
      [
        0.94443,
        0.01368,
        -0.32844
      ],
      [
        -0.02482,
        -0.99331,
        -0.11274
      ],
      [
        -0.32779,
        0.11462,
        -0.93777
      ]
    ],
    "simulated_seconds_remaining": 22.836,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.608097415417433,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25,
                    "z": 1.15
                  },
                  "note": "Moving left to test image mapping: see whether gripper approaches the two lit handles in exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.38946,
      0.37152,
      0.17453,
      -0.73229,
      0.02496,
      0.75298,
      0.58405
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42069,
      0.2488,
      1.15025
    ],
    "tcp_roll_pitch_yaw": [
      -0.02026,
      0.30257,
      0.10002
    ],
    "tcp_rotation_matrix": [
      [
        0.94437,
        0.01395,
        -0.32859
      ],
      [
        -0.02459,
        -0.99331,
        -0.11285
      ],
      [
        -0.32797,
        0.11465,
        -0.93771
      ]
    ],
    "simulated_seconds_remaining": 21.186,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 10.008346511051059,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Lowering to bring the crescent handle shapes seen at lower-left of wrist view toward center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.34713,
      0.07852,
      0.16074,
      -1.56359,
      0.05127,
      1.29162,
      0.52052
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42068,
      0.24879,
      1.00123
    ],
    "tcp_roll_pitch_yaw": [
      -0.02038,
      0.30287,
      0.09999
    ],
    "tcp_rotation_matrix": [
      [
        0.94428,
        0.01399,
        -0.32886
      ],
      [
        -0.02463,
        -0.99329,
        -0.11299
      ],
      [
        -0.32823,
        0.11479,
        -0.9376
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 13.210764767602086,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0
                  },
                  "note": "Moving back right to calibrate image mapping of gripper position in exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.13968,
      -0.15135,
      -0.06893,
      -1.83488,
      -0.10169,
      1.34051,
      0.07308
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42069,
      0.00123,
      1.00124
    ],
    "tcp_roll_pitch_yaw": [
      -0.0204,
      0.30284,
      0.09969
    ],
    "tcp_rotation_matrix": [
      [
        0.94428,
        0.01369,
        -0.32887
      ],
      [
        -0.02491,
        -0.99329,
        -0.1129
      ],
      [
        -0.32821,
        0.1148,
        -0.9376
      ]
    ],
    "simulated_seconds_remaining": 17.886,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.811514873057604,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 1.05
                  },
                  "note": "Advancing forward at handle height to test reachability and get closer wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.12382,
      0.27235,
      -0.07788,
      -1.0471,
      -0.08191,
      0.64687,
      0.00931
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42133,
      0.00606,
      1.11223
    ],
    "tcp_roll_pitch_yaw": [
      0.01759,
      0.63227,
      0.08713
    ],
    "tcp_rotation_matrix": [
      [
        0.78515,
        0.02083,
        -0.61895
      ],
      [
        -0.04926,
        -0.99417,
        -0.09596
      ],
      [
        -0.61734,
        0.10583,
        -0.77955
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.80590146407485,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.0,
                    "z": 1.05,
                    "pitch": 0.0,
                    "roll": 0.0,
                    "yaw": 0.0
                  },
                  "note": "Resetting orientation to initial level pose to regain a forward-facing wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.12452,
      -0.28857,
      -0.07499,
      -1.87327,
      -0.07821,
      1.53328,
      0.16893
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44942,
      -1e-05,
      1.05039
    ],
    "tcp_roll_pitch_yaw": [
      -0.0002,
      0.00576,
      0.00045
    ],
    "tcp_rotation_matrix": [
      [
        0.99217,
        -0.11478,
        -0.04916
      ],
      [
        -0.11762,
        -0.99127,
        -0.0595
      ],
      [
        -0.0419,
        0.06482,
        -0.99702
      ]
    ],
    "simulated_seconds_remaining": 15.576,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 18.615757631137967,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.11,
                    "z": 0.92
                  },
                  "note": "Estimating handle location right and below current gripper position from exterior view; moving there."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.03922,
      -0.27844,
      -0.22043,
      -2.19052,
      -0.13346,
      1.87714,
      -0.01208
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44937,
      -0.10921,
      0.92093
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      0.00601,
      0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.99214,
        -0.11493,
        -0.04942
      ],
      [
        -0.11779,
        -0.99126,
        -0.05945
      ],
      [
        -0.04216,
        0.06481,
        -0.99701
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 9.408441064879298,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Advancing forward at estimated handle height/lateral position to see if we contact/see the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04645,
      0.05594,
      -0.22474,
      -1.65562,
      -0.03193,
      1.3977,
      -0.04254
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48535,
      -0.09536,
      0.97626
    ],
    "tcp_roll_pitch_yaw": [
      0.06453,
      0.27204,
      -0.02136
    ],
    "tcp_rotation_matrix": [
      [
        0.94141,
        -0.13256,
        -0.31011
      ],
      [
        -0.13561,
        -0.99069,
        0.01178
      ],
      [
        -0.30878,
        0.03096,
        -0.95063
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.207694229669869,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44,
                    "y": -0.18,
                    "z": 0.85,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Repositioning to refined handle estimate (right/lower) just short of the dresser face at x~0.49."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03327,
      -0.20169,
      -0.30893,
      -2.29619,
      -0.1503,
      2.07526,
      -0.14341
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44018,
      -0.17954,
      0.8507
    ],
    "tcp_roll_pitch_yaw": [
      0.00051,
      0.00204,
      -0.00039
    ],
    "tcp_rotation_matrix": [
      [
        0.99222,
        -0.11585,
        -0.0455
      ],
      [
        -0.11843,
        -0.99122,
        -0.05875
      ],
      [
        -0.03829,
        0.06368,
        -0.99724
      ]
    ],
    "simulated_seconds_remaining": 11.418,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.20460479427129,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Gripper appears aligned with the right drawer handle in exterior view; closing to attempt grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.03327,
      -0.20169,
      -0.30893,
      -2.29619,
      -0.1503,
      2.07526,
      -0.14341
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.44017,
      -0.17955,
      0.8507
    ],
    "tcp_roll_pitch_yaw": [
      0.00051,
      0.00201,
      -0.00039
    ],
    "tcp_rotation_matrix": [
      [
        0.99223,
        -0.11585,
        -0.04547
      ],
      [
        -0.11842,
        -0.99122,
        -0.05876
      ],
      [
        -0.03826,
        0.06369,
        -0.99724
      ]
    ],
    "simulated_seconds_remaining": 10.494,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.808342124335468,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "gripper": 1
                  },
                  "note": "Opening gripper and probing forward here to find where contact occurs (handle vs flat face)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01184,
      0.02949,
      -0.2999,
      -1.9359,
      -0.03976,
      1.68899,
      -0.16058
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46446,
      -0.16035,
      0.87982
    ],
    "tcp_roll_pitch_yaw": [
      0.09073,
      0.23395,
      -0.02312
    ],
    "tcp_rotation_matrix": [
      [
        0.95158,
        -0.14142,
        -0.27295
      ],
      [
        -0.13633,
        -0.98995,
        0.03765
      ],
      [
        -0.27553,
        0.00139,
        -0.96129
      ]
    ],
    "simulated_seconds_remaining": 9.438,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 16.814141411334276,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.43,
                    "y": -0.1,
                    "z": 0.85,
                    "pitch": 0,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Refining to handle estimate y=-0.10, z=0.85 based on exterior pixel mapping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.03111,
      -0.29192,
      -0.21656,
      -2.38891,
      -0.14471,
      2.06341,
      0.013
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43035,
      -0.10061,
      0.85034
    ],
    "tcp_roll_pitch_yaw": [
      0.001,
      0.0029,
      -0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.99221,
        -0.11563,
        -0.04634
      ],
      [
        -0.11824,
        -0.99127,
        -0.05827
      ],
      [
        -0.0392,
        0.0633,
        -0.99722
      ]
    ],
    "simulated_seconds_remaining": 8.646,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 7.206270252354443,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47
                  },
                  "note": "Nudging forward 4cm so the handle sits between the fingers before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.04407,
      -0.17404,
      -0.2175,
      -2.27146,
      -0.11656,
      2.06256,
      0.00485
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.46891,
      -0.1006,
      0.85032
    ],
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    "simulated_seconds_remaining": 8.052,
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{
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{
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{
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{
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{
  "call": 24,
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    "instruction": "open the dresser.",
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              "functionCall": {
                "name": "give_up",
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                  "note": "Scene was very dark; could not visually localize the dresser handle. Multiple grasp attempts at estimated handle positions closed on empty air, and simulated time is exhausted."
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              }
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          ]
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      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 698,
  "house_index": 323,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 22,
  "api_calls": 23,
  "wall_seconds": 231.31369614601135,
  "usage": {
    "input_tokens": 46,
    "cache_creation_input_tokens": 25005,
    "cache_read_input_tokens": 270500,
    "output_tokens": 12619
  },
  "estimated_cost_usd": 0.60723625
}


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.



MODEL RESPONSES


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          "note": "Rotating gripper to point forward and moving toward the nightstand on the left to see its drawers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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          "note": "Nightstand appears further left; moving left to center it in wrist view."
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          "note": "Resetting orientation to face forward and stepping forward toward the nightstand."
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          "note": "Orientation drifted; commanding clean forward-facing orientation at current position."
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          "note": "Nudging left and down toward nightstand, small increment to avoid IK rejection."
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{
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{
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        "id": "toolu_015MhKMACQC8cVL8SRFJcHGc",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.32,
            "y": 0.3,
            "z": 0.95,
            "roll": 0,
            "pitch": -1.57,
            "yaw": 0
          },
          "note": "Backing off to clean forward-facing orientation to get an unobstructed wrist view of the nightstand front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1491,
      "cache_read_input_tokens": 8575,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1491,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 747,
      "output_tokens_details": {
        "thinking_tokens": 596
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      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhtfbRLdaQXJjxkWx4V",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LdymaLEnrsjQcEb4BZHyy4",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "y": 0.33,
            "z": 1.0,
            "roll": -1.57,
            "pitch": -1.3,
            "yaw": 1.57
          },
          "note": "Small retreat with modest orientation change near current configuration to regain a usable wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1237,
      "cache_read_input_tokens": 10066,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 242,
      "output_tokens_details": {
        "thinking_tokens": 94
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhu3ouB9QABCpqKQi1V",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TNJusz232qjg8MevvKFRNE",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 0,
            "pitch": -1.4,
            "yaw": 0
          },
          "note": "Setting canonical forward-facing gripper orientation to get a clear wrist view of the drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 732,
      "cache_read_input_tokens": 11303,
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      },
      "output_tokens": 1395,
      "output_tokens_details": {
        "thinking_tokens": 1270
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhvXWov2SQBZc9daWyw",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_011PSQ6Z5ASjuRzK3NVa7Z5U",
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        "input": {
          "targets": {
            "y": 0.45,
            "z": 0.88
          },
          "note": "Wrist view shows nightstand to the left and below; moving left and down with clean orientation."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1885,
      "cache_read_input_tokens": 12035,
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        "ephemeral_5m_input_tokens": 1885,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 452,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhwADfvdxqRNV7aC5FJ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.24,
            "y": 0.5,
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          },
          "note": "Likely colliding with nightstand side; retreating in x while moving left to get in front of the drawer face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 942,
      "cache_read_input_tokens": 13920,
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      },
      "output_tokens": 419,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezhwn7AyyMQpGnNya41X",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01WEfMCffHGB2L1oWJpoKVwe",
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        "input": {
          "targets": {
            "y": 0.42,
            "z": 0.85,
            "roll": 0,
            "pitch": -1.4,
            "yaw": 0
          },
          "note": "Drawers now visible left-and-below; moving left and down toward the upper drawer handle with clean forward orientation."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
      "output_tokens": 572,
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  }
}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhxYJjdHBN6Y9aiBs2a",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.78
          },
          "note": "Drawer front appears below the gripper in wrist view; lowering to handle height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
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  }
}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhyQo5B99L517gHa9Vu",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.15,
            "y": 0.45
          },
          "note": "Testing whether leftward motion is blocked by the nightstand: retreating in x while commanding more +y."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 2227,
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi27CjJQuLUbZRDVBLn",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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            "y": 0.4,
            "z": 0.79,
            "roll": 0,
            "pitch": -1.45,
            "yaw": 0
          },
          "note": "Approaching the lower drawer handle (seen slightly left and at this height) with gripper open, facing forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi33ocg98JMEf2RqJc3",
    "type": "message",
    "role": "assistant",
    "content": [
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01A9xobTtf38BQC4he6dkhQz",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.44,
            "y": 0.38
          },
          "note": "Advancing toward the drawer front to place fingers around the handle before closing."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
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      "inference_geo": "global"
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  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi3kP9Z1aKq7SExKZH4",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0157ZiLS4gonRvXToULamGyD",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.46,
            "y": 0.42,
            "z": 0.78
          },
          "note": "Final alignment: pushing in and left to straddle the lower drawer handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 323,
      "output_tokens_details": {
        "thinking_tokens": 207
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi4DoQhBfXhvCkePBBj",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01GQDBQsUxp7k3WB373RnNMg",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing gripper at drawer front in hope of catching the handle edge before time runs out."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
      "output_tokens": 283,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi4f9QuNh6ZdvNLbtKk",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01NR94vUp4ohkYjNKNy4P9zX",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.28
          },
          "note": "Pulling backward along -x to attempt to open the drawer with the closed gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 772,
      "cache_read_input_tokens": 23643,
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      },
      "output_tokens": 101,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi4u7nvw56yskJXZ5Br",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MrTkmggnDfTPgu3aR833bZ",
        "name": "give_up",
        "input": {
          "note": "Could not reach the nightstand drawer handle: leftward (+y) motion was consistently limited to y≈0.36 m while the handle sat further left, and simulated time ran out."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 127,
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  }
}


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": 11.609193164855242,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.3,
                    "z": 0.95,
                    "pitch": -1.4
                  },
                  "note": "Rotating gripper to point forward and moving toward the nightstand on the left to see its drawers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.37652,
      -1.18187,
      1.41095,
      -2.91399,
      0.42075,
      3.42611,
      0.71537
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39967,
      0.2993,
      0.95054
    ],
    "tcp_roll_pitch_yaw": [
      -0.0014,
      -1.39623,
      0.00106
    ],
    "tcp_rotation_matrix": [
      [
        0.14574,
        0.10776,
        0.98344
      ],
      [
        0.14541,
        -0.98559,
        0.08644
      ],
      [
        0.97858,
        0.13041,
        -0.15931
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.0040137972682714,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.5,
                    "z": 0.95
                  },
                  "note": "Nightstand appears further left; moving left to center it in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.71947,
      -1.36678,
      1.57118,
      -2.83049,
      0.32354,
      3.89815,
      0.85326
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.4237,
      0.34478,
      0.97302
    ],
    "tcp_roll_pitch_yaw": [
      -2.23693,
      -1.38751,
      2.43233
    ],
    "tcp_rotation_matrix": [
      [
        -0.18932,
        0.24276,
        0.95143
      ],
      [
        0.25329,
        -0.92409,
        0.28619
      ],
      [
        0.94868,
        0.29517,
        0.11346
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 8.807465745136142,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.3,
                    "z": 0.95,
                    "roll": 0,
                    "pitch": -1.4,
                    "yaw": 0
                  },
                  "note": "Resetting orientation to face forward and stepping forward toward the nightstand."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.01798,
      -1.03763,
      1.5341,
      -2.76207,
      -0.00102,
      4.35301,
      0.84816
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44543,
      0.34682,
      0.97276
    ],
    "tcp_roll_pitch_yaw": [
      -2.22373,
      -1.52024,
      2.6876
    ],
    "tcp_rotation_matrix": [
      [
        -0.13344,
        0.50829,
        0.85078
      ],
      [
        0.13987,
        -0.84021,
        0.52391
      ],
      [
        0.98114,
        0.18891,
        0.04102
      ]
    ],
    "simulated_seconds_remaining": 25.014,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.605746784247458,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": -1.5,
                    "yaw": 0
                  },
                  "note": "Orientation drifted; commanding clean forward-facing orientation at current position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.60963,
      -1.28196,
      1.48976,
      -2.81392,
      0.31631,
      3.63927,
      0.85972
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43029,
      0.33386,
      0.97493
    ],
    "tcp_roll_pitch_yaw": [
      -1.1449,
      -1.54606,
      1.2209
    ],
    "tcp_rotation_matrix": [
      [
        -0.02907,
        0.15975,
        0.98673
      ],
      [
        0.16574,
        -0.97271,
        0.16236
      ],
      [
        0.98574,
        0.16826,
        0.0018
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.607640479691327,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.4,
                    "z": 0.9
                  },
                  "note": "Nudging left and down toward nightstand, small increment to avoid IK rejection."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.63948,
      -1.49863,
      1.71985,
      -2.75754,
      0.77607,
      3.58856,
      1.00154
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42629,
      0.32978,
      0.96114
    ],
    "tcp_roll_pitch_yaw": [
      2.02946,
      -1.29589,
      -2.00157
    ],
    "tcp_rotation_matrix": [
      [
        -0.1445,
        0.10789,
        0.9836
      ],
      [
        -0.10357,
        -0.99023,
        0.0934
      ],
      [
        0.98407,
        -0.08838,
        0.15427
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.022728526033461,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.05,
                    "z": 1.0,
                    "roll": 0,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "Arm appears stuck near joint limits; returning to home pose to restart approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 39,
    "motion_seconds": 2.5740000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.08805,
      -0.82926,
      0.0047,
      -2.42921,
      0.08904,
      1.6262,
      -0.05905
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30045,
      0.05072,
      0.99987
    ],
    "tcp_roll_pitch_yaw": [
      0.0006,
      -0.00458,
      -0.00055
    ],
    "tcp_rotation_matrix": [
      [
        0.98899,
        0.1468,
        0.01854
      ],
      [
        0.14466,
        -0.98562,
        0.08738
      ],
      [
        0.03111,
        -0.08374,
        -0.996
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.207069327123463,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.45,
                    "z": 0.95,
                    "pitch": -1.57
                  },
                  "note": "From home, reaching forward-left with gripper pointing forward to view the nightstand drawers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 50,
    "motion_seconds": 3.3000000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.85999,
      -1.50392,
      1.58119,
      -2.76285,
      0.39055,
      3.95434,
      1.05012
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.44987,
      0.33657,
      1.00026
    ],
    "tcp_roll_pitch_yaw": [
      -3.0645,
      -1.33862,
      -3.03305
    ],
    "tcp_rotation_matrix": [
      [
        -0.27807,
        0.22642,
        0.93349
      ],
      [
        0.1133,
        -0.95731,
        0.26595
      ],
      [
        0.95386,
        0.17971,
        0.24055
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 15.81246502045542,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.55,
                    "z": 1.15
                  },
                  "note": "Trying higher path to clear possible obstacle and get further left over the nightstand."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.8923,
      -1.44592,
      1.32535,
      -2.74422,
      -0.10805,
      3.96457,
      0.89999
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46245,
      0.33656,
      1.02544
    ],
    "tcp_roll_pitch_yaw": [
      -1.89817,
      -1.16677,
      2.09417
    ],
    "tcp_rotation_matrix": [
      [
        -0.24272,
        0.20664,
        0.94783
      ],
      [
        0.46387,
        -0.83339,
        0.30047
      ],
      [
        0.85201,
        0.5126,
        0.10643
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.209087586030364,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.32,
                    "y": 0.3,
                    "z": 0.95,
                    "roll": 0,
                    "pitch": -1.57,
                    "yaw": 0
                  },
                  "note": "Backing off to clean forward-facing orientation to get an unobstructed wrist view of the nightstand 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 table.",
    "joint_positions": [
      -0.8923,
      -1.44592,
      1.32535,
      -2.74422,
      -0.10805,
      3.96457,
      0.89999
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.46245,
      0.33656,
      1.02544
    ],
    "tcp_roll_pitch_yaw": [
      -1.89817,
      -1.16677,
      2.09417
    ],
    "tcp_rotation_matrix": [
      [
        -0.24272,
        0.20664,
        0.94783
      ],
      [
        0.46387,
        -0.83339,
        0.30047
      ],
      [
        0.85201,
        0.5126,
        0.10643
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 5.004726354032755,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.33,
                    "z": 1.0,
                    "roll": -1.57,
                    "pitch": -1.3,
                    "yaw": 1.57
                  },
                  "note": "Small retreat with modest orientation change near current configuration to regain a usable wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.44615,
      -1.42606,
      1.28336,
      -2.84434,
      -0.13424,
      3.39798,
      0.96219
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40071,
      0.33046,
      1.00044
    ],
    "tcp_roll_pitch_yaw": [
      -1.57757,
      -1.29884,
      1.581
    ],
    "tcp_rotation_matrix": [
      [
        -0.02965,
        0.08643,
        0.99582
      ],
      [
        0.40545,
        -0.90958,
        0.09101
      ],
      [
        0.91364,
        0.40645,
        -0.00808
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 19.814681785181165,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": -1.4,
                    "yaw": 0
                  },
                  "note": "Setting canonical forward-facing gripper orientation to get a clear wrist view of the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.35651,
      -1.22361,
      1.18632,
      -2.81493,
      -0.08244,
      3.28608,
      1.02219
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4007,
      0.33048,
      1.00051
    ],
    "tcp_roll_pitch_yaw": [
      -0.01974,
      -1.40226,
      0.01989
    ],
    "tcp_rotation_matrix": [
      [
        0.13969,
        0.10771,
        0.98432
      ],
      [
        0.14853,
        -0.9851,
        0.08672
      ],
      [
        0.97899,
        0.13408,
        -0.1536
      ]
    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.20700807403773,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.45,
                    "z": 0.88
                  },
                  "note": "Wrist view shows nightstand to the left and below; moving left and down with clean orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.53362,
      -1.40151,
      1.60181,
      -2.8245,
      0.55631,
      3.57903,
      1.30795
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.40466,
      0.34138,
      0.96961
    ],
    "tcp_roll_pitch_yaw": [
      1.61894,
      -1.08512,
      -1.53253
    ],
    "tcp_rotation_matrix": [
      [
        -0.02063,
        0.16685,
        0.98577
      ],
      [
        -0.33558,
        -0.92993,
        0.15038
      ],
      [
        0.94179,
        -0.3277,
        0.07518
      ]
    ],
    "simulated_seconds_remaining": 12.276,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 7.806736311875284,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.24,
                    "y": 0.5,
                    "z": 0.95
                  },
                  "note": "Likely colliding with nightstand side; retreating in x while moving left to get in front of the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.13808,
      -1.78284,
      1.56155,
      -2.56413,
      0.38112,
      2.2441,
      1.60419
    ],
    "gripper_open": 0.9947,
    "tcp_xyz": [
      0.28597,
      0.3357,
      0.91048
    ],
    "tcp_roll_pitch_yaw": [
      1.26368,
      -1.06622,
      -1.77807
    ],
    "tcp_rotation_matrix": [
      [
        -0.05377,
        -0.40181,
        0.91414
      ],
      [
        -0.3463,
        -0.85115,
        -0.39449
      ],
      [
        0.93658,
        -0.33778,
        -0.09338
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.00886895135045,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.42,
                    "z": 0.85,
                    "roll": 0,
                    "pitch": -1.4,
                    "yaw": 0
                  },
                  "note": "Drawers now visible left-and-below; moving left and down toward the upper drawer handle with clean forward orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.08543,
      -1.53302,
      1.64185,
      -2.73347,
      0.37074,
      2.62448,
      1.32301
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.30102,
      0.34618,
      0.8571
    ],
    "tcp_roll_pitch_yaw": [
      0.49417,
      -1.30013,
      -0.77421
    ],
    "tcp_rotation_matrix": [
      [
        0.20615,
        -0.17785,
        0.96222
      ],
      [
        -0.04034,
        -0.98405,
        -0.17324
      ],
      [
        0.97769,
        -0.00311,
        -0.21003
      ]
    ],
    "simulated_seconds_remaining": 9.174,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 11.609586302191019,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.78
                  },
                  "note": "Drawer front appears below the gripper in wrist view; lowering to handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.11759,
      -1.54647,
      1.84277,
      -2.70779,
      0.4347,
      2.66005,
      1.46416
    ],
    "gripper_open": 0.9953,
    "tcp_xyz": [
      0.30145,
      0.34531,
      0.78223
    ],
    "tcp_roll_pitch_yaw": [
      0.50215,
      -1.29951,
      -0.78394
    ],
    "tcp_rotation_matrix": [
      [
        0.20503,
        -0.17986,
        0.96209
      ],
      [
        -0.04268,
        -0.98368,
        -0.1748
      ],
      [
        0.97783,
        -0.00522,
        -0.20936
      ]
    ],
    "simulated_seconds_remaining": 8.382,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 36.23087677452713,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.15,
                    "y": 0.45
                  },
                  "note": "Testing whether leftward motion is blocked by the nightstand: retreating in x while commanding more +y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01663,
      -1.59694,
      1.76466,
      -2.45461,
      0.31744,
      2.05359,
      1.57105
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.19546,
      0.36071,
      0.78723
    ],
    "tcp_roll_pitch_yaw": [
      0.48418,
      -1.3395,
      -0.98678
    ],
    "tcp_rotation_matrix": [
      [
        0.17309,
        -0.39056,
        0.90416
      ],
      [
        -0.05115,
        -0.92034,
        -0.38776
      ],
      [
        0.98358,
        0.02087,
        -0.17928
      ]
    ],
    "simulated_seconds_remaining": 6.864,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 12.410151698626578,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.37,
                    "y": 0.4,
                    "z": 0.79,
                    "roll": 0,
                    "pitch": -1.45,
                    "yaw": 0
                  },
                  "note": "Approaching the lower drawer handle (seen slightly left and at this height) with gripper open, facing forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
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    "instruction": "open the table.",
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    "gripper_open": 1.0,
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
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    "calls_remaining_including_this": 40
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                  "note": "Advancing toward the drawer front to place fingers around the handle before closing."
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              }
            }
          ]
        }
      }
    ]
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{
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    "instruction": "open the table.",
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                  "note": "Final alignment: pushing in and left to straddle the lower drawer handle."
                }
              }
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          ]
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{
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                  "note": "Closing gripper at drawer front in hope of catching the handle edge before time runs out."
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              }
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{
  "call": 21,
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                    "x": 0.28
                  },
                  "note": "Pulling backward along -x to attempt to open the drawer with the closed gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "steps": 19,
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{
  "call": 22,
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    "instruction": "open the table.",
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      ],
      [
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    ],
    "simulated_seconds_remaining": 1.122,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 3.402727020904422,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not reach the nightstand drawer handle: leftward (+y) motion was consistently limited to y≈0.36 m while the handle sat further left, and simulated time ran out."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 710,
  "house_index": 413,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 24,
  "api_calls": 25,
  "wall_seconds": 657.9198944568634,
  "usage": {
    "input_tokens": 50,
    "cache_creation_input_tokens": 23194,
    "cache_read_input_tokens": 284949,
    "output_tokens": 10706
  },
  "estimated_cost_usd": 0.555337
}


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.



MODEL RESPONSES


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          "note": "Back off and raise to get a wider wrist view of the door and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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          "note": "Smaller pitch to tilt wrist camera forward."
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{
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{
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.14
          },
          "note": "Shift left to line up laterally with the handle bracket."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
      "cache_creation_input_tokens": 926,
      "cache_read_input_tokens": 9324,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 445,
      "output_tokens_details": {
        "thinking_tokens": 352
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezhxizvTKai5mR7gCLEu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Grp8u7xgNQ5ttrdPtV6N4H",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42
          },
          "note": "Step forward in depth toward handle, watching for contact/occlusion."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 265,
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      "service_tier": "standard",
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  }
}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi4c1tkK1kszfetC5uF",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
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      {
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        "input": {
          "targets": {
            "x": 0.3,
            "y": -0.15,
            "z": 1.1
          },
          "note": "Move arm aside to get an unoccluded exterior view of the door and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi5V8BznsLkKYu7Ah1P",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_012ZHDG8W5zL6P3E11tDkAQx",
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        "input": {
          "targets": {
            "x": 0.36,
            "y": 0.15,
            "z": 1.01
          },
          "note": "Move to estimated handle height/lateral position, just short of it in depth."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
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      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
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    "type": "message",
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      {
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.44
          },
          "note": "Advance to engage the handle with open fingers before closing."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi8mggUTABA9gNey66a",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01Jp55UcurdW3NsCZHYAs6dk",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper hoping to capture the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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    "usage": {
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      "cache_creation_input_tokens": 932,
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      },
      "output_tokens": 132,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezi9GZFMsjs2mZeQxDHc",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01FDZNzXDNtL43Wu3TskHDSt",
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        "input": {
          "targets": {
            "x": 0.55,
            "gripper": 1
          },
          "note": "Reopen and probe deeper in x; the handle may be farther away than assumed."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_creation_input_tokens": 621,
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      },
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziCvjWHXxrkKiHuFNE7",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "id": "toolu_018GVB42HnyajFkaxVpFgEVU",
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        "input": {
          "targets": {
            "x": 0.46,
            "y": 0.13,
            "z": 0.98,
            "gripper": 0
          },
          "note": "Pull back slightly to the contact depth and close fingers to try capturing the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 603,
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziE74PTtYRfG165pNoE",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019jCc2tEaNwiHu4u48VYVrj",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.62
          },
          "note": "Push forward against the door panel to swing it open inward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_creation_input_tokens": 1092,
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      },
      "output_tokens": 345,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziEs4o8R2ZGc45Y5t6s",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0169x33Yuzbskx5BQL5j15zE",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.32,
            "y": 0.0,
            "z": 1.12,
            "roll": 0,
            "pitch": -0.69,
            "yaw": 0,
            "gripper": 1
          },
          "note": "Retract to a known viewing pose to re-localize the handle before another attempt."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 1616,
      "output_tokens_details": {
        "thinking_tokens": 1467
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziGrCmKZ8jxddi8fQZw",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01M6Kt1o3NxXw4zZdPXSoCHc",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.44,
            "y": 0.0,
            "z": 1.01,
            "roll": 1.57
          },
          "note": "Roll gripper 90° so fingers can clamp a horizontal handle bar, staging to the right of it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 1225,
      "output_tokens_details": {
        "thinking_tokens": 1090
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziYuD2cRXTipTFgk1HL",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01HeHDctTr7JyCzvGVRZt8da",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.14
          },
          "note": "Slide left along approach axis to place the handle bar between the fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_creation_input_tokens": 1718,
      "cache_read_input_tokens": 20253,
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      },
      "output_tokens": 282,
      "output_tokens_details": {
        "thinking_tokens": 185
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziZVW33Qhj3GaYtva5i",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01Lab92L5r6ybt5WEkZNvBo9",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close fingers to clamp the handle bar now positioned in the gripper gap."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
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      "cache_creation_input_tokens": 770,
      "cache_read_input_tokens": 21971,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 100,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezic3oo52StFwZQg6FFz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_011XgRoKmDo5dc9kwxD32EHp",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.56,
            "y": 0.2
          },
          "note": "Final attempt: push the door panel forward near its free edge to swing it open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_creation_input_tokens": 587,
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      },
      "output_tokens": 225,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezicjspJFXDkskxRQTUi",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01W9f7HgxqvfSg8LyBC3c31C",
        "name": "give_up",
        "input": {
          "note": "Could not localize the door handle in depth; repeated grasp attempts closed on empty air and pushes were blocked by the glass panel without the door rotating. Out of simulated time."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 152,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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  }
}


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": 13.612018727697432,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.15
                  },
                  "note": "Back off and raise to get a wider wrist view of the door and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00508,
      -0.88552,
      0.03421,
      -2.02111,
      -0.01944,
      1.10462,
      -0.06903
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20083,
      0.00426,
      1.14901
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00031,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99654,
        0.07729,
        -0.03059
      ],
      [
        0.0759,
        -0.99613,
        -0.04434
      ],
      [
        -0.0339,
        0.04186,
        -0.99855
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 18.415706796571612,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Pitch gripper to look forward (+x) so wrist camera shows the door 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": [
      -0.00508,
      -0.88552,
      0.03421,
      -2.02111,
      -0.01944,
      1.10462,
      -0.06903
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20083,
      0.00426,
      1.14901
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00031,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99654,
        0.07729,
        -0.03059
      ],
      [
        0.0759,
        -0.99613,
        -0.04434
      ],
      [
        -0.0339,
        0.04186,
        -0.99855
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.805596222169697,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7
                  },
                  "note": "Smaller pitch to tilt wrist camera forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.00598,
      -1.48223,
      0.03485,
      -2.47858,
      -0.02272,
      1.6602,
      -0.04547
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20076,
      0.00426,
      1.149
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.69579,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78681,
        0.03251,
        0.61634
      ],
      [
        0.0759,
        -0.99613,
        -0.04435
      ],
      [
        0.61251,
        0.08168,
        -0.78623
      ]
    ],
    "simulated_seconds_remaining": 27.522,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.405999123118818,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Tilt further forward for a better view of the door and its 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": [
      0.00598,
      -1.48223,
      0.03485,
      -2.47858,
      -0.02272,
      1.6602,
      -0.04547
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20076,
      0.00426,
      1.149
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.69579,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78681,
        0.03251,
        0.61634
      ],
      [
        0.0759,
        -0.99613,
        -0.04435
      ],
      [
        0.61251,
        0.08168,
        -0.78623
      ]
    ],
    "simulated_seconds_remaining": 27.522,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 11.210500351153314,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15,
                    "x": 0.35
                  },
                  "note": "Move forward-left toward the apparent door handle to calibrate image motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.05517,
      -1.01662,
      0.35764,
      -2.33438,
      0.12174,
      1.99794,
      0.16697
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34907,
      0.14907,
      1.14895
    ],
    "tcp_roll_pitch_yaw": [
      -0.00016,
      -0.69563,
      9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78691,
        0.03251,
        0.61621
      ],
      [
        0.07595,
        -0.99612,
        -0.04444
      ],
      [
        0.61238,
        0.08177,
        -0.78632
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 12.010763227939606,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Advance forward to approach the door plane and see the handle closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.15036,
      -0.73664,
      0.39908,
      -2.19878,
      0.08676,
      2.1491,
      0.15723
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44875,
      0.14901,
      1.14886
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      -0.6954,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78705,
        0.03242,
        0.61603
      ],
      [
        0.07586,
        -0.99613,
        -0.0445
      ],
      [
        0.6122,
        0.08175,
        -0.78646
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 16.814513734541833,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Lower toward the handle height seen below the gripper in exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.1168,
      -0.77457,
      0.47315,
      -2.59112,
      0.12485,
      2.50226,
      0.20317
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44873,
      0.149,
      1.00118
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -0.69513,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78723,
        0.03242,
        0.61581
      ],
      [
        0.07588,
        -0.99612,
        -0.04457
      ],
      [
        0.61198,
        0.08182,
        -0.78663
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 13.011342422105372,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.05
                  },
                  "note": "Retreat slightly and center to re-see the handle without occluding it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.02566,
      -1.21414,
      0.21356,
      -2.84646,
      0.11069,
      2.29927,
      0.0124
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35093,
      0.0509,
      1.00125
    ],
    "tcp_roll_pitch_yaw": [
      -0.00021,
      -0.69527,
      -9e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78714,
        0.03232,
        0.61592
      ],
      [
        0.0758,
        -0.99612,
        -0.04461
      ],
      [
        0.61209,
        0.0818,
        -0.78654
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.010014082305133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1,
                    "z": 1.06
                  },
                  "note": "Align gripper with estimated handle position (up-left in exterior view)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.02323,
      -1.14309,
      0.29753,
      -2.65099,
      0.12934,
      2.17927,
      0.09634
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35094,
      0.09916,
      1.05905
    ],
    "tcp_roll_pitch_yaw": [
      -0.00025,
      -0.69545,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.78703,
        0.03237,
        0.61607
      ],
      [
        0.07587,
        -0.99612,
        -0.04459
      ],
      [
        0.61223,
        0.08184,
        -0.78643
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 13.611563733778894,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.14
                  },
                  "note": "Shift left to line up laterally with the handle bracket."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.01494,
      -1.10945,
      0.38582,
      -2.61174,
      0.1576,
      2.17807,
      0.17136
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35095,
      0.1389,
      1.05907
    ],
    "tcp_roll_pitch_yaw": [
      -0.00037,
      -0.69548,
      0.00016
    ],
    "tcp_rotation_matrix": [
      [
        0.78701,
        0.03245,
        0.61609
      ],
      [
        0.076,
        -0.99611,
        -0.04462
      ],
      [
        0.61225,
        0.08193,
        -0.78641
      ]
    ],
    "simulated_seconds_remaining": 20.856,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 11.810549769550562,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42
                  },
                  "note": "Step forward in depth toward handle, watching for contact/occlusion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.09698,
      -0.88781,
      0.40749,
      -2.51614,
      0.13786,
      2.31263,
      0.15322
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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      0.13886,
      1.059
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    "tcp_roll_pitch_yaw": [
      -0.00037,
      -0.69526,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78715,
        0.03236,
        0.61591
      ],
      [
        0.07591,
        -0.99611,
        -0.04468
      ],
      [
        0.61207,
        0.08192,
        -0.78655
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    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 78.8666713424027,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": -0.15,
                    "z": 1.1
                  },
                  "note": "Move arm aside to get an unoccluded exterior view of the door and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.17789,
      -1.18968,
      -0.26071,
      -2.55842,
      -0.07423,
      2.03081,
      -0.4082
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30052,
      -0.14877,
      1.09987
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -0.69538,
      -0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.78709,
        0.03224,
        0.616
      ],
      [
        0.07576,
        -0.99613,
        -0.04466
      ],
      [
        0.61217,
        0.08182,
        -0.78648
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    ],
    "simulated_seconds_remaining": 17.754,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 12.212887245230377,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.36,
                    "y": 0.15,
                    "z": 1.01
                  },
                  "note": "Move to estimated handle height/lateral position, just short of it in depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 37,
    "motion_seconds": 2.442,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.02897,
      -1.10507,
      0.46763,
      -2.71784,
      0.22625,
      2.29598,
      0.17618
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35976,
      0.14874,
      1.01037
    ],
    "tcp_roll_pitch_yaw": [
      -0.00042,
      -0.69532,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78711,
        0.03231,
        0.61596
      ],
      [
        0.0759,
        -0.99611,
        -0.04474
      ],
      [
        0.61212,
        0.08197,
        -0.7865
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 31.425935000181198,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.44
                  },
                  "note": "Advance to engage the handle with open fingers before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.15326,
      -0.83017,
      0.50333,
      -2.58818,
      0.19614,
      2.45669,
      0.15062
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.43875,
      0.1487,
      1.01032
    ],
    "tcp_roll_pitch_yaw": [
      -0.00041,
      -0.69515,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78723,
        0.03221,
        0.61582
      ],
      [
        0.07581,
        -0.99612,
        -0.0448
      ],
      [
        0.61199,
        0.08196,
        -0.78661
      ]
    ],
    "simulated_seconds_remaining": 14.454,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.405700793489814,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close gripper hoping to capture the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.15326,
      -0.83017,
      0.50333,
      -2.58818,
      0.19614,
      2.45669,
      0.15062
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    "gripper_open": 0.0,
    "tcp_xyz": [
      0.43877,
      0.1487,
      1.01032
    ],
    "tcp_roll_pitch_yaw": [
      -0.00041,
      -0.69516,
      -7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.78722,
        0.03222,
        0.61582
      ],
      [
        0.07581,
        -0.99612,
        -0.0448
      ],
      [
        0.61199,
        0.08195,
        -0.78661
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 13.2109788460657,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "gripper": 1
                  },
                  "note": "Reopen and probe deeper in x; the handle may be farther away than assumed."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
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      -0.48764,
      0.61418,
      -2.33647,
      0.07914,
      2.309,
      0.18096
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    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50153,
      0.13214,
      0.96407
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    "tcp_roll_pitch_yaw": [
      -0.06314,
      -0.45243,
      -0.01222
    ],
    "tcp_rotation_matrix": [
      [
        0.91411,
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        0.40529
      ],
      [
        0.06241,
        -0.99172,
        -0.11222
      ],
      [
        0.40063,
        0.12788,
        -0.90727
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    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 51.64362432062626,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.13,
                    "z": 0.98,
                    "gripper": 0
                  },
                  "note": "Pull back slightly to the contact depth and close fingers to try capturing the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
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    "gripper_open": 0.0,
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    "tcp_roll_pitch_yaw": [
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      -0.01216
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    "tcp_rotation_matrix": [
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      [
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      [
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    ],
    "simulated_seconds_remaining": 11.55,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 9.808779748156667,
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      {
        "content": {
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                  "note": "Push forward against the door panel to swing it open inward."
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{
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                  },
                  "note": "Retract to a known viewing pose to re-localize the handle before another attempt."
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              }
            }
          ]
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      }
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{
  "call": 20,
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                  "note": "Roll gripper 90° so fingers can clamp a horizontal handle bar, staging to the right of it."
                }
              }
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          ]
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{
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                  "note": "Slide left along approach axis to place the handle bar between the fingers."
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              }
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{
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    ],
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                  },
                  "note": "Close fingers to clamp the handle bar now positioned in the gripper gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 23,
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    "instruction": "open the door.",
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              "functionCall": {
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                  "targets": {
                    "x": 0.56,
                    "y": 0.2
                  },
                  "note": "Final attempt: push the door panel forward near its free edge to swing it open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
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{
  "call": 24,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
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    ],
    "tcp_rotation_matrix": [
      [
        0.66492,
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        -0.38779
      ],
      [
        0.27828,
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      ],
      [
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    ],
    "simulated_seconds_remaining": 2.838,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 16.21315835043788,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the door handle in depth; repeated grasp attempts closed on empty air and pushes were blocked by the glass panel without the door rotating. Out of simulated time."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 732,
  "house_index": 414,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 31,
  "api_calls": 32,
  "wall_seconds": 307.3641526699066,
  "usage": {
    "input_tokens": 64,
    "cache_creation_input_tokens": 28008,
    "cache_read_input_tokens": 441065,
    "output_tokens": 11182
  },
  "estimated_cost_usd": 0.6754525
}


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.



MODEL RESPONSES


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        "name": "observe",
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{
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            "pitch": -1.57
          },
          "note": "Pitch gripper to face forward so wrist camera can see the cabinet/drawers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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          "note": "Trying a smaller pitch rotation to tilt wrist camera forward."
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{
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          "note": "Continue pitching forward to view the cabinet front and locate drawer handles."
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          "note": "Move forward and down toward cabinet front to inspect drawers at lower height."
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{
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  }
}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziAKqU4E3Z45nJRnPUQ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
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        "id": "toolu_01Mvkwz7mpGYv7wWC14zx8cm",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.25
          },
          "note": "Test lateral motion to +y to identify which side the drawer cabinet is on."
        },
        "caller": {
          "type": "direct"
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      }
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}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziAqRDCKhaYkLYUdknq",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01HA3FmCJGsrwYBeXcV8FPhB",
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        "input": {
          "targets": {
            "y": 0.4
          },
          "note": "Continue left toward the cabinet to see drawer fronts and handles."
        },
        "caller": {
          "type": "direct"
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      }
    ],
    "container": null,
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziBeJWHsPyAJqsir4Zn",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_018jQZPzak4sBS2KTFoHgHPZ",
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          "targets": {
            "x": 0.3,
            "roll": 0,
            "pitch": -0.4,
            "yaw": 0
          },
          "note": "Retreat slightly and restore level orientation to get a clean view of the cabinet face."
        },
        "caller": {
          "type": "direct"
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}

{
  "api_call": 12,
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    "model": "claude-opus-5",
    "id": "msg_011CeziCUXfS3VrSxw818iLu",
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        "thinking": ""
      },
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          "targets": {
            "z": 1.25,
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          },
          "note": "Raise for an overview of the cabinet region to locate drawers."
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          "type": "direct"
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{
  "api_call": 13,
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    "model": "claude-opus-5",
    "id": "msg_011CeziEXSqJaKero6qdUw7J",
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          "targets": {
            "z": 1.15,
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          "note": "Raise to ~1.15 m for overview of cabinet region."
        },
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{
  "api_call": 14,
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    "model": "claude-opus-5",
    "id": "msg_011CeziErADkKpaJVrAb8fMW",
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        "thinking": ""
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          "targets": {
            "pitch": 0,
            "roll": 0.8,
            "x": 0.35,
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          },
          "note": "Rolling gripper toward +y (cabinet face side) to prepare a sideways handle grasp; checking view."
        },
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{
  "api_call": 15,
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      },
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          "note": "Complete roll so gripper points +y at the cabinet face."
        },
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      }
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{
  "api_call": 16,
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      },
      {
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        "input": {
          "targets": {
            "z": 0.85
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          "note": "Lower to expected drawer-front height while pointing at the cabinet face."
        },
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      }
    ],
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{
  "api_call": 17,
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          "note": "Approach the cabinet face in +y to gauge distance and spot a handle."
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{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziJcQbV9esQEnvp1ocB",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "y": 0.5,
            "x": 0.3
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          "note": "Slide along the cabinet face toward +y to search for drawer handles."
        },
        "caller": {
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{
  "api_call": 19,
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    "id": "msg_011CeziKKzAKNe9n7se7NmAz",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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          "targets": {
            "z": 0.95
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          "note": "Raise to just below counter height where the top drawer and its handle should be."
        },
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{
  "api_call": 20,
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.65
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          "note": "Move further +y toward the cabinet face; features ahead may be handles."
        },
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{
  "api_call": 21,
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    "id": "msg_011CeziLVbNpqFaBZYp1AgKA",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "roll": 1.57,
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            "yaw": 0
          },
          "note": "Restore gripper pointing straight +y at the handles for a clean grasp approach."
        },
        "caller": {
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      }
    ],
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  }
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{
  "api_call": 22,
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    "model": "claude-opus-5",
    "id": "msg_011CeziM4UYo5cXfxcqKXok9",
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    "content": [
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
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            "z": 0.93
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          "note": "Raise slightly to center the horizontal handle bar between the fingers."
        },
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      }
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{
  "api_call": 23,
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    "id": "msg_011CeziMqPncSFgjmV6gSgpN",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 0.86
          },
          "note": "Lowering; image appears vertically flipped, so handle seen above center is likely below the gripper."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 24,
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    "id": "msg_011CeziP3JBDHuHZgPtJksPk",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 0.835,
            "y": 0.67
          },
          "note": "Align vertically with handle and edge closer so the handle sits between the fingers."
        },
        "caller": {
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      }
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{
  "api_call": 25,
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          "note": "Advance in +y to slip the open fingers around the handle bar."
        },
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      }
    ],
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{
  "api_call": 26,
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper to grasp the drawer handle bar."
        },
        "caller": {
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      }
    ],
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      },
      "output_tokens": 192,
      "output_tokens_details": {
        "thinking_tokens": 99
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziR6JZLMGAKzMjT1VXh",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013S22f1oUJnXVsAvExGLjPo",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.52,
            "gripper": 0
          },
          "note": "Pull back in -y to open the drawer, keeping gripper closed on the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 683,
      "cache_read_input_tokens": 23064,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 683,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 238,
      "output_tokens_details": {
        "thinking_tokens": 128
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziRi5rgcxGN4F2EseEM",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UyFr9bps7y6qsJzpgXBUSr",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "y": 0.665,
            "z": 0.8
          },
          "note": "Reopen and re-approach slightly lower, since the handle appears below the previous grasp height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 728,
      "cache_read_input_tokens": 23747,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 728,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 885,
      "output_tokens_details": {
        "thinking_tokens": 764
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziT9qgG2Ty2eggvg47g",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Wu6Yh8As2F5uxaiV5oDLuu",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close on handle at this lower height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1374,
      "cache_read_input_tokens": 24475,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1374,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 203,
      "output_tokens_details": {
        "thinking_tokens": 117
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziTeJwUwDPWA5eE21ua",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TgJYWJSBCdA9tnPxEKfzNu",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.46,
            "gripper": 0
          },
          "note": "Gripper stopped at 0.58 indicating handle grasped; pulling -y to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 693,
      "cache_read_input_tokens": 25849,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 693,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 191,
      "output_tokens_details": {
        "thinking_tokens": 74
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziUPeRXT5UqmaJScUic",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EsHShmtDPKJZFFPhKKritt",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "y": 0.58
          },
          "note": "Last-chance re-approach toward the handle with fingers open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 686,
      "cache_read_input_tokens": 26542,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 686,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 289,
      "output_tokens_details": {
        "thinking_tokens": 186
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziV1cdkoJdNa6WyDXMu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01A4HEcg5dWQ4BMeyh27YGo9",
        "name": "give_up",
        "input": {
          "note": "Located the drawer bank and its handle and made two grasp attempts, but the fingers slipped off the handle; simulated time ran out before a successful pull."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 780,
      "cache_read_input_tokens": 27228,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 780,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 114,
      "output_tokens_details": {
        "thinking_tokens": 20
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 15.813005504198372,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Pitch gripper to face forward so wrist camera can see 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 drawer.",
    "joint_positions": [
      0.01283,
      -0.74204,
      0.064,
      -2.32672,
      0.04765,
      1.63058,
      -0.02998
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.3308,
      0.03678,
      1.02047
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99502,
        0.08915,
        0.04453
      ],
      [
        0.08892,
        -0.99601,
        0.00706
      ],
      [
        0.04498,
        -0.00306,
        -0.99898
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.403906903229654,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Trying a smaller pitch rotation to tilt wrist camera forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.04196,
      -1.44041,
      0.10944,
      -2.97768,
      0.05437,
      2.37703,
      -0.01004
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33077,
      0.03679,
      1.02039
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79552,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.6643,
        0.06459,
        0.74467
      ],
      [
        0.08897,
        -0.99601,
        0.00702
      ],
      [
        0.74215,
        0.06159,
        -0.6674
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.404327762313187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Continue pitching forward to view the cabinet front and locate drawer 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 drawer.",
    "joint_positions": [
      0.04196,
      -1.44041,
      0.10944,
      -2.97768,
      0.05437,
      2.37703,
      -0.01004
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33077,
      0.03679,
      1.02039
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79552,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.6643,
        0.06459,
        0.74467
      ],
      [
        0.08897,
        -0.99601,
        0.00702
      ],
      [
        0.74215,
        0.06159,
        -0.6674
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.605122570879757,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.85
                  },
                  "note": "Move forward and down toward cabinet front to inspect drawers at lower height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.04196,
      -1.44041,
      0.10944,
      -2.97768,
      0.05437,
      2.37703,
      -0.01004
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33077,
      0.03679,
      1.02039
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79552,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.6643,
        0.06459,
        0.74467
      ],
      [
        0.08897,
        -0.99601,
        0.00702
      ],
      [
        0.74215,
        0.06159,
        -0.6674
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.803575901314616,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.92
                  },
                  "note": "Small downward step to test reachable workspace."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.04196,
      -1.44041,
      0.10944,
      -2.97768,
      0.05437,
      2.37703,
      -0.01004
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33077,
      0.03679,
      1.02039
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79552,
      7e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.6643,
        0.06459,
        0.74467
      ],
      [
        0.08897,
        -0.99601,
        0.00702
      ],
      [
        0.74215,
        0.06159,
        -0.6674
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.8052513701841235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4
                  },
                  "note": "Back off pitch to escape near-singular configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02305,
      -1.09699,
      0.07826,
      -2.65193,
      0.04875,
      2.00491,
      -0.02639
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33083,
      0.0368,
      1.02041
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.40463,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.89696,
        0.08318,
        0.43421
      ],
      [
        0.08897,
        -0.99601,
        0.00702
      ],
      [
        0.43307,
        0.03233,
        -0.90078
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 7.806713415309787,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.95
                  },
                  "note": "Advance forward and slightly down to approach the cabinet front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00536,
      -0.66738,
      0.09113,
      -2.61062,
      0.04267,
      2.39332,
      -0.03618
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44878,
      0.03679,
      0.95061
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.40432,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.8971,
        0.08316,
        0.43393
      ],
      [
        0.08894,
        -0.99601,
        0.007
      ],
      [
        0.43278,
        0.03231,
        -0.90092
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.404866198077798,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25
                  },
                  "note": "Test lateral motion to +y to identify which side the drawer cabinet is on."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02276,
      -0.47854,
      0.5115,
      -2.40029,
      0.01726,
      2.37298,
      0.4301
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44876,
      0.24871,
      0.95061
    ],
    "tcp_roll_pitch_yaw": [
      -0.00017,
      -0.40434,
      0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.89707,
        0.08338,
        0.43394
      ],
      [
        0.08918,
        -0.99599,
        0.00701
      ],
      [
        0.43279,
        0.03241,
        -0.90091
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 10.81110024638474,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.4
                  },
                  "note": "Continue left toward the cabinet to see drawer fronts and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.07895,
      -0.21677,
      0.84068,
      -2.06373,
      -0.24597,
      2.01786,
      0.84477
    ],
    "gripper_open": 0.9988,
    "tcp_xyz": [
      0.42528,
      0.33659,
      0.9457
    ],
    "tcp_roll_pitch_yaw": [
      -0.18747,
      -0.31171,
      -0.05508
    ],
    "tcp_rotation_matrix": [
      [
        0.94245,
        -0.0251,
        0.3334
      ],
      [
        0.04393,
        -0.97924,
        -0.1979
      ],
      [
        0.33145,
        0.20116,
        -0.92178
      ]
    ],
    "simulated_seconds_remaining": 23.628,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 11.008544743992388,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "roll": 0,
                    "pitch": -0.4,
                    "yaw": 0
                  },
                  "note": "Retreat slightly and restore level orientation to get a clean view of the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.24218,
      -0.69062,
      0.65323,
      -2.4817,
      0.09516,
      2.21546,
      0.70353
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30095,
      0.33667,
      0.94574
    ],
    "tcp_roll_pitch_yaw": [
      -0.00173,
      -0.39943,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.89928,
        0.08253,
        0.42952
      ],
      [
        0.08888,
        -0.99603,
        0.00528
      ],
      [
        0.42825,
        0.03343,
        -0.90304
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 27.820986293256283,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.25,
                    "x": 0.25
                  },
                  "note": "Raise for an overview of the cabinet region to locate drawers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.24218,
      -0.69062,
      0.65323,
      -2.4817,
      0.09516,
      2.21546,
      0.70353
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30095,
      0.33667,
      0.94574
    ],
    "tcp_roll_pitch_yaw": [
      -0.00173,
      -0.39943,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.89928,
        0.08253,
        0.42952
      ],
      [
        0.08888,
        -0.99603,
        0.00528
      ],
      [
        0.42825,
        0.03343,
        -0.90304
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 4.003715427592397,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.15,
                    "x": 0.25
                  },
                  "note": "Raise to ~1.15 m for overview of cabinet region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.23792,
      -0.70855,
      0.56003,
      -1.96468,
      0.06229,
      1.6808,
      0.65754
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25033,
      0.33671,
      1.14879
    ],
    "tcp_roll_pitch_yaw": [
      -0.00155,
      -0.39962,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.89919,
        0.08259,
        0.4297
      ],
      [
        0.08888,
        -0.99603,
        0.00546
      ],
      [
        0.42844,
        0.03328,
        -0.90296
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 19.81452873069793,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0,
                    "roll": 0.8,
                    "x": 0.35,
                    "y": 0.2,
                    "z": 1.0
                  },
                  "note": "Rolling gripper toward +y (cabinet face side) to prepare a sideways handle grasp; checking view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.47633,
      -0.74464,
      -0.28731,
      -2.56127,
      0.63962,
      2.02248,
      -0.06573
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34966,
      0.20045,
      1.00049
    ],
    "tcp_roll_pitch_yaw": [
      0.79685,
      -0.00095,
      -0.00092
    ],
    "tcp_rotation_matrix": [
      [
        0.99496,
        0.08919,
        0.04585
      ],
      [
        0.02907,
        -0.69407,
        0.71932
      ],
      [
        0.09597,
        -0.71436,
        -0.69317
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 4.204956782050431,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57
                  },
                  "note": "Complete roll so gripper points +y at the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.72241,
      -0.74746,
      -0.80702,
      -2.75999,
      1.20704,
      1.95491,
      -0.66753
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3496,
      0.20048,
      1.00039
    ],
    "tcp_roll_pitch_yaw": [
      1.56555,
      -0.00058,
      -0.00061
    ],
    "tcp_rotation_matrix": [
      [
        0.99494,
        0.08972,
        0.04513
      ],
      [
        -0.04512,
        -0.00222,
        0.99898
      ],
      [
        0.08973,
        -0.99596,
        0.00184
      ]
    ],
    "simulated_seconds_remaining": 17.688,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 13.010083339177072,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85
                  },
                  "note": "Lower to expected drawer-front height while pointing at the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.07567,
      -0.28005,
      -1.27217,
      -2.76204,
      1.32353,
      1.74151,
      -1.156
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34956,
      0.20053,
      0.85123
    ],
    "tcp_roll_pitch_yaw": [
      1.56551,
      -0.00015,
      -0.00046
    ],
    "tcp_rotation_matrix": [
      [
        0.99499,
        0.0893,
        0.04499
      ],
      [
        -0.04497,
        -0.00224,
        0.99899
      ],
      [
        0.08931,
        -0.996,
        0.00179
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 12.609024594537914,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.32
                  },
                  "note": "Approach the cabinet face in +y to gauge distance and spot a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.32656,
      -0.18387,
      -1.13116,
      -2.74536,
      1.72067,
      1.82644,
      -1.22521
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34947,
      0.31878,
      0.85122
    ],
    "tcp_roll_pitch_yaw": [
      1.56543,
      -0.00019,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.995,
        0.08934,
        0.04463
      ],
      [
        -0.04461,
        -0.00229,
        0.999
      ],
      [
        0.08935,
        -0.996,
        0.00171
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.407506613060832,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.5,
                    "x": 0.3
                  },
                  "note": "Slide along the cabinet face toward +y to search for drawer handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.62673,
      0.03587,
      -0.87723,
      -2.60865,
      2.30532,
      1.90697,
      -1.26986
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30025,
      0.49874,
      0.85122
    ],
    "tcp_roll_pitch_yaw": [
      1.56538,
      -0.00028,
      0.00026
    ],
    "tcp_rotation_matrix": [
      [
        0.99501,
        0.08943,
        0.04427
      ],
      [
        -0.04424,
        -0.00231,
        0.99902
      ],
      [
        0.08945,
        -0.99599,
        0.00166
      ]
    ],
    "simulated_seconds_remaining": 13.728,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 9.80766458529979,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "Raise to just below counter height where the top drawer and its handle should be."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.61005,
      -0.30723,
      -0.7979,
      -2.56302,
      2.18824,
      2.27347,
      -1.20056
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30027,
      0.4988,
      0.94875
    ],
    "tcp_roll_pitch_yaw": [
      1.5657,
      -0.00033,
      0.00033
    ],
    "tcp_rotation_matrix": [
      [
        0.99501,
        0.08947,
        0.04419
      ],
      [
        -0.0442,
        -0.00198,
        0.99902
      ],
      [
        0.08947,
        -0.99599,
        0.00199
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.404276868328452,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.65
                  },
                  "note": "Move further +y toward the cabinet face; features ahead may be handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.72504,
      0.12469,
      -0.73695,
      -2.22188,
      1.94251,
      2.22697,
      -1.07987
    ],
    "gripper_open": 0.995,
    "tcp_xyz": [
      0.24005,
      0.62754,
      0.89455
    ],
    "tcp_roll_pitch_yaw": [
      1.27984,
      -0.23091,
      0.37304
    ],
    "tcp_rotation_matrix": [
      [
        0.8875,
        0.38742,
        -0.24952
      ],
      [
        0.32846,
        -0.15205,
        0.9322
      ],
      [
        0.32321,
        -0.90928,
        -0.2622
      ]
    ],
    "simulated_seconds_remaining": 11.484,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 7.406454797834158,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57,
                    "pitch": 0,
                    "yaw": 0
                  },
                  "note": "Restore gripper pointing straight +y at the handles for a clean grasp approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.75507,
      0.11096,
      -0.68602,
      -2.37369,
      2.59199,
      2.13903,
      -1.26359
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.23986,
      0.62759,
      0.89447
    ],
    "tcp_roll_pitch_yaw": [
      1.56781,
      -0.00237,
      0.00331
    ],
    "tcp_rotation_matrix": [
      [
        0.99495,
        0.09151,
        0.04121
      ],
      [
        -0.04142,
        0.00039,
        0.99914
      ],
      [
        0.09142,
        -0.9958,
        0.00418
      ]
    ],
    "simulated_seconds_remaining": 10.494,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 10.408044579438865,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.93
                  },
                  "note": "Raise slightly to center the horizontal handle bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.7653,
      0.02615,
      -0.68508,
      -2.35279,
      2.55678,
      2.23668,
      -1.25359
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.23987,
      0.62762,
      0.92894
    ],
    "tcp_roll_pitch_yaw": [
      1.56809,
      -0.00239,
      0.00332
    ],
    "tcp_rotation_matrix": [
      [
        0.99495,
        0.09153,
        0.0412
      ],
      [
        -0.04143,
        0.00067,
        0.99914
      ],
      [
        0.09142,
        -0.9958,
        0.00446
      ]
    ],
    "simulated_seconds_remaining": 9.966,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 16.012410793453455,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.86
                  },
                  "note": "Lowering; image appears vertically flipped, so handle seen above center is likely below the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.74258,
      0.20089,
      -0.67941,
      -2.38538,
      2.62816,
      2.04556,
      -1.2682
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.23983,
      0.6276,
      0.86121
    ],
    "tcp_roll_pitch_yaw": [
      1.56773,
      -0.00235,
      0.00335
    ],
    "tcp_rotation_matrix": [
      [
        0.99495,
        0.09149,
        0.04118
      ],
      [
        -0.04138,
        0.00032,
        0.99914
      ],
      [
        0.0914,
        -0.99581,
        0.0041
      ]
    ],
    "simulated_seconds_remaining": 9.24,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.607952285557985,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.835,
                    "y": 0.67
                  },
                  "note": "Align vertically with handle and edge closer so the handle sits between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.72678,
      0.28446,
      -0.64881,
      -2.3528,
      2.70771,
      1.97196,
      -1.22503
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.24193,
      0.64263,
      0.85078
    ],
    "tcp_roll_pitch_yaw": [
      1.61153,
      0.04935,
      -0.01374
    ],
    "tcp_rotation_matrix": [
      [
        0.99734,
        0.04055,
        0.06054
      ],
      [
        -0.06227,
        0.04307,
        0.99713
      ],
      [
        0.03783,
        -0.99825,
        0.04548
      ]
    ],
    "simulated_seconds_remaining": 8.58,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 11.20799607783556,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.71
                  },
                  "note": "Advance in +y to slip the open fingers around the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.71876,
      0.32542,
      -0.61713,
      -2.28545,
      2.66996,
      2.04793,
      -1.1659
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
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{
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{
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{
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              }
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{
  "call": 31,
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    "instruction": "open the drawer.",
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      {
        "content": {
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              "functionCall": {
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                  "note": "Located the drawer bank and its handle and made two grasp attempts, but the fingers slipped off the handle; simulated time ran out before a successful pull."
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          ]
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    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 755,
  "house_index": 415,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 34,
  "api_calls": 35,
  "wall_seconds": 260.1638627052307,
  "usage": {
    "input_tokens": 70,
    "cache_creation_input_tokens": 30128,
    "cache_read_input_tokens": 511682,
    "output_tokens": 11922
  },
  "estimated_cost_usd": 0.742541
}


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.



MODEL RESPONSES


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          "note": "Rotating gripper to point forward (horizontal) to view and approach the dresser drawer front."
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          "note": "Small pitch step to test reachability."
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{
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}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziaiZP5WbHqpbXRG23y",
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        "thinking": ""
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            "x": 0.4,
            "z": 0.85,
            "pitch": -1.2
          },
          "note": "Move forward and down while pitching, to change arm configuration and approach drawer."
        },
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
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      {
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        "input": {
          "targets": {
            "x": 0.4
          },
          "note": "Move forward toward dresser at current orientation."
        },
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      }
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{
  "api_call": 12,
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        "thinking": ""
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      {
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        "input": {
          "targets": {
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          "note": "Retry pitching to horizontal from new forward position."
        },
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{
  "api_call": 13,
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          "note": "Rolling fingers to vertical for grasping a horizontal handle bar, and moving closer."
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{
  "api_call": 14,
  "response": {
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      {
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          "note": "Reset roll, yaw left to scan for the dresser front with wrist camera."
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{
  "api_call": 15,
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          "note": "Reset yaw and advance forward to approach dresser front."
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{
  "api_call": 16,
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          "note": "Handle visible in wrist; pitching to horizontal approach for straight pull."
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{
  "api_call": 17,
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      {
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          "note": "Roll 90° so fingers open vertically to straddle the horizontal handle bar."
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{
  "api_call": 18,
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    "id": "msg_011CezifugkaHLR8jMGJNhKz",
    "type": "message",
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      {
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            "roll": 0.5
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          "note": "Incremental roll step toward vertical finger orientation."
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{
  "api_call": 19,
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    "model": "claude-opus-5",
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        "thinking": ""
      },
      {
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        "input": {
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            "yaw": 0.6
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          "note": "Near gimbal pitch, yaw acts as tool roll: trying to rotate fingers toward vertical."
        },
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          "type": "direct"
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{
  "api_call": 20,
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          "note": "Trying tool rotation the other direction (joint 6 near limit positive side)."
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{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
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        "input": {
          "targets": {
            "y": 0.06
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          "note": "Probe: move left 6cm to see which way the handle shifts in the wrist image."
        },
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      }
    ],
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{
  "api_call": 22,
  "response": {
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    "id": "msg_011CeziijPiSNBRYjFTFNC5B",
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      },
      {
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        "input": {
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            "y": -0.09
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          "note": "Handle lies to the robot's right; moving -y to center it in wrist view."
        },
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{
  "api_call": 23,
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        "type": "thinking",
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      {
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            "x": 0.66
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          "note": "Handle centered in wrist view; advancing forward toward it."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
      },
      {
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        "input": {
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            "x": 0.69,
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          "note": "Advance 6 cm more toward the handle keeping height and lateral position."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 25,
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    "model": "claude-opus-5",
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            "gripper": 0,
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          "note": "Close fingers to form a hook and nudge forward just under the handle bar."
        },
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          "type": "direct"
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{
  "api_call": 26,
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    "model": "claude-opus-5",
    "id": "msg_011CezimcQqmZxQDnqNHWbDr",
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      {
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        "input": {
          "targets": {
            "x": 0.5,
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            "z": 0.95
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          "note": "Backing off and lowering to view the drawer fronts below the tan top edge."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 27,
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      {
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            "z": 0.95
          },
          "note": "Resetting to a clean forward-down orientation to re-localize the dresser drawers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1155,
      "cache_read_input_tokens": 23005,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1155,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 331,
      "output_tokens_details": {
        "thinking_tokens": 187
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezinwb34MtAopVmyVTnR",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01VP97jSp2p6XbD8sJKEQUac",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 2.3,
            "roll": -2.2
          },
          "note": "Incrementally unwinding wrist orientation back toward a normal pose."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 820,
      "cache_read_input_tokens": 24160,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 820,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 306,
      "output_tokens_details": {
        "thinking_tokens": 196
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezioQYXiuk1FkKAxfSw2",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01SUnphx4dHvykw3qmfJtzFZ",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 1.4,
            "roll": -1.4
          },
          "note": "Continue unwinding wrist toward neutral orientation."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 802,
      "cache_read_input_tokens": 24980,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 802,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 104,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezioe77K8hsFbk2RyMWx",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_018y5bSnrtBxy2moz9hkFdhv",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 1.9,
            "roll": -1.8
          },
          "note": "Smaller unwinding step (previous jump too large)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 593,
      "cache_read_input_tokens": 25782,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 593,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 102,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceziosx3Aj2rf9Q4tvoSf",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TUGqNDyNL2TXuzWyjNw8By",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "z": 0.98
          },
          "note": "Retreating slightly to free the arm from its awkward near-limit configuration."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 591,
      "cache_read_input_tokens": 26375,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 591,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 162,
      "output_tokens_details": {
        "thinking_tokens": 54
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezipEZ2gpjfT2LQoP9pH",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01LiAs42W2uUFwAeeuY66NAC",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "z": 1.0
          },
          "note": "Small retreat step to regain a workable configuration."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 653,
      "cache_read_input_tokens": 26966,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 653,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 98,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezipVQVz8Aog5xPf6WMR",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EmAMdGwzvvc4cW7VT62P6E",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "gripper": 1
          },
          "note": "Advancing to engage the handle region with open fingers before closing."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 588,
      "cache_read_input_tokens": 27619,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 588,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 617,
      "output_tokens_details": {
        "thinking_tokens": 514
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziqJ7NnZ5PbCSEjR6Zg",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EwNkmh1fububZgkMraTVb9",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.625,
            "gripper": 0
          },
          "note": "Engage and close gripper on the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1108,
      "cache_read_input_tokens": 28207,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1108,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 322,
      "output_tokens_details": {
        "thinking_tokens": 224
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziqpahWvMLK8FfeEsfU",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01C2o942StVZ9NiiNfGXb8aB",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.48,
            "gripper": 0
          },
          "note": "Pulling back along -x to see if the drawer follows (test engagement)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 813,
      "cache_read_input_tokens": 29315,
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        "ephemeral_5m_input_tokens": 813,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 192,
      "output_tokens_details": {
        "thinking_tokens": 86
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 15.612574202939868,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 1.57
                  },
                  "note": "Rotating gripper to point forward (horizontal) to view and approach the dresser drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01699,
      -0.76727,
      -0.01843,
      -2.30301,
      0.04521,
      1.48028,
      -0.1059
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29443,
      0.00178,
      1.02756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99558,
        0.07704,
        -0.05378
      ],
      [
        0.08021,
        -0.99501,
        0.05943
      ],
      [
        -0.04893,
        -0.06348,
        -0.99678
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.804185362532735,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Trying opposite pitch direction to point gripper forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.01699,
      -0.76727,
      -0.01843,
      -2.30301,
      0.04521,
      1.48028,
      -0.1059
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.29443,
      0.00178,
      1.02756
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99558,
        0.07704,
        -0.05378
      ],
      [
        0.08021,
        -0.99501,
        0.05943
      ],
      [
        -0.04893,
        -0.06348,
        -0.99678
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 4.403860319405794,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5
                  },
                  "note": "Small pitch step to test reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02125,
      -1.21964,
      -0.02125,
      -2.67141,
      0.05649,
      1.89114,
      -0.13266
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29437,
      0.00179,
      1.02755
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.49584,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.89895,
        0.09798,
        0.42694
      ],
      [
        0.08023,
        -0.995,
        0.05944
      ],
      [
        0.43063,
        -0.01918,
        -0.90232
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 5.405750563368201,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Continue rotating gripper to face forward horizontally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.02125,
      -1.21964,
      -0.02125,
      -2.67141,
      0.05649,
      1.89114,
      -0.13266
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29437,
      0.00179,
      1.02755
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.49584,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.89895,
        0.09798,
        0.42694
      ],
      [
        0.08023,
        -0.995,
        0.05944
      ],
      [
        0.43063,
        -0.01918,
        -0.90232
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.204523606225848,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "z": 0.95
                  },
                  "note": "Lowering while pitching further forward to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.02125,
      -1.21964,
      -0.02125,
      -2.67141,
      0.05649,
      1.89114,
      -0.13266
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29437,
      0.00179,
      1.02755
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.49584,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.89895,
        0.09798,
        0.42694
      ],
      [
        0.08023,
        -0.995,
        0.05944
      ],
      [
        0.43063,
        -0.01918,
        -0.90232
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.8033840069547296,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7
                  },
                  "note": "Incremental pitch attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02203,
      -1.4145,
      -0.0239,
      -2.82984,
      0.06325,
      2.05476,
      -0.14474
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29434,
      0.00179,
      1.02753
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.69635,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.79518,
        0.09986,
        0.5981
      ],
      [
        0.08024,
        -0.995,
        0.05945
      ],
      [
        0.60105,
        0.00072,
        -0.79921
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.004325254820287,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Further pitch toward horizontal approach; drawer fronts visible in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.02219,
      -1.61981,
      -0.02777,
      -2.99233,
      0.07055,
      2.21151,
      -0.15731
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29431,
      0.0018,
      1.02749
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.89634,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.65993,
        0.09774,
        0.74495
      ],
      [
        0.08025,
        -0.995,
        0.05946
      ],
      [
        0.74703,
        0.02054,
        -0.66447
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.0049559297040105,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Continue to near-horizontal gripper orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.02219,
      -1.61981,
      -0.02777,
      -2.99233,
      0.07055,
      2.21151,
      -0.15731
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29431,
      0.0018,
      1.02749
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.89634,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.65993,
        0.09774,
        0.74495
      ],
      [
        0.08025,
        -0.995,
        0.05946
      ],
      [
        0.74703,
        0.02054,
        -0.66447
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 10.007969876751304,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.85,
                    "pitch": -1.2
                  },
                  "note": "Move forward and down while pitching, to change arm configuration and approach drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.02219,
      -1.61981,
      -0.02777,
      -2.99233,
      0.07055,
      2.21151,
      -0.15731
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29431,
      0.0018,
      1.02749
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.89634,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.65993,
        0.09774,
        0.74495
      ],
      [
        0.08025,
        -0.995,
        0.05946
      ],
      [
        0.74703,
        0.02054,
        -0.66447
      ]
    ],
    "simulated_seconds_remaining": 27.852,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 3.403143860399723,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4
                  },
                  "note": "Move forward toward dresser at current orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.01065,
      -1.11689,
      -0.02749,
      -2.87155,
      0.08486,
      2.59437,
      -0.17238
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39863,
      0.0018,
      1.02744
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      -0.89608,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.66011,
        0.09777,
        0.74478
      ],
      [
        0.08025,
        -0.995,
        0.05949
      ],
      [
        0.74687,
        0.02049,
        -0.66466
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.403557007201016,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.25
                  },
                  "note": "Retry pitching to horizontal from new forward position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01065,
      -1.11689,
      -0.02749,
      -2.87155,
      0.08486,
      2.59437,
      -0.17238
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39863,
      0.0018,
      1.02744
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      -0.89608,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.66011,
        0.09777,
        0.74478
      ],
      [
        0.08025,
        -0.995,
        0.05949
      ],
      [
        0.74687,
        0.02049,
        -0.66466
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 13.810533164069057,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "roll": 1.4
                  },
                  "note": "Rolling fingers to vertical for grasping a horizontal handle bar, and moving closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.30559,
      -1.1029,
      -1.4127,
      -2.10247,
      0.3981,
      1.91406,
      -1.04753
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49972,
      0.00176,
      1.0275
    ],
    "tcp_roll_pitch_yaw": [
      1.39594,
      -0.89608,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.5669,
        0.82185,
        0.05645
      ],
      [
        0.06195,
        -0.11086,
        0.9919
      ],
      [
        0.82145,
        -0.55881,
        -0.11376
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.606915998272598,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "yaw": 0.5
                  },
                  "note": "Reset roll, yaw left to scan for the dresser front with wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.58407,
      -0.78368,
      -0.63797,
      -2.5489,
      0.07119,
      2.59636,
      -0.72196
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49969,
      0.00185,
      1.02751
    ],
    "tcp_roll_pitch_yaw": [
      0.00514,
      -0.89675,
      0.4987
    ],
    "tcp_rotation_matrix": [
      [
        0.54051,
        0.56503,
        0.62337
      ],
      [
        0.38599,
        -0.82489,
        0.413
      ],
      [
        0.74757,
        0.01738,
        -0.66396
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 10.808427871204913,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0,
                    "x": 0.6
                  },
                  "note": "Reset yaw and advance forward to approach dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.26346,
      -0.37271,
      -0.26065,
      -2.40324,
      -0.03981,
      2.88357,
      -0.10258
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59916,
      0.00191,
      1.02754
    ],
    "tcp_roll_pitch_yaw": [
      0.00383,
      -0.89656,
      0.0055
    ],
    "tcp_rotation_matrix": [
      [
        0.65907,
        0.10613,
        0.74456
      ],
      [
        0.08402,
        -0.99419,
        0.06734
      ],
      [
        0.74738,
        0.01818,
        -0.66415
      ]
    ],
    "simulated_seconds_remaining": 21.978,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 9.607531810179353,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Handle visible in wrist; pitching to horizontal approach for straight pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.36411,
      -0.30235,
      -0.38028,
      -2.62887,
      -0.07533,
      3.58375,
      -0.11878
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.59914,
      0.00156,
      1.0271
    ],
    "tcp_roll_pitch_yaw": [
      0.00495,
      -1.29491,
      0.00377
    ],
    "tcp_rotation_matrix": [
      [
        0.31759,
        0.09056,
        0.9439
      ],
      [
        0.08165,
        -0.99434,
        0.06792
      ],
      [
        0.94471,
        0.0555,
        -0.32318
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.806294267065823,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57
                  },
                  "note": "Roll 90° so fingers open vertically to straddle the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.36411,
      -0.30235,
      -0.38028,
      -2.62887,
      -0.07533,
      3.58375,
      -0.11878
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.59914,
      0.00156,
      1.0271
    ],
    "tcp_roll_pitch_yaw": [
      0.00495,
      -1.29491,
      0.00377
    ],
    "tcp_rotation_matrix": [
      [
        0.31759,
        0.09056,
        0.9439
      ],
      [
        0.08165,
        -0.99434,
        0.06792
      ],
      [
        0.94471,
        0.0555,
        -0.32318
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 3.2063416549935937,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.5
                  },
                  "note": "Incremental roll step toward vertical finger 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": [
      0.36411,
      -0.30235,
      -0.38028,
      -2.62887,
      -0.07533,
      3.58375,
      -0.11878
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.59914,
      0.00156,
      1.0271
    ],
    "tcp_roll_pitch_yaw": [
      0.00495,
      -1.29491,
      0.00377
    ],
    "tcp_rotation_matrix": [
      [
        0.31759,
        0.09056,
        0.9439
      ],
      [
        0.08165,
        -0.99434,
        0.06792
      ],
      [
        0.94471,
        0.0555,
        -0.32318
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 17.614865712821484,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5,
                    "yaw": 0.6
                  },
                  "note": "Near gimbal pitch, yaw acts as tool roll: trying to rotate fingers toward vertical."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.36411,
      -0.30235,
      -0.38028,
      -2.62887,
      -0.07533,
      3.58375,
      -0.11878
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.59914,
      0.00156,
      1.0271
    ],
    "tcp_roll_pitch_yaw": [
      0.00495,
      -1.29491,
      0.00377
    ],
    "tcp_rotation_matrix": [
      [
        0.31759,
        0.09056,
        0.9439
      ],
      [
        0.08165,
        -0.99434,
        0.06792
      ],
      [
        0.94471,
        0.0555,
        -0.32318
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 3.8040551925078034,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.5
                  },
                  "note": "Trying tool rotation the other direction (joint 6 near limit positive side)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.36411,
      -0.30235,
      -0.38028,
      -2.62887,
      -0.07533,
      3.58375,
      -0.11878
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.59914,
      0.00156,
      1.0271
    ],
    "tcp_roll_pitch_yaw": [
      0.00495,
      -1.29491,
      0.00377
    ],
    "tcp_rotation_matrix": [
      [
        0.31759,
        0.09056,
        0.9439
      ],
      [
        0.08165,
        -0.99434,
        0.06792
      ],
      [
        0.94471,
        0.0555,
        -0.32318
      ]
    ],
    "simulated_seconds_remaining": 21.12,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 13.411215314641595,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.06
                  },
                  "note": "Probe: move left 6cm to see which way the handle shifts in the wrist image."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.22576,
      -0.27204,
      -0.0584,
      -2.61409,
      0.23835,
      3.59961,
      -0.25195
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59946,
      0.05407,
      1.02908
    ],
    "tcp_roll_pitch_yaw": [
      0.01515,
      -1.29902,
      -0.01429
    ],
    "tcp_rotation_matrix": [
      [
        0.31434,
        0.08213,
        0.94575
      ],
      [
        0.07646,
        -0.9952,
        0.06101
      ],
      [
        0.94623,
        0.05313,
        -0.31911
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 13.410735821351409,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.09
                  },
                  "note": "Handle lies to the robot's right; moving -y to center it in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.65036,
      -0.37884,
      -0.89229,
      -2.57069,
      -0.50711,
      3.54809,
      -0.01118
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59901,
      -0.06674,
      1.03436
    ],
    "tcp_roll_pitch_yaw": [
      -0.15443,
      -1.31185,
      0.20634
    ],
    "tcp_rotation_matrix": [
      [
        0.29224,
        0.13727,
        0.94644
      ],
      [
        0.13445,
        -0.98571,
        0.10145
      ],
      [
        0.94685,
        0.0976,
        -0.30652
      ]
    ],
    "simulated_seconds_remaining": 19.206,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.0049709379673,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.66
                  },
                  "note": "Handle centered in wrist view; advancing forward toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.09842,
      -0.25533,
      -1.31498,
      -2.43988,
      -0.67744,
      3.8015,
      0.10533
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63243,
      -0.01977,
      1.06088
    ],
    "tcp_roll_pitch_yaw": [
      -0.63024,
      -1.47284,
      0.8168
    ],
    "tcp_rotation_matrix": [
      [
        0.09957,
        0.25384,
        0.96211
      ],
      [
        0.15856,
        -0.95861,
        0.2365
      ],
      [
        0.98232,
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        -0.1357
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    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.404444738291204,
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    "candidates": [
      {
        "content": {
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                "args": {
                  "targets": {
                    "x": 0.69,
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                  "note": "Advance 6 cm more toward the handle keeping height and lateral position."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
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    "status": "executing; next observation shows actual arrival"
  }
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{
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    "gripper_open": 1.0,
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      -0.02063,
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    ],
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    "tcp_rotation_matrix": [
      [
        -0.09101,
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      [
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      ],
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    ],
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  },
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    "candidates": [
      {
        "content": {
          "role": "model",
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              "functionCall": {
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                "args": {
                  "targets": {
                    "gripper": 0,
                    "x": 0.655
                  },
                  "note": "Close fingers to form a hook and nudge forward just under the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
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      -1.87997,
      -2.43773,
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      4.20816,
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      [
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    ],
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                    "x": 0.5,
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                  },
                  "note": "Backing off and lowering to view the drawer fronts below the tan top edge."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
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        0.26356,
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    ],
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  },
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                  "note": "Resetting to a clean forward-down orientation to re-localize the dresser drawers."
                }
              }
            }
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  "execution": {
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{
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              }
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{
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                  "note": "Continue unwinding wrist toward neutral orientation."
                }
              }
            }
          ]
        }
      }
    ]
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    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
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{
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  },
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                }
              }
            }
          ]
        }
      }
    ]
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    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
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}

{
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      {
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                    "x": 0.42,
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                  "note": "Retreating slightly to free the arm from its awkward near-limit configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
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  }
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{
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                  "note": "Small retreat step to regain a workable configuration."
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              }
            }
          ]
        }
      }
    ]
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{
  "call": 32,
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                  "note": "Advancing to engage the handle region with open fingers before closing."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 33,
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    "instruction": "open the dresser.",
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        -0.39694,
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      {
        "content": {
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              "functionCall": {
                "name": "move_to",
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                    "x": 0.625,
                    "gripper": 0
                  },
                  "note": "Engage and close gripper on the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 34,
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    "instruction": "open the dresser.",
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        -0.43911,
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      {
        "content": {
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            {
              "functionCall": {
                "name": "move_to",
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                    "x": 0.48,
                    "gripper": 0
                  },
                  "note": "Pulling back along -x to see if the drawer follows (test engagement)."
                }
              }
            }
          ]
        }
      }
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  "execution": {
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  }
}

========================================================================
Opus 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,
  "source_episode_index": 779,
  "house_index": 416,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 23,
  "api_calls": 24,
  "wall_seconds": 232.70545482635498,
  "usage": {
    "input_tokens": 48,
    "cache_creation_input_tokens": 23933,
    "cache_read_input_tokens": 268406,
    "output_tokens": 11155
  },
  "estimated_cost_usd": 0.56289925
}


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.



MODEL RESPONSES


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  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezifYv5k6fukB8PZqWqa",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QNbvuKoEUXmF3eu1W1nySh",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1776,
      "cache_read_input_tokens": 0,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1776,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 51,
      "output_tokens_details": {
        "thinking_tokens": 27
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezifkf2vc2fsMYLZo8fT",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01SsN4xiyaRqeCEE8jWURkVz",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.2
          },
          "note": "Tilting wrist camera to look forward to find the door and handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 480,
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        "ephemeral_5m_input_tokens": 480,
        "ephemeral_1h_input_tokens": 0
      },
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      "output_tokens_details": {
        "thinking_tokens": 416
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezigUaRdTJ5p8AZH1aAu",
    "type": "message",
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          "note": "Smaller tilt with slight lowering to look forward at the scene."
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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            "yaw": 1.3
          },
          "note": "Handle appears toward +y and below; moving left/down and turning to face it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1703,
      "cache_read_input_tokens": 17990,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1703,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1040,
      "output_tokens_details": {
        "thinking_tokens": 905
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziuxmSBdexxXgXDN1ch",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014YpdMtuT9wXLGQTXgNPb9M",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.35,
            "y": 0.25,
            "z": 1.0,
            "roll": 0,
            "pitch": -0.9,
            "yaw": 1.3
          },
          "note": "Commanding a clean orientation facing +y-forward and shifting left toward the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1530,
      "cache_read_input_tokens": 19693,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1530,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 525,
      "output_tokens_details": {
        "thinking_tokens": 379
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezivmrddNLWBYEZ4g3TZ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_013iVHVo7udDWxLXmaY2MCVt",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.42,
            "z": 1.03,
            "x": 0.33
          },
          "note": "Sliding left along the brick door face toward the handle location seen in the exterior view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1014,
      "cache_read_input_tokens": 21223,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1014,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 348,
      "output_tokens_details": {
        "thinking_tokens": 231
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeziwNPGX4A3CTCbwz5yE",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EtCGmSoeujZtVPJzMMSN72",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.46,
            "y": 0.3
          },
          "note": "Attempting to push the brick-textured door panel forward since the handle is out of reach."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 835,
      "cache_read_input_tokens": 22237,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 835,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 371,
      "output_tokens_details": {
        "thinking_tokens": 261
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezixHhX65ps3m2yZYwoe",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018J4C7Yr5A4oCjjJnuezjPz",
        "name": "give_up",
        "input": {
          "note": "The door's lever handle is located on the brick-textured panel beyond the arm's reach (IK repeatedly stalls near y≈0.24 m, x≈0.41 m), and no reachable graspable feature was found. Simulated time is nearly exhausted, so I cannot complete the opening."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 861,
      "cache_read_input_tokens": 23072,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 861,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 220,
      "output_tokens_details": {
        "thinking_tokens": 80
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 12.816348648630083,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Tilting wrist camera to look forward to find the door and 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 door.",
    "joint_positions": [
      0.00443,
      -0.77685,
      -0.02984,
      -2.29666,
      -0.0002,
      1.68161,
      0.03593
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.34559,
      -0.00882,
      1.05364
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98553,
        -0.0523,
        0.1612
      ],
      [
        -0.05587,
        -0.99828,
        0.01773
      ],
      [
        0.16,
        -0.02648,
        -0.98676
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 3.8037560945376754,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6,
                    "z": 1.0
                  },
                  "note": "Smaller tilt with slight lowering to look forward at the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00505,
      -1.32467,
      -0.04103,
      -2.95272,
      -0.00124,
      2.38509,
      0.01853
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34554,
      -0.00882,
      1.00025
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.59545,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72618,
        -0.02843,
        0.68691
      ],
      [
        -0.05586,
        -0.99828,
        0.01774
      ],
      [
        0.68523,
        -0.05125,
        -0.72652
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.404743134044111,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 1.15,
                    "pitch": -0.9
                  },
                  "note": "Backing up and raising for a wider forward view of the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00958,
      -1.7088,
      -0.03638,
      -2.80306,
      0.00493,
      2.15411,
      0.01952
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25055,
      -0.00882,
      1.14923
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.89844,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.48865,
        -0.01184,
        0.8724
      ],
      [
        -0.05587,
        -0.99828,
        0.01774
      ],
      [
        0.87069,
        -0.05741,
        -0.48847
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.611737406812608,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3,
                    "x": 0.3
                  },
                  "note": "Pitching closer to horizontal to see the door front-on."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.00958,
      -1.7088,
      -0.03638,
      -2.80306,
      0.00493,
      2.15411,
      0.01952
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25055,
      -0.00882,
      1.14923
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.89844,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.48865,
        -0.01184,
        0.8724
      ],
      [
        -0.05587,
        -0.99828,
        0.01774
      ],
      [
        0.87069,
        -0.05741,
        -0.48847
      ]
    ],
    "simulated_seconds_remaining": 27.456,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.805902187712491,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1
                  },
                  "note": "Shifting left to gauge parallax and locate handles in 3D."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.04789,
      -1.6666,
      0.27336,
      -2.76735,
      0.15847,
      2.16733,
      0.21533
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25056,
      0.09861,
      1.14925
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -0.89846,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.48862,
        -0.01187,
        0.87241
      ],
      [
        -0.05575,
        -0.99829,
        0.01765
      ],
      [
        0.87071,
        -0.05726,
        -0.48845
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 9.609783631749451,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "z": 1.25,
                    "pitch": -0.5
                  },
                  "note": "Raising and looking more downward to see the object in front of the robot."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.04789,
      -1.6666,
      0.27336,
      -2.76735,
      0.15847,
      2.16733,
      0.21533
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25056,
      0.09861,
      1.14925
    ],
    "tcp_roll_pitch_yaw": [
      -0.00023,
      -0.89846,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.48862,
        -0.01187,
        0.87241
      ],
      [
        -0.05575,
        -0.99829,
        0.01765
      ],
      [
        0.87071,
        -0.05726,
        -0.48845
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.004219546914101,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "z": 1.15,
                    "pitch": -0.5
                  },
                  "note": "Return to center with moderate downward view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00287,
      -1.35459,
      -0.00708,
      -2.47834,
      0.01532,
      1.78912,
      0.04475
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25062,
      0.00091,
      1.15003
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      -0.50366,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.78593,
        -0.03295,
        0.61743
      ],
      [
        -0.05575,
        -0.99829,
        0.01769
      ],
      [
        0.61579,
        -0.04832,
        -0.78643
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 17.41437101084739,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.0,
                    "y": -0.03
                  },
                  "note": "Moving forward/down along viewing ray toward the left white handle to judge distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00431,
      -1.01001,
      -0.09178,
      -2.78485,
      -0.01654,
      2.4395,
      -0.02133
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39904,
      -0.0298,
      1.00082
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.50327,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.78618,
        -0.03296,
        0.61712
      ],
      [
        -0.05576,
        -0.99829,
        0.01773
      ],
      [
        0.61548,
        -0.04835,
        -0.78667
      ]
    ],
    "simulated_seconds_remaining": 23.826,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 10.208418861031532,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.12,
                    "z": 0.9
                  },
                  "note": "Handle appears lower-left in wrist view; moving down and to -y to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.05135,
      -0.87865,
      -0.36914,
      -2.94397,
      -0.06445,
      2.72116,
      -0.27575
    ],
    "gripper_open": 0.9967,
    "tcp_xyz": [
      0.39864,
      -0.11845,
      0.9003
    ],
    "tcp_roll_pitch_yaw": [
      0.01248,
      -0.50117,
      -0.01069
    ],
    "tcp_rotation_matrix": [
      [
        0.78714,
        -0.03782,
        0.61562
      ],
      [
        -0.06628,
        -0.99753,
        0.02346
      ],
      [
        0.61321,
        -0.05927,
        -0.7877
      ]
    ],
    "simulated_seconds_remaining": 22.638,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 9.4080580342561,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "z": 1.0
                  },
                  "note": "Pitching to look more horizontally to see what is ahead at handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00611,
      -1.13151,
      -0.44344,
      -3.03302,
      -0.04112,
      2.95607,
      -0.34164
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39867,
      -0.11845,
      0.99921
    ],
    "tcp_roll_pitch_yaw": [
      0.01247,
      -0.89677,
      -0.01065
    ],
    "tcp_rotation_matrix": [
      [
        0.49001,
        -0.01286,
        0.87162
      ],
      [
        -0.06308,
        -0.99779,
        0.02075
      ],
      [
        0.86943,
        -0.06515,
        -0.48974
      ]
    ],
    "simulated_seconds_remaining": 21.648,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 12.410127284936607,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.0,
                    "z": 1.1,
                    "yaw": 0.6
                  },
                  "note": "Scanning by yawing left to map the scene and find the door with its handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
      [
        0.43817,
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      [
        0.22792,
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      [
        0.86952,
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      ]
    ],
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    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.8062504241243005,
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    "candidates": [
      {
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              "functionCall": {
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                  "targets": {
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                  },
                  "note": "Scanning the other direction to map surroundings."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
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    "instruction": "open the door.",
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      [
        -0.32287,
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      [
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    ],
    "simulated_seconds_remaining": 18.216,
    "calls_remaining_including_this": 45
  },
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    "candidates": [
      {
        "content": {
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                    "x": 0.41,
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                  "note": "Advancing along the gripper axis toward the centered white handle to gauge its distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
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      [
        -0.30866,
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    ],
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    "calls_remaining_including_this": 44
  },
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      {
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              "functionCall": {
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                    "x": 0.48,
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                  "note": "Continuing along the gripper axis toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 15,
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    "instruction": "open the door.",
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    ],
    "tcp_rotation_matrix": [
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      [
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    ],
    "simulated_seconds_remaining": 15.906,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.0047109462320805,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
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                    "x": 0.46,
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                  },
                  "note": "Restoring the intended orientation and advancing toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 16,
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    "instruction": "open the door.",
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    ],
    "tcp_rotation_matrix": [
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      [
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      [
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    ],
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  },
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    "candidates": [
      {
        "content": {
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                  "targets": {
                    "x": 0.465,
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                  },
                  "note": "Advancing forward along current gripper axis toward the now-large handle image."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
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    "tcp_rotation_matrix": [
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      [
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    ],
    "simulated_seconds_remaining": 13.86,
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  },
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    "candidates": [
      {
        "content": {
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                    "z": 1.1,
                    "roll": 0,
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                    "yaw": 0.8
                  },
                  "note": "Retreating and yawing left to inspect the other candidate object; the previous direction seems blocked."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 18,
  "state": {
    "instruction": "open the door.",
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    ],
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  },
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    "candidates": [
      {
        "content": {
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                    "x": 0.35,
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                    "z": 1.05,
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                  "note": "Moving toward the +y brick surface with glass panes to inspect for a door handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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{
  "call": 19,
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    ],
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  },
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                    "x": 0.35,
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                  "note": "Handle appears toward +y and below; moving left/down and turning to face it."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "steps": 23,
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{
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                  "note": "Commanding a clean orientation facing +y-forward and shifting left toward the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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{
  "call": 21,
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    ],
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  },
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      {
        "content": {
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                "name": "move_to",
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                  "targets": {
                    "y": 0.42,
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                    "x": 0.33
                  },
                  "note": "Sliding left along the brick door face toward the handle location seen in the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 22,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
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      -2.58521,
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    "tcp_rotation_matrix": [
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      [
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      [
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    ],
    "simulated_seconds_remaining": 4.422,
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  },
  "api_seconds": 12.410426943562925,
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    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46,
                    "y": 0.3
                  },
                  "note": "Attempting to push the brick-textured door panel forward since the handle is out of reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      1.10672,
      -1.04178,
      -0.8855,
      -2.48362,
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    "gripper_open": 0.9966,
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    "tcp_roll_pitch_yaw": [
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      -1.43629,
      -1.03874
    ],
    "tcp_rotation_matrix": [
      [
        0.19646,
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        -0.50678
      ],
      [
        -0.2212,
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      ],
      [
        0.95523,
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    ],
    "simulated_seconds_remaining": 2.97,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 5.8050248473882675,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "The door's lever handle is located on the brick-textured panel beyond the arm's reach (IK repeatedly stalls near y≈0.24 m, x≈0.41 m), and no reachable graspable feature was found. Simulated time is nearly exhausted, so I cannot complete the opening."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 822,
  "house_index": 417,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 39,
  "api_calls": 40,
  "wall_seconds": 485.4022912979126,
  "usage": {
    "input_tokens": 80,
    "cache_creation_input_tokens": 34441,
    "cache_read_input_tokens": 653796,
    "output_tokens": 14459
  },
  "estimated_cost_usd": 0.90402925
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezisgpRTETGdW9ZgKVzW",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Jg8PbdMMWBSpp2h2kdk9FB",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
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{
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{
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          "note": "Continue lowering to survey the scene."
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{
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          "note": "Moving forward to approach whatever is in front and get clearer wrist view."
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{
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{
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          "note": "Wrist camera currently points down; pitching to look forward to find the cabinet."
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{
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{
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          "note": "Continue pitching wrist camera forward to see the cabinet."
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{
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{
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{
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{
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{
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          "note": "Backing up and raising to get a wider view of the dark object ahead."
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{
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{
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          "note": "Moving forward toward the dark object to inspect it up close."
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{
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          "note": "Raising to see over/around the dark object and understand its shape."
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{
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          "note": "Two vertical handles visible; image appears mirrored so moving +y to center on them."
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{
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      "service_tier": "standard",
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}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezj9P8FXSCULV8njxRFK",
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        "type": "thinking",
        "thinking": ""
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          "targets": {
            "x": 0.62
          },
          "note": "Gripper now faces forward; advancing toward the handles to judge distance."
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          "type": "direct"
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      }
    ],
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{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezj9xWCHsV1X1Bp3niRs",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
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      {
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          "targets": {
            "x": 0.69
          },
          "note": "Advancing further toward the handles."
        },
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      }
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}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjAbJGLSyEyiNXCQH41",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Handle appears centered between fingers; closing gripper to grasp it."
        },
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      }
    ],
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{
  "api_call": 23,
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    "model": "claude-opus-5",
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      },
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            "gripper": 1,
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          "note": "Closed on nothing; reopening and pushing slightly deeper toward handle plane."
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          "type": "direct"
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{
  "api_call": 24,
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            "y": -0.07
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          "note": "Shifting +y slightly to align fingers with the left handle bar."
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      }
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{
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          "note": "Gripper seems jammed against the door; retreating and resetting orientation to face forward cleanly."
        },
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          "type": "direct"
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{
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            "y": -0.085,
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          "note": "Aligning to the nearer handle bar and advancing to straddle it with open fingers."
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          "type": "direct"
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      }
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{
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            "y": -0.055,
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          "note": "Handles still right of image center; shifting +y further to line up with nearest bar."
        },
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          "type": "direct"
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{
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          "note": "Aligned with handle bar; advancing so the bar lies between the open fingers."
        },
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{
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          "note": "At contact depth; closing fingers to attempt grasp of the handle bar."
        },
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{
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          "note": "Testing whether the near-closed gripper caught the handle by pulling back."
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{
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          "note": "Smaller retreat to test grasp on handle."
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{
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          "note": "Reopening and trying a lateral offset to align with the other handle bar."
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      }
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{
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          },
          "note": "Resetting orientation and retreating slightly while shifting laterally toward the other bar."
        },
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      }
    ],
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{
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            "y": -0.04,
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          "note": "Final alignment on the left bright bar, advancing to just before contact depth."
        },
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      }
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{
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          "note": "Closing at contact depth to try trapping the bar handle."
        },
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        }
      }
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{
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          "note": "Last attempt: shift to the gap/other bar position with open fingers and press to contact depth."
        },
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      }
    ],
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{
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    "id": "msg_011CezjSKgcMePRt7TSQYAcs",
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          "targets": {
            "x": 0.55,
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          "note": "Retreating to free the jammed gripper and reset orientation."
        },
        "caller": {
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      }
    ],
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    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 937,
      "cache_read_input_tokens": 32135,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 937,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 315,
      "output_tokens_details": {
        "thinking_tokens": 195
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 38,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjTg2zRYxWbUPvfMGt9",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XgXZSEKgcJHjtdvrdz1Jqh",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.645,
            "y": -0.038
          },
          "note": "Final approach onto the handle bar with clean forward orientation."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 807,
      "cache_read_input_tokens": 33072,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 807,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 244,
      "output_tokens_details": {
        "thinking_tokens": 141
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 39,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjUMw6g1g4bS7srXTdx",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_018bvt57xJPvBoBGzMPXMQ4M",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing gripper in a last attempt to grab the handle before time expires."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 737,
      "cache_read_input_tokens": 33879,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 737,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 97,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 40,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjUwc9u3cUVz8iyjBuo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015EdoyNPb3y9RLmrsUQeEJP",
        "name": "give_up",
        "input": {
          "note": "Scene was very dimly lit; exterior camera gave no usable information. I located a dark cabinet with two bright vertical bar handles via the wrist camera, but repeated grasp attempts closed on empty space and lateral/forward motions were blocked by contact with the door, so the handle was never engaged. Simulated time is exhausted, so I cannot complete the opening task."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 589,
      "cache_read_input_tokens": 34616,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 589,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 202,
      "output_tokens_details": {
        "thinking_tokens": 37
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 13.809677742421627,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 0.75
                  },
                  "note": "Cameras uninformative; lowering the arm to get a better view of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01505,
      -0.82402,
      0.02857,
      -2.31321,
      -0.10935,
      1.6275,
      0.11387
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.32342,
      -0.02359,
      1.05637
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98353,
        -0.11707,
        0.13774
      ],
      [
        -0.09938,
        -0.98666,
        -0.12897
      ],
      [
        0.151,
        0.11316,
        -0.98204
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.2052240986377,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "Trying a smaller downward step since large move was rejected."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01154,
      -0.88402,
      0.02566,
      -2.61608,
      -0.11545,
      1.86849,
      0.14187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32339,
      -0.0236,
      0.95127
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00028,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98357,
        -0.11705,
        0.13747
      ],
      [
        -0.09939,
        -0.98665,
        -0.12899
      ],
      [
        0.15073,
        0.11321,
        -0.98207
      ]
    ],
    "simulated_seconds_remaining": 29.04,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.8057889230549335,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.8
                  },
                  "note": "Continue lowering to survey the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02637,
      -0.77877,
      0.03017,
      -2.9484,
      -0.14515,
      2.30359,
      0.19596
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32332,
      -0.02361,
      0.80122
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00063,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98362,
        -0.11703,
        0.13711
      ],
      [
        -0.09941,
        -0.98665,
        -0.12902
      ],
      [
        0.15038,
        0.11328,
        -0.98212
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 11.609579369425774,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Moving forward to approach whatever is in front and get clearer wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.05524,
      -0.30778,
      0.04937,
      -2.59846,
      -0.17282,
      2.42308,
      0.225
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44864,
      -0.02361,
      0.80123
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      0.00066,
      -5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98362,
        -0.11704,
        0.13708
      ],
      [
        -0.09942,
        -0.98665,
        -0.12902
      ],
      [
        0.15035,
        0.11328,
        -0.98212
      ]
    ],
    "simulated_seconds_remaining": 26.598,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 19.415427232161164,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.2
                  },
                  "note": "Dark object occupies right of wrist view; moving right (-y) to center on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.19203,
      -0.20597,
      -0.20565,
      -2.50403,
      -0.17436,
      2.47287,
      -0.15974
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44862,
      -0.19871,
      0.80123
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00065,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.98359,
        -0.11733,
        0.13706
      ],
      [
        -0.09971,
        -0.98662,
        -0.129
      ],
      [
        0.15036,
        0.11322,
        -0.98213
      ]
    ],
    "simulated_seconds_remaining": 25.146,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 42.8362068971619,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Wrist camera currently points down; pitching to look forward to find the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.19203,
      -0.20597,
      -0.20565,
      -2.50403,
      -0.17436,
      2.47287,
      -0.15974
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44862,
      -0.19871,
      0.80123
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      0.00065,
      -0.00034
    ],
    "tcp_rotation_matrix": [
      [
        0.98359,
        -0.11733,
        0.13706
      ],
      [
        -0.09971,
        -0.98662,
        -0.129
      ],
      [
        0.15036,
        0.11322,
        -0.98213
      ]
    ],
    "simulated_seconds_remaining": 25.146,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.805117215961218,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4
                  },
                  "note": "Smaller pitch step to gradually tilt wrist camera forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.08005,
      -0.32186,
      -0.38195,
      -2.80239,
      -0.00189,
      3.03959,
      -0.33874
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44859,
      -0.1986,
      0.80106
    ],
    "tcp_roll_pitch_yaw": [
      0.00055,
      -0.39559,
      -0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.84937,
        -0.15174,
        0.50552
      ],
      [
        -0.09973,
        -0.98667,
        -0.12859
      ],
      [
        0.51829,
        0.05881,
        -0.85318
      ]
    ],
    "simulated_seconds_remaining": 24.288,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.805224368348718,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Continue pitching wrist camera forward to see the cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.08005,
      -0.32186,
      -0.38195,
      -2.80239,
      -0.00189,
      3.03959,
      -0.33874
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44859,
      -0.1986,
      0.80106
    ],
    "tcp_roll_pitch_yaw": [
      0.00055,
      -0.39559,
      -0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.84937,
        -0.15174,
        0.50552
      ],
      [
        -0.09973,
        -0.98667,
        -0.12859
      ],
      [
        0.51829,
        0.05881,
        -0.85318
      ]
    ],
    "simulated_seconds_remaining": 24.288,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.404287798330188,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.75
                  },
                  "note": "Smaller incremental pitch step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.62062,
      -0.40953,
      -1.18775,
      -2.96229,
      -0.06572,
      3.61459,
      -0.46779
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4486,
      -0.19864,
      0.80106
    ],
    "tcp_roll_pitch_yaw": [
      0.00076,
      -0.74582,
      -0.00038
    ],
    "tcp_rotation_matrix": [
      [
        0.61998,
        -0.16264,
        0.76757
      ],
      [
        -0.09973,
        -0.98668,
        -0.12851
      ],
      [
        0.77825,
        0.00313,
        -0.62795
      ]
    ],
    "simulated_seconds_remaining": 23.496,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 6.205033688805997,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Pitch further forward to view the dark object ahead-right."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.18408,
      -0.74101,
      -1.91542,
      -2.97167,
      -0.32063,
      4.14007,
      -0.67964
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44869,
      -0.19869,
      0.80125
    ],
    "tcp_roll_pitch_yaw": [
      0.00141,
      -1.09632,
      -0.00074
    ],
    "tcp_rotation_matrix": [
      [
        0.31508,
        -0.15364,
        0.93655
      ],
      [
        -0.09982,
        -0.9867,
        -0.12829
      ],
      [
        0.9438,
        -0.05307,
        -0.32622
      ]
    ],
    "simulated_seconds_remaining": 22.704,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.806515131145716,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.28
                  },
                  "note": "A bright handle-like element appears right of center; shifting right to center on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.98942,
      -0.81768,
      -1.9419,
      -2.82799,
      -0.5376,
      3.88623,
      -0.63802
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44868,
      -0.27886,
      0.80126
    ],
    "tcp_roll_pitch_yaw": [
      0.0015,
      -1.09643,
      -0.00114
    ],
    "tcp_rotation_matrix": [
      [
        0.31495,
        -0.15395,
        0.93654
      ],
      [
        -0.09996,
        -0.98665,
        -0.12857
      ],
      [
        0.94383,
        -0.05313,
        -0.32613
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.007100686430931,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.15
                  },
                  "note": "Handle moved further right when going -y, so reversing to +y to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.35558,
      -0.73632,
      -1.90103,
      -3.02401,
      -0.16536,
      4.30019,
      -0.69877
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44874,
      -0.15115,
      0.80127
    ],
    "tcp_roll_pitch_yaw": [
      0.00174,
      -1.09647,
      -0.00098
    ],
    "tcp_rotation_matrix": [
      [
        0.31494,
        -0.15358,
        0.9366
      ],
      [
        -0.09995,
        -0.9867,
        -0.12819
      ],
      [
        0.94383,
        -0.05324,
        -0.3261
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 10.808981189504266,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 0.9
                  },
                  "note": "Backing up and raising to get a wider view of the dark object ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      1.35558,
      -0.73632,
      -1.90103,
      -3.02401,
      -0.16536,
      4.30019,
      -0.69877
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44874,
      -0.15115,
      0.80127
    ],
    "tcp_roll_pitch_yaw": [
      0.00174,
      -1.09647,
      -0.00098
    ],
    "tcp_rotation_matrix": [
      [
        0.31494,
        -0.15358,
        0.9366
      ],
      [
        -0.09995,
        -0.9867,
        -0.12819
      ],
      [
        0.94383,
        -0.05324,
        -0.3261
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.4053206369280815,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.88
                  },
                  "note": "Smaller back-and-up step for a wider view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      1.35558,
      -0.73632,
      -1.90103,
      -3.02401,
      -0.16536,
      4.30019,
      -0.69877
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44874,
      -0.15115,
      0.80127
    ],
    "tcp_roll_pitch_yaw": [
      0.00174,
      -1.09647,
      -0.00098
    ],
    "tcp_rotation_matrix": [
      [
        0.31494,
        -0.15358,
        0.9366
      ],
      [
        -0.09995,
        -0.9867,
        -0.12819
      ],
      [
        0.94383,
        -0.05324,
        -0.3261
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.807041117921472,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Moving forward toward the dark object to inspect it up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      1.64677,
      -0.80084,
      -1.94766,
      -2.74036,
      0.00705,
      4.2269,
      -0.72799
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54874,
      -0.15114,
      0.80131
    ],
    "tcp_roll_pitch_yaw": [
      0.00165,
      -1.09656,
      -0.00084
    ],
    "tcp_rotation_matrix": [
      [
        0.31486,
        -0.15352,
        0.93664
      ],
      [
        -0.09989,
        -0.98671,
        -0.12814
      ],
      [
        0.94387,
        -0.05321,
        -0.32601
      ]
    ],
    "simulated_seconds_remaining": 19.668,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 9.007148248143494,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Raising to see over/around the dark object and understand its shape."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.74344,
      -0.55738,
      -0.84762,
      -2.71562,
      0.46338,
      3.67612,
      -0.70756
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54878,
      -0.15119,
      0.99879
    ],
    "tcp_roll_pitch_yaw": [
      0.00149,
      -1.09682,
      -0.00077
    ],
    "tcp_rotation_matrix": [
      [
        0.31462,
        -0.15356,
        0.93671
      ],
      [
        -0.09984,
        -0.98671,
        -0.12823
      ],
      [
        0.94395,
        -0.05318,
        -0.32577
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 21.61640292685479,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05
                  },
                  "note": "Two vertical handles visible; image appears mirrored so moving +y to center on them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.75194,
      -0.43214,
      -0.56187,
      -2.72681,
      0.73044,
      3.79311,
      -0.66861
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54882,
      -0.05116,
      0.9988
    ],
    "tcp_roll_pitch_yaw": [
      0.00115,
      -1.09683,
      -0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.31464,
        -0.15327,
        0.93676
      ],
      [
        -0.0996,
        -0.98676,
        -0.128
      ],
      [
        0.94397,
        -0.05303,
        -0.32574
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 12.009495472535491,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Aligning gripper to point forward toward the cabinet handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.98315,
      -0.17104,
      -0.98322,
      -2.80229,
      0.1553,
      4.266,
      -0.11084
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54894,
      -0.05141,
      0.9985
    ],
    "tcp_roll_pitch_yaw": [
      -0.00308,
      -1.39519,
      0.00285
    ],
    "tcp_rotation_matrix": [
      [
        0.02314,
        -0.13205,
        0.99097
      ],
      [
        -0.09884,
        -0.98668,
        -0.12917
      ],
      [
        0.99483,
        -0.09496,
        -0.03588
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 7.806585595943034,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62
                  },
                  "note": "Gripper now faces forward; advancing toward the handles to judge distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.95785,
      0.13846,
      -1.03509,
      -2.58837,
      0.05996,
      4.1886,
      0.18603
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61877,
      -0.0514,
      0.99853
    ],
    "tcp_roll_pitch_yaw": [
      -0.00423,
      -1.39521,
      0.00399
    ],
    "tcp_rotation_matrix": [
      [
        0.02311,
        -0.13204,
        0.99097
      ],
      [
        -0.09864,
        -0.9867,
        -0.12917
      ],
      [
        0.99485,
        -0.09477,
        -0.03583
      ]
    ],
    "simulated_seconds_remaining": 15.51,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.208846068009734,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.69
                  },
                  "note": "Advancing further toward the handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.8138,
      0.37217,
      -0.97733,
      -2.43681,
      0.01349,
      4.29518,
      0.39029
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.65418,
      -0.05949,
      1.00743
    ],
    "tcp_roll_pitch_yaw": [
      -0.28512,
      -1.49947,
      0.29255
    ],
    "tcp_rotation_matrix": [
      [
        -0.08272,
        -0.11287,
        0.99016
      ],
      [
        -0.08015,
        -0.98959,
        -0.11951
      ],
      [
        0.99334,
        -0.08925,
        0.07281
      ]
    ],
    "simulated_seconds_remaining": 14.718,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 13.811245779506862,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Handle appears centered between fingers; closing gripper to grasp it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.8138,
      0.37217,
      -0.97733,
      -2.43681,
      0.01349,
      4.29518,
      0.39029
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.65418,
      -0.05949,
      1.00744
    ],
    "tcp_roll_pitch_yaw": [
      -0.28546,
      -1.49953,
      0.2929
    ],
    "tcp_rotation_matrix": [
      [
        -0.08278,
        -0.11285,
        0.99016
      ],
      [
        -0.08015,
        -0.9896,
        -0.11949
      ],
      [
        0.99334,
        -0.08925,
        0.07287
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 10.208482320420444,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "x": 0.7
                  },
                  "note": "Closed on nothing; reopening and pushing slightly deeper toward handle plane."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.73081,
      0.48653,
      -0.94272,
      -2.30263,
      0.11046,
      4.2401,
      0.46543
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.68745,
      -0.09784,
      1.0112
    ],
    "tcp_roll_pitch_yaw": [
      0.47945,
      -1.52502,
      -0.56691
    ],
    "tcp_rotation_matrix": [
      [
        -0.12106,
        -0.20374,
        0.97151
      ],
      [
        -0.11003,
        -0.96992,
        -0.21712
      ],
      [
        0.98653,
        -0.13318,
        0.095
      ]
    ],
    "simulated_seconds_remaining": 12.87,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 8.211414458230138,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.07
                  },
                  "note": "Shifting +y slightly to align fingers with the left handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.7875,
      0.48119,
      -0.94348,
      -2.32293,
      0.247,
      4.21792,
      0.41621
    ],
    "gripper_open": 0.9658,
    "tcp_xyz": [
      0.68013,
      -0.09977,
      1.00927
    ],
    "tcp_roll_pitch_yaw": [
      0.8994,
      -1.50853,
      -1.05811
    ],
    "tcp_rotation_matrix": [
      [
        -0.13477,
        -0.27191,
        0.95284
      ],
      [
        -0.12762,
        -0.94884,
        -0.28882
      ],
      [
        0.98262,
        -0.16053,
        0.09318
      ]
    ],
    "simulated_seconds_remaining": 12.408,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 7.605806167237461,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.56,
                    "roll": 0,
                    "yaw": 0,
                    "pitch": -1.5
                  },
                  "note": "Gripper seems jammed against the door; retreating and resetting orientation to face forward cleanly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.85833,
      0.06208,
      -1.09723,
      -2.71737,
      -0.10814,
      4.39261,
      0.20659
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56095,
      -0.09993,
      1.0093
    ],
    "tcp_roll_pitch_yaw": [
      0.0071,
      -1.50027,
      -0.00872
    ],
    "tcp_rotation_matrix": [
      [
        -0.08148,
        -0.12274,
        0.98909
      ],
      [
        -0.09974,
        -0.9864,
        -0.13063
      ],
      [
        0.99167,
        -0.10929,
        0.06813
      ]
    ],
    "simulated_seconds_remaining": 11.286,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 17.8135645436123,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.085,
                    "x": 0.64
                  },
                  "note": "Aligning to the nearer handle bar and advancing to straddle it with open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.78701,
      0.33117,
      -1.00907,
      -2.47666,
      -0.04768,
      4.31263,
      0.41106
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.63879,
      -0.08518,
      1.00932
    ],
    "tcp_roll_pitch_yaw": [
      0.00519,
      -1.50027,
      -0.00672
    ],
    "tcp_rotation_matrix": [
      [
        -0.08147,
        -0.12265,
        0.9891
      ],
      [
        -0.09961,
        -0.98643,
        -0.13053
      ],
      [
        0.99169,
        -0.10916,
        0.06815
      ]
    ],
    "simulated_seconds_remaining": 10.428,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.6056406972929835,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.055,
                    "x": 0.62
                  },
                  "note": "Handles still right of image center; shifting +y further to line up with nearest bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.89304,
      0.25672,
      -1.01176,
      -2.55128,
      0.0447,
      4.32156,
      0.30745
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62065,
      -0.0559,
      1.00932
    ],
    "tcp_roll_pitch_yaw": [
      0.00641,
      -1.50031,
      -0.0077
    ],
    "tcp_rotation_matrix": [
      [
        -0.08148,
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{
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                }
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    ]
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}

========================================================================
Opus 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
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  "source_episode_index": 827,
  "house_index": 418,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 21,
  "api_calls": 22,
  "wall_seconds": 253.56719207763672,
  "usage": {
    "input_tokens": 44,
    "cache_creation_input_tokens": 20128,
    "cache_read_input_tokens": 211703,
    "output_tokens": 8196
  },
  "estimated_cost_usd": 0.4367715
}


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.



MODEL RESPONSES


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        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
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{
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{
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{
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{
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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjFp85oDEJwE35bLn64",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NWD7T5iJDKyhRg6qGLoRth",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper to clamp the door edge at the seam."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 930,
      "cache_read_input_tokens": 16751,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 930,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 202,
      "output_tokens_details": {
        "thinking_tokens": 109
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjGMGLSi4ajp1utyf8S",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01HtXwBEwM35VcYwUh4zDVJV",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.62
          },
          "note": "Push forward against the panel to test if it swings inward (door)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 692,
      "cache_read_input_tokens": 17681,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 692,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 298,
      "output_tokens_details": {
        "thinking_tokens": 204
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjHGR9YrSvzxP1yF5xT",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01R8JR3oPwTC4wUox86kAnr4",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "y": 0.18,
            "z": 0.92,
            "pitch": 0.1,
            "roll": 0,
            "yaw": 0,
            "gripper": 1
          },
          "note": "Last attempt: move to the left panel where a round knob was visible, open gripper to engage it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 788,
      "cache_read_input_tokens": 18373,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 788,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 478,
      "output_tokens_details": {
        "thinking_tokens": 324
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjJSSS7fMiTVYgvahrQ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EqZKUmVg1estidBYx8Lr1A",
        "name": "give_up",
        "input": {
          "note": "Could not locate a graspable door handle; the surfaces in front were rigid walls/tub edges and simulated time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 967,
      "cache_read_input_tokens": 19161,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 967,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 108,
      "output_tokens_details": {
        "thinking_tokens": 21
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 11.212225495837629,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 1.2
                  },
                  "note": "Retract and raise to get a wider view of the scene to locate the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01601,
      -0.78591,
      0.00732,
      -1.86287,
      -0.00803,
      1.18975,
      0.14795
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25066,
      0.00457,
      1.19893
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.00029,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98518,
        -0.12927,
        0.11276
      ],
      [
        -0.12894,
        -0.9916,
        -0.01022
      ],
      [
        0.11314,
        -0.00447,
        -0.99357
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.807194007560611,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.1
                  },
                  "note": "Move forward and down toward the gray panel with a possible knob to inspect it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.01471,
      -0.53616,
      0.00332,
      -1.99669,
      -0.01052,
      1.57301,
      0.14698
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39891,
      0.00457,
      1.10062
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      4e-05,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98521,
        -0.12928,
        0.11243
      ],
      [
        -0.12895,
        -0.9916,
        -0.01023
      ],
      [
        0.11281,
        -0.00442,
        -0.99361
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 17.01384819764644,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": -0.08,
                    "z": 1.02
                  },
                  "note": "Approach the circular knob seen slightly right and below center in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.02838,
      -0.26657,
      -0.11511,
      -1.96677,
      -0.02532,
      1.81455,
      -0.00643
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4991,
      -0.0793,
      1.02059
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00033,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.98523,
        -0.1294,
        0.11214
      ],
      [
        -0.12908,
        -0.99158,
        -0.01019
      ],
      [
        0.11252,
        -0.00444,
        -0.99364
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.607945419847965,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.0,
                    "z": 1.25,
                    "pitch": -0.3
                  },
                  "note": "Pull back, raise and pitch up to survey the room and identify the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.02838,
      -0.26657,
      -0.11511,
      -1.96677,
      -0.02532,
      1.81455,
      -0.00643
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4991,
      -0.0793,
      1.02059
    ],
    "tcp_roll_pitch_yaw": [
      6e-05,
      0.00033,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.98523,
        -0.1294,
        0.11214
      ],
      [
        -0.12908,
        -0.99158,
        -0.01019
      ],
      [
        0.11252,
        -0.00444,
        -0.99364
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.8043391248211265,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.0,
                    "z": 1.15,
                    "pitch": -0.4
                  },
                  "note": "Retry survey pose with milder height and pitch up."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.00904,
      -0.94639,
      0.00846,
      -2.28023,
      -0.00234,
      1.84499,
      0.12978
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35069,
      -0.00035,
      1.14953
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.39838,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.86427,
        -0.11748,
        0.48911
      ],
      [
        -0.12899,
        -0.99159,
        -0.01024
      ],
      [
        0.4862,
        -0.05424,
        -0.87216
      ]
    ],
    "simulated_seconds_remaining": 24.09,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 11.409550877287984,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": -0.05,
                    "z": 1.05,
                    "pitch": 0
                  },
                  "note": "Move forward toward the panel with the round knob to see it close up."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.0225,
      -0.11258,
      -0.0632,
      -1.73042,
      -0.00762,
      1.73266,
      0.04508
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54914,
      -0.0498,
      1.0503
    ],
    "tcp_roll_pitch_yaw": [
      3e-05,
      -0.00145,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98503,
        -0.12935,
        0.11391
      ],
      [
        -0.12903,
        -0.99159,
        -0.01021
      ],
      [
        0.11427,
        -0.00464,
        -0.99344
      ]
    ],
    "simulated_seconds_remaining": 22.242,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 17.615450708195567,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.1,
                    "z": 1.05,
                    "yaw": 0.7
                  },
                  "note": "Yaw left to scan the left side of the room where the shower appears in the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.17344,
      -0.52983,
      0.03182,
      -2.12311,
      0.06176,
      1.69877,
      -0.37031
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4006,
      0.09948,
      1.05006
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.00152,
      0.69726
    ],
    "tcp_rotation_matrix": [
      [
        0.83793,
        0.53762,
        0.09398
      ],
      [
        0.53366,
        -0.84317,
        0.06531
      ],
      [
        0.11435,
        -0.00457,
        -0.99343
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.80704493355006,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.05,
                    "z": 1.05,
                    "yaw": -0.3
                  },
                  "note": "Yaw right slightly to center the round knob in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.11732,
      -0.41242,
      0.02042,
      -2.0284,
      -0.02456,
      1.72593,
      0.32995
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4498,
      -0.04942,
      1.04997
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.00143,
      -0.29569
    ],
    "tcp_rotation_matrix": [
      [
        0.90472,
        -0.41261,
        0.10596
      ],
      [
        -0.41039,
        -0.91089,
        -0.04302
      ],
      [
        0.11427,
        -0.00456,
        -0.99344
      ]
    ],
    "simulated_seconds_remaining": 18.876,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 10.809537817724049,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68,
                    "y": -0.05,
                    "z": 1.0,
                    "yaw": 0
                  },
                  "note": "Reach further forward at knob height to close distance to the panel."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.10294,
      0.12907,
      0.01678,
      -1.30391,
      -0.02268,
      1.06455,
      0.0818
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47688,
      -0.04783,
      1.07417
    ],
    "tcp_roll_pitch_yaw": [
      0.0069,
      0.48163,
      -0.04588
    ],
    "tcp_rotation_matrix": [
      [
        0.91807,
        -0.16514,
        -0.36038
      ],
      [
        -0.17202,
        -0.98501,
        0.01316
      ],
      [
        -0.35715,
        0.04991,
        -0.93271
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.606836318038404,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": -0.05,
                    "z": 1.0,
                    "pitch": 0,
                    "yaw": 0,
                    "roll": 0
                  },
                  "note": "Reset to level forward-facing pose after collision deflection; re-inspect panel and knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.10294,
      0.12907,
      0.01678,
      -1.30391,
      -0.02268,
      1.06455,
      0.0818
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47688,
      -0.04783,
      1.07417
    ],
    "tcp_roll_pitch_yaw": [
      0.0069,
      0.48163,
      -0.04588
    ],
    "tcp_rotation_matrix": [
      [
        0.91807,
        -0.16514,
        -0.36038
      ],
      [
        -0.17202,
        -0.98501,
        0.01316
      ],
      [
        -0.35715,
        0.04991,
        -0.93271
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.005468741990626,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.05,
                    "z": 1.05,
                    "pitch": 0.2
                  },
                  "note": "Small step to level out pitch gradually to avoid large IK jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.11206,
      -0.24087,
      0.00578,
      -1.81845,
      -0.00756,
      1.4864,
      0.06902
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45031,
      -0.04997,
      1.05054
    ],
    "tcp_roll_pitch_yaw": [
      0.0069,
      0.20435,
      -0.04589
    ],
    "tcp_rotation_matrix": [
      [
        0.98044,
        -0.17422,
        -0.09157
      ],
      [
        -0.17488,
        -0.98459,
        0.00083
      ],
      [
        -0.0903,
        0.0152,
        -0.9958
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 9.608190959319472,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": -0.05,
                    "z": 1.12,
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                  },
                  "note": "Pitch down from a higher vantage to view the full panel front and find a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 13,
  "state": {
    "instruction": "open the door.",
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        -0.17176,
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        -0.37101,
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    ],
    "simulated_seconds_remaining": 15.51,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 22.620437960140407,
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    "candidates": [
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                    "x": 0.4,
                    "y": -0.05,
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                  "note": "Return to near-level forward pose at 1.02 m to re-locate the round knob in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
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      -0.04587
    ],
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        -0.17502,
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        -0.00154
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      [
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    ],
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                    "x": 0.35,
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                    "z": 1.05,
                    "yaw": -0.8,
                    "pitch": 0
                  },
                  "note": "Scan to the right side to check for a cabinet or door with a handle there."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 15,
  "state": {
    "instruction": "open the door.",
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      -0.79609
    ],
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        0.59654,
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        -0.79484,
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        -0.0824
      ],
      [
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    ],
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  },
  "api_seconds": 9.6083406182006,
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      {
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                  "targets": {
                    "x": 0.3,
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                  },
                  "note": "Scan far left to look for the wooden door seen at the left of the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 50,
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{
  "call": 16,
  "state": {
    "instruction": "open the door.",
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      1.29594
    ],
    "tcp_rotation_matrix": [
      [
        0.39225,
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      [
        0.91312,
        -0.39355,
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      [
        0.11115,
        -0.0109,
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      ]
    ],
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  },
  "api_seconds": 21.622088103555143,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": -0.1,
                    "z": 0.95,
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                  "note": "Return front and lower to inspect the door front at handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 43,
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}

{
  "call": 17,
  "state": {
    "instruction": "open the door.",
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    ],
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      0.00672,
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    ],
    "tcp_rotation_matrix": [
      [
        0.98569,
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      ],
      [
        -0.12686,
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      [
        0.11101,
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    ],
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    "calls_remaining_including_this": 41
  },
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      {
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                    "x": 0.55,
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                  "note": "Insert open fingers at the door seam/edge to engage the door."
                }
              }
            }
          ]
        }
      }
    ]
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  "execution": {
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{
  "call": 18,
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    "instruction": "open the door.",
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    ],
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      ],
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        -0.12553,
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    ],
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  },
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      {
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                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close gripper to clamp the door edge at the seam."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 19,
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    "instruction": "open the door.",
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    ],
    "tcp_rotation_matrix": [
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      ],
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        -0.12567,
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      ],
      [
        -0.00218,
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    ],
    "simulated_seconds_remaining": 4.884,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 12.010494217276573,
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      {
        "content": {
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62
                  },
                  "note": "Push forward against the panel to test if it swings inward (door)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
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}

{
  "call": 20,
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    "instruction": "open the door.",
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      -0.09711
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    "gripper_open": 0.0,
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    "tcp_roll_pitch_yaw": [
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      0.11196
    ],
    "tcp_rotation_matrix": [
      [
        0.78882,
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        -0.59032
      ],
      [
        -0.06696,
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      [
        -0.61097,
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    ],
    "simulated_seconds_remaining": 3.828,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 15.212244109250605,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
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                    "x": 0.42,
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                    "z": 0.92,
                    "pitch": 0.1,
                    "roll": 0,
                    "yaw": 0,
                    "gripper": 1
                  },
                  "note": "Last attempt: move to the left panel where a round knob was visible, open gripper to engage it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 21,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.12496,
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      -2.24913,
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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    ],
    "tcp_rotation_matrix": [
      [
        0.99162,
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      ],
      [
        -0.1287,
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      ],
      [
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    ],
    "simulated_seconds_remaining": 1.518,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.406356677412987,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not locate a graspable door handle; the surfaces in front were rigid walls/tub edges and simulated time is exhausted."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 850,
  "house_index": 419,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 33,
  "api_calls": 34,
  "wall_seconds": 289.10855984687805,
  "usage": {
    "input_tokens": 68,
    "cache_creation_input_tokens": 32011,
    "cache_read_input_tokens": 529282,
    "output_tokens": 14274
  },
  "estimated_cost_usd": 0.82189975
}


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.



MODEL RESPONSES


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  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjLdGc5vZsah3193W1Q",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01CozZ54xtdqmafX5UkL26WJ",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
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      "cache_read_input_tokens": 0,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 118,
      "output_tokens_details": {
        "thinking_tokens": 94
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjLugLgCYxNP3JpbNC3",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01L3tScShB9yNC567Vt5rDLY",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.0,
            "z": 0.9
          },
          "note": "Move forward/down to get a better wrist view of the cabinet drawers ahead."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
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      "output_tokens_details": {
        "thinking_tokens": 203
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjMN6aLVpUZmkvtVpKM",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EukUSvSChCQ9xtvcJDyZT9",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.57,
            "x": 0.4,
            "z": 0.85
          },
          "note": "Rotate gripper to point forward (+x) so wrist camera views the cabinet front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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    "usage": {
      "input_tokens": 2,
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        "ephemeral_5m_input_tokens": 810,
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      },
      "output_tokens": 822,
      "output_tokens_details": {
        "thinking_tokens": 700
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjNJCh7UpryneqnvJuZ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019CbPhZnsxEFiGXnpycULXi",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.8
          },
          "note": "Pitch partially toward forward-facing orientation in smaller step."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 5,
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    "model": "claude-opus-5",
    "id": "msg_011CezjNZFaFDGWEhTB8xdeC",
    "type": "message",
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        "type": "thinking",
        "thinking": ""
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          "targets": {
            "pitch": -1.4
          },
          "note": "Continue pitching to face forward for handle approach."
        },
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        }
      }
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{
  "api_call": 6,
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    "model": "claude-opus-5",
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      {
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        "input": {
          "targets": {
            "pitch": -1.1,
            "x": 0.4,
            "z": 0.85
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          "note": "Smaller pitch increment plus slight retreat/lower to keep IK feasible."
        },
        "caller": {
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{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjPPTVRbZm8hEXugAUJ",
    "type": "message",
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          "targets": {
            "pitch": -1.1,
            "x": 0.35,
            "z": 0.75,
            "y": 0.1
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          "note": "Try more pitch at a closer, lower, left-shifted pose to find feasible IK toward the drawer handle."
        },
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{
  "api_call": 8,
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        "thinking": ""
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        "input": {
          "targets": {
            "pitch": -0.9
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          "note": "Testing tiny pitch increment to see if orientation limit is hard."
        },
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{
  "api_call": 9,
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        "thinking": ""
      },
      {
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          "note": "Retract/lower to reconfigure arm away from joint-4 limit before pitching further."
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{
  "api_call": 10,
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          "note": "Back off pitch to escape the joint-4 limit configuration."
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{
  "api_call": 11,
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    "id": "msg_011CezjRWcQfujcMbEw3fruk",
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            "x": 0.35,
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            "z": 0.78
          },
          "note": "Reposition closer to the cabinet's left-side handle area at drawer height, keeping current 45° pitch."
        },
        "caller": {
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{
  "api_call": 12,
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        "input": {
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            "y": 0.1
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          "note": "Shift left toward cabinet to test single-axis motion feasibility."
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{
  "api_call": 13,
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        "input": {
          "targets": {
            "y": 0.25
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          "note": "Continue shifting left to center the drawer handles in wrist view."
        },
        "caller": {
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{
  "api_call": 14,
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        "input": {
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            "y": -0.05
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          "note": "Mapping suggests cabinet lies toward -y; move right to test and center it in the wrist view."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 15,
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          "note": "Cabinet handle now near center-left; shift a bit more right to center the handle."
        },
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{
  "api_call": 16,
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        "input": {
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            "roll": 1.57
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          "note": "Center on the handle and roll 90° so fingers close vertically around the horizontal handle bar."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 17,
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            "roll": 0.0,
            "x": 0.45,
            "y": -0.1,
            "z": 0.9
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          "note": "Revert roll (it rotated the tool axis sideways); back to forward-down pointing pose in front of handle."
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{
  "api_call": 18,
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      {
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            "x": 0.55,
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          "note": "Advance toward the handle (centered in wrist view), slightly up to match handle height."
        },
        "caller": {
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{
  "api_call": 19,
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    "id": "msg_011CezjXokhxcpERnBAaNN2x",
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        "thinking": ""
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      {
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        "input": {
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            "x": 0.58,
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          "note": "Handle appears just above the fingers; raise slightly and advance to place fingers at the handle."
        },
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{
  "api_call": 20,
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    "id": "msg_011CezjYKLh5vsLkyc36NyLv",
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        "input": {
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          "note": "Push fingers forward into the handle recess before closing."
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{
  "api_call": 21,
  "response": {
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    "type": "message",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
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          "note": "Lower to check if handle is below current fingertip height."
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{
  "api_call": 22,
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      {
        "type": "tool_use",
        "id": "toolu_013odN2sfE7KjCiFKFAftBGt",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close gripper to attempt grasping/hooking the drawer handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 739,
      "cache_read_input_tokens": 19738,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 739,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 276,
      "output_tokens_details": {
        "thinking_tokens": 176
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjZnDjmkqgvG7dSYe4i",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01FKuHC8EwrYVodVg9mP9qyy",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5
          },
          "note": "Pull back along -x to test whether the drawer is engaged and opens."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 763,
      "cache_read_input_tokens": 20477,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 763,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 97,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezja1rGv2YDhM7rtCxew",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01GUmMWC5sztMhY1qUTEPDm4",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": 0.0,
            "x": 0.6,
            "y": -0.1,
            "z": 0.95,
            "gripper": 0.0
          },
          "note": "Switch to downward-pointing gripper above the handle, planning to hook a closed fingertip behind the handle bar and pull."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 584,
      "cache_read_input_tokens": 21240,
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        "ephemeral_5m_input_tokens": 584,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1422,
      "output_tokens_details": {
        "thinking_tokens": 1270
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjbfDrfMoEgHhXrcbVo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01A6evLC8bmYwT8R8CvBTkug",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.65,
            "y": -0.12
          },
          "note": "Downward camera shows handle bar forward-left; move forward/left to be directly above it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1910,
      "cache_read_input_tokens": 21824,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 459,
      "output_tokens_details": {
        "thinking_tokens": 348
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjcJP1DFzvmWdJVhHGS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01H14CHzGsA4FevLCruzcnau",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 1.57,
            "pitch": 0.0,
            "yaw": -1.57,
            "x": 0.5,
            "y": -0.12,
            "z": 0.85,
            "gripper": 1.0
          },
          "note": "Reorient so tool points +x with fingers opening vertically, to clamp the horizontal handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 949,
      "cache_read_input_tokens": 23734,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 949,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1418,
      "output_tokens_details": {
        "thinking_tokens": 1254
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezje2PtPJtcMHQHhZ2v3",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01K8iwNeFqKLjcg6VxWVbHrb",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "z": 0.85,
            "gripper": 1.0
          },
          "note": "Retreat to a free pose before reorienting."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1908,
      "cache_read_input_tokens": 24683,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1908,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 214,
      "output_tokens_details": {
        "thinking_tokens": 106
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjeUGNtoUJx8GXDLNNG",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01QPWh3srmjVbLgyvBMrHaiF",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 1.57
          },
          "note": "Apply roll step of the reorientation (tool to point +y, fingers along z)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 703,
      "cache_read_input_tokens": 26591,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 101,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezjektm3DXbzromwopCT",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_011JBdhsENqgVs3g38vHoAbQ",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 1.57,
            "pitch": 0.0,
            "yaw": -1.57,
            "x": 0.55,
            "y": -0.12,
            "z": 0.88
          },
          "note": "Complete reorientation (tool +x, fingers vertical) while approaching handle height."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 594,
      "cache_read_input_tokens": 27294,
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        "ephemeral_5m_input_tokens": 594,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 853,
      "output_tokens_details": {
        "thinking_tokens": 705
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjfszRZMJ9bCcijXeUs",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MyYdjiQpXcoUiYmHLoUW3S",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": -0.6
          },
          "note": "Incremental yaw rotation toward tool pointing +x with vertical fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1341,
      "cache_read_input_tokens": 27888,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 124,
      "output_tokens_details": {
        "thinking_tokens": 20
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjgBqDmEisdG5spoiqT",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FXjYYbGL3VtMwMUR47fsLo",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.57,
            "y": -0.05,
            "z": 0.83
          },
          "note": "Descend to drawer handle height in front of the cabinet with fingers vertical."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 614,
      "cache_read_input_tokens": 29229,
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        "ephemeral_5m_input_tokens": 614,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 429,
      "output_tokens_details": {
        "thinking_tokens": 312
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjgruhkCY7Sn7rNwiBN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0172XQLPxXNgoEy1foZ8u9yF",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close fingers on the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 918,
      "cache_read_input_tokens": 29843,
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        "ephemeral_5m_input_tokens": 918,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 182,
      "output_tokens_details": {
        "thinking_tokens": 93
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjhRHs9KTiweuXoXWpc",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01QENpgHiZ9V97DCz5XVdVMQ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42
          },
          "note": "Final pull backward to open the drawer with remaining time."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 670,
      "cache_read_input_tokens": 30761,
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        "ephemeral_5m_input_tokens": 670,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 92,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezjhf4MPqpk75SDNLiiV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01GgKSKspZYpmFuQqDGUNiXH",
        "name": "give_up",
        "input": {
          "note": "Ran out of simulated time. Repeated IK/joint-limit rejections forced slow reorientation; I located the cabinet drawer handle but could not achieve a firm grasp and pull before the time budget expired."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
      "input_tokens": 2,
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      "cache_read_input_tokens": 31431,
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        "ephemeral_5m_input_tokens": 580,
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      },
      "output_tokens": 145,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 10.008520073257387,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.0,
                    "z": 0.9
                  },
                  "note": "Move forward/down to get a better wrist view of the cabinet drawers ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03226,
      -0.38738,
      0.0056,
      -2.37999,
      -0.09019,
      2.0668,
      -0.01963
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44893,
      -0.0002,
      0.90078
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.0003,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9925,
        0.09363,
        0.07856
      ],
      [
        0.09978,
        -0.99191,
        -0.07843
      ],
      [
        0.07058,
        0.08568,
        -0.99382
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 12.410345273092389,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57,
                    "x": 0.4,
                    "z": 0.85
                  },
                  "note": "Rotate gripper to point forward (+x) so wrist camera views 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 table.",
    "joint_positions": [
      0.03226,
      -0.38738,
      0.0056,
      -2.37999,
      -0.09019,
      2.0668,
      -0.01963
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44893,
      -0.0002,
      0.90078
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.0003,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9925,
        0.09363,
        0.07856
      ],
      [
        0.09978,
        -0.99191,
        -0.07843
      ],
      [
        0.07058,
        0.08568,
        -0.99382
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.2031524842604995,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Pitch partially toward forward-facing orientation in smaller step."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.14527,
      -0.71812,
      0.12875,
      -3.0357,
      -0.2187,
      3.19815,
      0.15222
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44892,
      -0.00028,
      0.90049
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.79494,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.64449,
        0.00409,
        0.7646
      ],
      [
        0.09974,
        -0.99189,
        -0.07877
      ],
      [
        0.75808,
        0.12703,
        -0.63968
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.8037607027217746,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Continue pitching to face forward for handle approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.14527,
      -0.71812,
      0.12875,
      -3.0357,
      -0.2187,
      3.19815,
      0.15222
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44892,
      -0.00028,
      0.90049
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.79494,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.64449,
        0.00409,
        0.7646
      ],
      [
        0.09974,
        -0.99189,
        -0.07877
      ],
      [
        0.75808,
        0.12703,
        -0.63968
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.206288437359035,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1,
                    "x": 0.4,
                    "z": 0.85
                  },
                  "note": "Smaller pitch increment plus slight retreat/lower to keep IK feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.14527,
      -0.71812,
      0.12875,
      -3.0357,
      -0.2187,
      3.19815,
      0.15222
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44892,
      -0.00028,
      0.90049
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.79494,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.64449,
        0.00409,
        0.7646
      ],
      [
        0.09974,
        -0.99189,
        -0.07877
      ],
      [
        0.75808,
        0.12703,
        -0.63968
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.009378921240568,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1,
                    "x": 0.35,
                    "z": 0.75,
                    "y": 0.1
                  },
                  "note": "Try more pitch at a closer, lower, left-shifted pose to find feasible IK toward the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.14527,
      -0.71812,
      0.12875,
      -3.0357,
      -0.2187,
      3.19815,
      0.15222
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44892,
      -0.00028,
      0.90049
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.79494,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.64449,
        0.00409,
        0.7646
      ],
      [
        0.09974,
        -0.99189,
        -0.07877
      ],
      [
        0.75808,
        0.12703,
        -0.63968
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 3.803718782030046,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Testing tiny pitch increment to see if orientation limit is hard."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.14527,
      -0.71812,
      0.12875,
      -3.0357,
      -0.2187,
      3.19815,
      0.15222
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44892,
      -0.00028,
      0.90049
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.79494,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.64449,
        0.00409,
        0.7646
      ],
      [
        0.09974,
        -0.99189,
        -0.07877
      ],
      [
        0.75808,
        0.12703,
        -0.63968
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 11.209362760186195,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 0.7
                  },
                  "note": "Retract/lower to reconfigure arm away from joint-4 limit before pitching further."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.14527,
      -0.71812,
      0.12875,
      -3.0357,
      -0.2187,
      3.19815,
      0.15222
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44892,
      -0.00028,
      0.90049
    ],
    "tcp_roll_pitch_yaw": [
      -0.00031,
      -0.79494,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.64449,
        0.00409,
        0.7646
      ],
      [
        0.09974,
        -0.99189,
        -0.07877
      ],
      [
        0.75808,
        0.12703,
        -0.63968
      ]
    ],
    "simulated_seconds_remaining": 27.324,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 3.4032028261572123,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5
                  },
                  "note": "Back off pitch to escape the joint-4 limit configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01263,
      -0.68303,
      0.02911,
      -2.82557,
      -0.16935,
      2.72017,
      0.0731
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44914,
      -0.00028,
      0.90065
    ],
    "tcp_roll_pitch_yaw": [
      -0.00029,
      -0.50514,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.83425,
        0.04017,
        0.54992
      ],
      [
        0.09969,
        -0.9919,
        -0.07877
      ],
      [
        0.5423,
        0.12053,
        -0.8315
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.003851265646517,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.12,
                    "z": 0.78
                  },
                  "note": "Reposition closer to the cabinet's left-side handle area at drawer height, keeping current 45° pitch."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01263,
      -0.68303,
      0.02911,
      -2.82557,
      -0.16935,
      2.72017,
      0.0731
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44914,
      -0.00028,
      0.90065
    ],
    "tcp_roll_pitch_yaw": [
      -0.00029,
      -0.50514,
      -0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.83425,
        0.04017,
        0.54992
      ],
      [
        0.09969,
        -0.9919,
        -0.07877
      ],
      [
        0.5423,
        0.12053,
        -0.8315
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 4.804529897868633,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1
                  },
                  "note": "Shift left toward cabinet to test single-axis motion feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01368,
      -0.6429,
      0.2719,
      -2.76869,
      -0.15254,
      2.68358,
      0.32012
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44915,
      0.09877,
      0.90067
    ],
    "tcp_roll_pitch_yaw": [
      -0.00042,
      -0.50516,
      0.00014
    ],
    "tcp_rotation_matrix": [
      [
        0.83422,
        0.04037,
        0.54995
      ],
      [
        0.09991,
        -0.99188,
        -0.07875
      ],
      [
        0.5423,
        0.12064,
        -0.83148
      ]
    ],
    "simulated_seconds_remaining": 25.674,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.006193206645548,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25
                  },
                  "note": "Continue shifting left to center the drawer handles in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.04676,
      -0.47872,
      0.64125,
      -2.54485,
      -0.2057,
      2.59056,
      0.67743
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44914,
      0.24874,
      0.90068
    ],
    "tcp_roll_pitch_yaw": [
      -0.00051,
      -0.5052,
      0.0004
    ],
    "tcp_rotation_matrix": [
      [
        0.83418,
        0.04058,
        0.55
      ],
      [
        0.10013,
        -0.99186,
        -0.0787
      ],
      [
        0.54233,
        0.12072,
        -0.83145
      ]
    ],
    "simulated_seconds_remaining": 24.354,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 15.212629485875368,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05
                  },
                  "note": "Mapping suggests cabinet lies toward -y; move right to test and center it in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.02893,
      -0.67707,
      -0.09158,
      -2.82373,
      -0.17915,
      2.73303,
      -0.05128
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44915,
      -0.0487,
      0.90069
    ],
    "tcp_roll_pitch_yaw": [
      -0.00036,
      -0.5052,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.8342,
        0.04035,
        0.54999
      ],
      [
        0.09988,
        -0.99188,
        -0.07871
      ],
      [
        0.54235,
        0.12059,
        -0.83146
      ]
    ],
    "simulated_seconds_remaining": 22.044,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 5.205003730021417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.15
                  },
                  "note": "Cabinet handle now near center-left; shift a bit more right to center the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03078,
      -0.61742,
      -0.34688,
      -2.75925,
      -0.17882,
      2.74526,
      -0.30817
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44916,
      -0.14876,
      0.90071
    ],
    "tcp_roll_pitch_yaw": [
      -0.00022,
      -0.50524,
      -0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.8342,
        0.04014,
        0.55
      ],
      [
        0.09963,
        -0.99191,
        -0.07872
      ],
      [
        0.54239,
        0.12047,
        -0.83145
      ]
    ],
    "simulated_seconds_remaining": 21.054,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 19.015588751994073,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.1,
                    "roll": 1.57
                  },
                  "note": "Center on the handle and roll 90° so fingers close vertically around the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      1.13411,
      -1.0366,
      -1.67467,
      -2.12594,
      0.41832,
      1.72034,
      -0.99468
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44522,
      -0.10763,
      0.92163
    ],
    "tcp_roll_pitch_yaw": [
      1.53564,
      -0.54546,
      0.0016
    ],
    "tcp_rotation_matrix": [
      [
        0.79555,
        0.59294,
        0.1246
      ],
      [
        -0.06606,
        -0.11954,
        0.99063
      ],
      [
        0.60228,
        -0.79632,
        -0.05593
      ]
    ],
    "simulated_seconds_remaining": 18.678,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 19.61934225540608,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.0,
                    "x": 0.45,
                    "y": -0.1,
                    "z": 0.9
                  },
                  "note": "Revert roll (it rotated the tool axis sideways); back to forward-down pointing pose in front of handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.07398,
      -0.65672,
      -0.18505,
      -2.83199,
      -0.10638,
      2.80723,
      -0.2461
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44998,
      -0.09999,
      0.9001
    ],
    "tcp_roll_pitch_yaw": [
      0.00403,
      -0.5453,
      0.00196
    ],
    "tcp_rotation_matrix": [
      [
        0.81137,
        0.0396,
        0.58319
      ],
      [
        0.10107,
        -0.99218,
        -0.07326
      ],
      [
        0.57573,
        0.11838,
        -0.80903
      ]
    ],
    "simulated_seconds_remaining": 16.302,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.405112208798528,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "z": 0.92
                  },
                  "note": "Advance toward the handle (centered in wrist view), slightly up to match handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.00499,
      -0.34257,
      -0.18519,
      -2.53404,
      -0.05752,
      2.8237,
      -0.22878
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54873,
      -0.09998,
      0.91975
    ],
    "tcp_roll_pitch_yaw": [
      0.00401,
      -0.54528,
      0.002
    ],
    "tcp_rotation_matrix": [
      [
        0.81138,
        0.03963,
        0.58317
      ],
      [
        0.10111,
        -0.99218,
        -0.07325
      ],
      [
        0.5757,
        0.11839,
        -0.80904
      ]
    ],
    "simulated_seconds_remaining": 15.312,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.805589174851775,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "z": 0.94
                  },
                  "note": "Handle appears just above the fingers; raise slightly and advance to place fingers at the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.01001,
      -0.27385,
      -0.18464,
      -2.41555,
      -0.04159,
      2.77362,
      -0.22797
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.57897,
      -0.09998,
      0.93935
    ],
    "tcp_roll_pitch_yaw": [
      0.00398,
      -0.54536,
      0.00204
    ],
    "tcp_rotation_matrix": [
      [
        0.81134,
        0.03965,
        0.58324
      ],
      [
        0.10114,
        -0.99217,
        -0.07325
      ],
      [
        0.57576,
        0.11842,
        -0.80899
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.605275452136993,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62
                  },
                  "note": "Push fingers forward into the handle recess before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.02931,
      -0.15345,
      -0.1902,
      -2.29253,
      -0.00974,
      2.76966,
      -0.23812
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61888,
      -0.09996,
      0.93932
    ],
    "tcp_roll_pitch_yaw": [
      0.00398,
      -0.54528,
      0.00208
    ],
    "tcp_rotation_matrix": [
      [
        0.81138,
        0.03969,
        0.58317
      ],
      [
        0.10117,
        -0.99217,
        -0.07324
      ],
      [
        0.5757,
        0.11843,
        -0.80904
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.005613046698272,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.89
                  },
                  "note": "Lower to check if handle is below current fingertip height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03923,
      -0.08952,
      -0.19986,
      -2.35599,
      0.02531,
      2.89565,
      -0.26614
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61883,
      -0.09994,
      0.89118
    ],
    "tcp_roll_pitch_yaw": [
      0.00403,
      -0.54491,
      0.00209
    ],
    "tcp_rotation_matrix": [
      [
        0.81159,
        0.03976,
        0.58288
      ],
      [
        0.10117,
        -0.99217,
        -0.07319
      ],
      [
        0.5754,
        0.11837,
        -0.80926
      ]
    ],
    "simulated_seconds_remaining": 13.596,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.606625119224191,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper to attempt grasping/hooking the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.03923,
      -0.08952,
      -0.19986,
      -2.35599,
      0.02531,
      2.89565,
      -0.26614
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.61883,
      -0.09994,
      0.89117
    ],
    "tcp_roll_pitch_yaw": [
      0.00403,
      -0.54491,
      0.00208
    ],
    "tcp_rotation_matrix": [
      [
        0.81158,
        0.03976,
        0.58288
      ],
      [
        0.10117,
        -0.99217,
        -0.07319
      ],
      [
        0.57541,
        0.11837,
        -0.80926
      ]
    ],
    "simulated_seconds_remaining": 12.672,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 2.8030028473585844,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Pull back along -x to test whether the drawer is engaged and opens."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.04011,
      -0.45202,
      -0.18064,
      -2.709,
      -0.07135,
      2.88864,
      -0.24296
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50127,
      -0.09996,
      0.89121
    ],
    "tcp_roll_pitch_yaw": [
      0.00406,
      -0.54497,
      0.00202
    ],
    "tcp_rotation_matrix": [
      [
        0.81156,
        0.03971,
        0.58292
      ],
      [
        0.10112,
        -0.99218,
        -0.07319
      ],
      [
        0.57545,
        0.11834,
        -0.80923
      ]
    ],
    "simulated_seconds_remaining": 11.55,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 22.01793165784329,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": 0.0,
                    "x": 0.6,
                    "y": -0.1,
                    "z": 0.95,
                    "gripper": 0.0
                  },
                  "note": "Switch to downward-pointing gripper above the handle, planning to hook a closed fingertip behind the handle bar and pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.01462,
      0.06734,
      -0.13171,
      -1.7691,
      -0.05615,
      1.92906,
      -0.22732
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59951,
      -0.10002,
      0.94957
    ],
    "tcp_roll_pitch_yaw": [
      0.00396,
      -0.00462,
      0.00213
    ],
    "tcp_rotation_matrix": [
      [
        0.99193,
        0.09533,
        0.08361
      ],
      [
        0.1016,
        -0.99205,
        -0.07429
      ],
      [
        0.07586,
        0.08219,
        -0.99373
      ]
    ],
    "simulated_seconds_remaining": 10.494,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 8.40721411909908,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": -0.12
                  },
                  "note": "Downward camera shows handle bar forward-left; move forward/left to be directly above it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03138,
      0.21446,
      -0.13514,
      -1.53222,
      -0.0249,
      1.70601,
      -0.26285
    ],
    "gripper_open": 0.0135,
    "tcp_xyz": [
      0.60854,
      -0.10542,
      0.95428
    ],
    "tcp_roll_pitch_yaw": [
      0.03245,
      0.12609,
      0.00392
    ],
    "tcp_rotation_matrix": [
      [
        0.99353,
        0.10346,
        -0.04682
      ],
      [
        0.10131,
        -0.99378,
        -0.0463
      ],
      [
        -0.05132,
        0.04126,
        -0.99783
      ]
    ],
    "simulated_seconds_remaining": 9.834,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 23.019588044844568,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57,
                    "pitch": 0.0,
                    "yaw": -1.57,
                    "x": 0.5,
                    "y": -0.12,
                    "z": 0.85,
                    "gripper": 1.0
                  },
                  "note": "Reorient so tool points +x with fingers opening vertically, to clamp the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03138,
      0.21446,
      -0.13514,
      -1.53222,
      -0.0249,
      1.70601,
      -0.26285
    ],
    "gripper_open": 0.0135,
    "tcp_xyz": [
      0.60854,
      -0.10542,
      0.95428
    ],
    "tcp_roll_pitch_yaw": [
      0.03245,
      0.12609,
      0.00392
    ],
    "tcp_rotation_matrix": [
      [
        0.99353,
        0.10346,
        -0.04682
      ],
      [
        0.10131,
        -0.99378,
        -0.0463
      ],
      [
        -0.05132,
        0.04126,
        -0.99783
      ]
    ],
    "simulated_seconds_remaining": 9.834,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.8051948100328445,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "z": 0.85,
                    "gripper": 1.0
                  },
                  "note": "Retreat to a free pose before reorienting."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.03621,
      -0.07373,
      -0.14561,
      -2.16153,
      -0.07292,
      2.04952,
      -0.249
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50091,
      -0.10544,
      0.85087
    ],
    "tcp_roll_pitch_yaw": [
      0.03247,
      0.12628,
      0.00387
    ],
    "tcp_rotation_matrix": [
      [
        0.99353,
        0.10343,
        -0.04701
      ],
      [
        0.10126,
        -0.99378,
        -0.04628
      ],
      [
        -0.05151,
        0.04122,
        -0.99782
      ]
    ],
    "simulated_seconds_remaining": 8.514,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 3.0030266027897596,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57
                  },
                  "note": "Apply roll step of the reorientation (tool to point +y, fingers along z)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.30072,
      0.08224,
      -0.24389,
      -1.81568,
      1.11664,
      0.96378,
      -0.91121
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45724,
      0.00665,
      1.08629
    ],
    "tcp_roll_pitch_yaw": [
      1.446,
      -0.2543,
      0.31263
    ],
    "tcp_rotation_matrix": [
      [
        0.90601,
        0.38336,
        -0.17942
      ],
      [
        0.23198,
        -0.0952,
        0.96805
      ],
      [
        0.35403,
        -0.91868,
        -0.17518
      ]
    ],
    "simulated_seconds_remaining": 6.138,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 15.012980735860765,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.57,
                    "pitch": 0.0,
                    "yaw": -1.57,
                    "x": 0.55,
                    "y": -0.12,
                    "z": 0.88
                  },
                  "note": "Complete reorientation (tool +x, fingers vertical) while approaching handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.30072,
      0.08224,
      -0.24389,
      -1.81568,
      1.11664,
      0.96378,
      -0.91121
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45724,
      0.00665,
      1.08629
    ],
    "tcp_roll_pitch_yaw": [
      1.446,
      -0.2543,
      0.31263
    ],
    "tcp_rotation_matrix": [
      [
        0.90601,
        0.38336,
        -0.17942
      ],
      [
        0.23198,
        -0.0952,
        0.96805
      ],
      [
        0.35403,
        -0.91868,
        -0.17518
      ]
    ],
    "simulated_seconds_remaining": 6.138,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 3.6033401312306523,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.6
                  },
                  "note": "Incremental yaw rotation toward tool pointing +x with vertical fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.40266,
      -0.66441,
      -0.07939,
      -2.5825,
      1.44225,
      1.88923,
      -0.67951
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45723,
      0.00684,
      1.08641
    ],
    "tcp_roll_pitch_yaw": [
      1.44605,
      -0.25451,
      -0.59521
    ],
    "tcp_rotation_matrix": [
      [
        0.74038,
        0.16109,
        0.6526
      ],
      [
        -0.57129,
        -0.3608,
        0.73719
      ],
      [
        0.35422,
        -0.91862,
        -0.1751
      ]
    ],
    "simulated_seconds_remaining": 4.62,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 8.609171876683831,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.57,
                    "y": -0.05,
                    "z": 0.83
                  },
                  "note": "Descend to drawer handle height in front of the cabinet with fingers vertical."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.37623,
      0.15293,
      -0.12298,
      -2.37351,
      1.66378,
      1.82994,
      -1.31218
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56943,
      -0.04971,
      0.83114
    ],
    "tcp_roll_pitch_yaw": [
      1.446,
      -0.25423,
      -0.5952
    ],
    "tcp_rotation_matrix": [
      [
        0.74047,
        0.16085,
        0.65256
      ],
      [
        -0.57133,
        -0.3607,
        0.73721
      ],
      [
        0.35396,
        -0.9187,
        -0.17519
      ]
    ],
    "simulated_seconds_remaining": 2.442,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 7.4069300619885325,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close fingers on the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.37623,
      0.15293,
      -0.12298,
      -2.37351,
      1.66378,
      1.82994,
      -1.31218
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.56943,
      -0.04972,
      0.83112
    ],
    "tcp_roll_pitch_yaw": [
      1.446,
      -0.25424,
      -0.5952
    ],
    "tcp_rotation_matrix": [
      [
        0.74047,
        0.16086,
        0.65256
      ],
      [
        -0.57133,
        -0.36071,
        0.73721
      ],
      [
        0.35397,
        -0.9187,
        -0.17519
      ]
    ],
    "simulated_seconds_remaining": 1.518,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 2.8030162882059813,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42
                  },
                  "note": "Final pull backward to open the drawer with remaining time."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.49428,
      -0.15488,
      -0.23788,
      -2.75198,
      1.45631,
      1.75022,
      -1.38837
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4213,
      -0.04979,
      0.83113
    ],
    "tcp_roll_pitch_yaw": [
      1.446,
      -0.25423,
      -0.59539
    ],
    "tcp_rotation_matrix": [
      [
        0.74037,
        0.16078,
        0.65269
      ],
      [
        -0.57146,
        -0.36073,
        0.73709
      ],
      [
        0.35396,
        -0.91871,
        -0.17519
      ]
    ],
    "simulated_seconds_remaining": 0.198,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 4.004050984978676,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Ran out of simulated time. Repeated IK/joint-limit rejections forced slow reorientation; I located the cabinet drawer handle but could not achieve a firm grasp and pull before the time budget expired."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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
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  "house_index": 420,
  "status": "completed",
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  "oracle_success": false,
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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.



MODEL RESPONSES


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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01SNEMVXAqJJMs66qAhHTUWp",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "z": 1.02
          },
          "note": "Backing off and raising to find the tabletop edge in the wrist view for height calibration."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1374,
      "cache_read_input_tokens": 19458,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1374,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 396,
      "output_tokens_details": {
        "thinking_tokens": 285
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezjtyfbaxntpu3GM7Df9",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015za89LLj2N65BvMzaYnEyf",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.965,
            "x": 0.62
          },
          "note": "Setting height to the knob estimate (z=0.965) and advancing so the open fingers straddle the knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 891,
      "cache_read_input_tokens": 20832,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 891,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 574,
      "output_tokens_details": {
        "thinking_tokens": 456
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjuujjCVQ6SUDDBE1JG",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01KcK8GXugt3mJRbzLe2ZaRK",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "At the drawer front; closing gripper to grasp the knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1062,
      "cache_read_input_tokens": 21723,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1062,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 263,
      "output_tokens_details": {
        "thinking_tokens": 168
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjvMdy2NijpwzAWyFJi",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01BeR5RkwaNH68q2pLPn6sxC",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45
          },
          "note": "Gripper closed onto something (stopped at 0.55); pulling back along -x to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 750,
      "cache_read_input_tokens": 22785,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 750,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 168,
      "output_tokens_details": {
        "thinking_tokens": 60
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezjw7GoQ8bLZaxhP5xkz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UB7PCJ1Lo8CTmSt86PQ4kp",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "gripper": 1
          },
          "note": "Re-approaching the knob with gripper open (previous pull failed because the gripper reopened)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 657,
      "cache_read_input_tokens": 23535,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 657,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 384,
      "output_tokens_details": {
        "thinking_tokens": 271
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjwkjJcdePLyNN4U2Fi",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JyTwkcErNVZ7zcHQejWTHj",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing gripper on the drawer knob again."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 872,
      "cache_read_input_tokens": 24192,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 872,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 227,
      "output_tokens_details": {
        "thinking_tokens": 137
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjxAJt3vit1gG8A9aDb",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01VgLjsbgLRXLNh2THt21yB8",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.255,
            "gripper": 1
          },
          "note": "Nothing was grasped; reopening and shifting right to y=0.255 where the knob was estimated."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 715,
      "cache_read_input_tokens": 25064,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 715,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 348,
      "output_tokens_details": {
        "thinking_tokens": 232
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjxrB1ZQWhQfCut1xth",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01YDJUZF8ot6gfz1hU6CeGDw",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing the gripper here to attempt a grasp on the knob/drawer edge."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 838,
      "cache_read_input_tokens": 25779,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 838,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 179,
      "output_tokens_details": {
        "thinking_tokens": 77
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjyDc6kKc5AEbxhbB1i",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QbFx5WpcZmkBonFmLvMvg9",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "z": 0.955,
            "gripper": 1
          },
          "note": "Reopening and repositioning slightly lower at the knob height for a final grasp attempt."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 667,
      "cache_read_input_tokens": 26617,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 667,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 457,
      "output_tokens_details": {
        "thinking_tokens": 337
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezjyw4TikNDqTwoPNrcg",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XoHJ8toAmJ3o5k4WZxdxwB",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "x": 0.48
          },
          "note": "Final attempt: close on the knob while retracting to pull the drawer open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 945,
      "cache_read_input_tokens": 27284,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 945,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 232,
      "output_tokens_details": {
        "thinking_tokens": 125
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjzSrMbEiJUUHWenD87",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012evJb2BaX3Lcmhgu92jKqR",
        "name": "give_up",
        "input": {
          "note": "Could not localize/grasp the table drawer knob in the dark scene; grasp attempts closed on empty air and simulated time is nearly exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 720,
      "cache_read_input_tokens": 28229,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 720,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 183,
      "output_tokens_details": {
        "thinking_tokens": 89
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 14.211711229756474,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.25,
                    "z": 1.0
                  },
                  "note": "Moving forward-left toward the dark table to get a better wrist view of its drawer/handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.04607,
      -0.24213,
      0.46177,
      -1.96254,
      -0.01917,
      1.82555,
      0.36581
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44937,
      0.2488,
      1.00004
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.00011,
      0.00015
    ],
    "tcp_rotation_matrix": [
      [
        0.98258,
        0.13247,
        0.1303
      ],
      [
        0.14257,
        -0.9872,
        -0.07149
      ],
      [
        0.11917,
        0.08883,
        -0.98889
      ]
    ],
    "simulated_seconds_remaining": 27.918,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 18.214662987738848,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.45,
                    "z": 1.05
                  },
                  "note": "Wrist points down; table appears left of wrist view. Moving further left to hover over the table for localization."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.39633,
      0.47697,
      0.62171,
      -0.99592,
      -0.42364,
      1.42472,
      0.75274
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49964,
      0.44884,
      1.04962
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00025,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.98255,
        0.13282,
        0.13019
      ],
      [
        0.1429,
        -0.98716,
        -0.07141
      ],
      [
        0.11903,
        0.08877,
        -0.98891
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 10.609109978191555,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.3
                  },
                  "note": "Raising the wrist camera to get a wider top-down view to localize the table and its drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.39633,
      0.47697,
      0.62171,
      -0.99592,
      -0.42364,
      1.42472,
      0.75274
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49964,
      0.44884,
      1.04962
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00025,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.98255,
        0.13282,
        0.13019
      ],
      [
        0.1429,
        -0.98716,
        -0.07141
      ],
      [
        0.11903,
        0.08877,
        -0.98891
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 31.826579328626394,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57,
                    "x": 0.4,
                    "y": 0.3,
                    "z": 1.05
                  },
                  "note": "Rotating gripper to point forward (+x) so the wrist camera looks ahead at the table front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.39633,
      0.47697,
      0.62171,
      -0.99592,
      -0.42364,
      1.42472,
      0.75274
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49964,
      0.44884,
      1.04962
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      0.00025,
      0.00049
    ],
    "tcp_rotation_matrix": [
      [
        0.98255,
        0.13282,
        0.13019
      ],
      [
        0.1429,
        -0.98716,
        -0.07141
      ],
      [
        0.11903,
        0.08877,
        -0.98891
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.409037399105728,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Splitting the rotation: tilt gripper halfway toward forward-facing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.32833,
      -0.0104,
      0.60777,
      -1.86599,
      -0.97581,
      2.17612,
      1.28531
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49959,
      0.44884,
      1.04954
    ],
    "tcp_roll_pitch_yaw": [
      -0.00037,
      -0.7955,
      0.00056
    ],
    "tcp_rotation_matrix": [
      [
        0.60251,
        0.0295,
        0.79757
      ],
      [
        0.1428,
        -0.98718,
        -0.07136
      ],
      [
        0.78523,
        0.15689,
        -0.59899
      ]
    ],
    "simulated_seconds_remaining": 24.816,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.2032645037397742,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Completing rotation so the gripper points forward along +x for a horizontal drawer pull."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.37363,
      0.039,
      0.68035,
      -2.11511,
      -1.89151,
      1.89547,
      2.0656
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.49965,
      0.44875,
      1.04923
    ],
    "tcp_roll_pitch_yaw": [
      -0.00643,
      -1.49506,
      0.00619
    ],
    "tcp_rotation_matrix": [
      [
        -0.04456,
        -0.07872,
        0.9959
      ],
      [
        0.14291,
        -0.98714,
        -0.07163
      ],
      [
        0.98873,
        0.13913,
        0.05524
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 14.611895508132875,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.3
                  },
                  "note": "Backing off and centering to get a wider forward wrist view of the table front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.55956,
      -0.71452,
      0.56183,
      -2.72225,
      -1.58734,
      2.13966,
      2.0586
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35091,
      0.30098,
      1.04928
    ],
    "tcp_roll_pitch_yaw": [
      -0.00731,
      -1.49518,
      0.00715
    ],
    "tcp_rotation_matrix": [
      [
        -0.0447,
        -0.07866,
        0.9959
      ],
      [
        0.14297,
        -0.98714,
        -0.07156
      ],
      [
        0.98872,
        0.13918,
        0.05537
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 14.612233116291463,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.4
                  },
                  "note": "Testing image-to-world mapping: shifting +0.1 m in y to see how the knob moves in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.47427,
      -0.39302,
      0.76886,
      -2.45203,
      -1.56586,
      1.93212,
      2.07006
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3509,
      0.39878,
      1.04927
    ],
    "tcp_roll_pitch_yaw": [
      -0.00814,
      -1.49516,
      0.00808
    ],
    "tcp_rotation_matrix": [
      [
        -0.04469,
        -0.07855,
        0.99591
      ],
      [
        0.14303,
        -0.98714,
        -0.07144
      ],
      [
        0.98871,
        0.13925,
        0.05535
      ]
    ],
    "simulated_seconds_remaining": 20.856,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 31.024437098763883,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "Lowering 0.1 m to determine vertical image mapping from how features shift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.42753,
      -0.15022,
      0.89594,
      -2.50611,
      -1.66637,
      1.73621,
      2.29525
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.35093,
      0.39875,
      0.95115
    ],
    "tcp_roll_pitch_yaw": [
      -0.01096,
      -1.49496,
      0.01084
    ],
    "tcp_rotation_matrix": [
      [
        -0.04449,
        -0.07858,
        0.99591
      ],
      [
        0.14324,
        -0.9871,
        -0.07149
      ],
      [
        0.98869,
        0.13948,
        0.05517
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 34.02607377432287,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.3
                  },
                  "note": "Moving forward and toward the estimated knob position to inspect the drawer front closely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.28957,
      -0.29768,
      0.66125,
      -2.63903,
      -1.94858,
      2.02078,
      2.41797
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44914,
      0.30083,
      0.95115
    ],
    "tcp_roll_pitch_yaw": [
      -0.01037,
      -1.49497,
      0.00997
    ],
    "tcp_rotation_matrix": [
      [
        -0.04445,
        -0.07885,
        0.99589
      ],
      [
        0.14321,
        -0.98709,
        -0.07176
      ],
      [
        0.98869,
        0.13943,
        0.05517
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 24.61915483791381,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.26,
                    "z": 0.99
                  },
                  "note": "Aligning camera axis with estimated knob position (y~0.26, z~0.99) to center it in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.38846,
      -0.63064,
      0.57301,
      -2.79587,
      -1.82959,
      2.199,
      2.31426
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40085,
      0.26073,
      0.9894
    ],
    "tcp_roll_pitch_yaw": [
      -0.01101,
      -1.49515,
      0.01061
    ],
    "tcp_rotation_matrix": [
      [
        -0.04463,
        -0.07889,
        0.99588
      ],
      [
        0.14326,
        -0.98708,
        -0.07177
      ],
      [
        0.98868,
        0.13946,
        0.05536
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 12.009288925677538,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52
                  },
                  "note": "Knob appears near image center; advancing forward toward the drawer front to gauge distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.2142,
      -0.30006,
      0.49436,
      -2.55363,
      -2.14158,
      2.17994,
      2.41538
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.51875,
      0.26067,
      0.98939
    ],
    "tcp_roll_pitch_yaw": [
      -0.01027,
      -1.49508,
      0.00969
    ],
    "tcp_rotation_matrix": [
      [
        -0.04454,
        -0.07905,
        0.99588
      ],
      [
        0.14321,
        -0.98707,
        -0.07195
      ],
      [
        0.98869,
        0.13941,
        0.05528
      ]
    ],
    "simulated_seconds_remaining": 16.698,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 14.811169046908617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 1.08
                  },
                  "note": "Backing off slightly and rising to re-locate the drawer knob, which may sit higher just under the tabletop."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.3436,
      -0.72472,
      0.46058,
      -2.66604,
      -1.79645,
      2.36732,
      2.10061
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42096,
      0.26072,
      1.07921
    ],
    "tcp_roll_pitch_yaw": [
      -0.00951,
      -1.49533,
      0.00902
    ],
    "tcp_rotation_matrix": [
      [
        -0.0448,
        -0.079,
        0.99587
      ],
      [
        0.14315,
        -0.98709,
        -0.07186
      ],
      [
        0.98869,
        0.13934,
        0.05553
      ]
    ],
    "simulated_seconds_remaining": 15.51,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 31.625736934132874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.25,
                    "z": 0.93
                  },
                  "note": "Centering on the refined knob estimate (y=0.25, z=0.93) before advancing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.25851,
      -0.37185,
      0.61407,
      -2.75702,
      -2.0421,
      2.06713,
      2.52077
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44976,
      0.25005,
      0.93118
    ],
    "tcp_roll_pitch_yaw": [
      -0.01192,
      -1.49506,
      0.01132
    ],
    "tcp_rotation_matrix": [
      [
        -0.04451,
        -0.07907,
        0.99588
      ],
      [
        0.14333,
        -0.98705,
        -0.07196
      ],
      [
        0.98867,
        0.13954,
        0.05527
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 16.212830503471196,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "z": 0.97
                  },
                  "note": "Advancing toward the desk front face to see the drawer front up close in the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.11301,
      -0.12329,
      0.49962,
      -2.44081,
      -2.28576,
      2.15214,
      2.46846
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57808,
      0.25018,
      0.96917
    ],
    "tcp_roll_pitch_yaw": [
      -0.01729,
      -1.49442,
      0.01681
    ],
    "tcp_rotation_matrix": [
      [
        -0.04391,
        -0.07884,
        0.99592
      ],
      [
        0.14374,
        -0.98701,
        -0.0718
      ],
      [
        0.98864,
        0.14,
        0.05467
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 11.009231864474714,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1.02
                  },
                  "note": "Backing off and raising to find the tabletop edge in the wrist view for height calibration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.25216,
      -0.58666,
      0.52329,
      -2.69069,
      -1.96765,
      2.30541,
      2.32347
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45124,
      0.25027,
      1.01958
    ],
    "tcp_roll_pitch_yaw": [
      -0.01823,
      -1.4946,
      0.01791
    ],
    "tcp_rotation_matrix": [
      [
        -0.04411,
        -0.0787,
        0.99592
      ],
      [
        0.1438,
        -0.98701,
        -0.07163
      ],
      [
        0.98862,
        0.14005,
        0.05486
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 12.010047328658402,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.965,
                    "x": 0.62
                  },
                  "note": "Setting height to the knob estimate (z=0.965) and advancing so the open fingers straddle the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.10663,
      -0.04566,
      0.50246,
      -2.34854,
      -2.27451,
      2.1464,
      2.45564
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.60285,
      0.26197,
      0.97444
    ],
    "tcp_roll_pitch_yaw": [
      0.4378,
      -1.48389,
      -0.44821
    ],
    "tcp_rotation_matrix": [
      [
        -0.04036,
        -0.08984,
        0.99514
      ],
      [
        0.10642,
        -0.99067,
        -0.08512
      ],
      [
        0.9935,
        0.10246,
        0.04954
      ]
    ],
    "simulated_seconds_remaining": 10.362,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.805254983715713,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "At the drawer front; closing gripper to grasp the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.11754,
      -0.05208,
      0.51642,
      -2.35312,
      -2.2746,
      2.14822,
      2.45489
    ],
    "gripper_open": 0.551,
    "tcp_xyz": [
      0.59475,
      0.27637,
      0.97524
    ],
    "tcp_roll_pitch_yaw": [
      0.4057,
      -1.48644,
      -0.39036
    ],
    "tcp_rotation_matrix": [
      [
        -0.04434,
        -0.06432,
        0.99694
      ],
      [
        0.10884,
        -0.9923,
        -0.05918
      ],
      [
        0.99307,
        0.10588,
        0.051
      ]
    ],
    "simulated_seconds_remaining": 9.438,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 9.808001801371574,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Gripper closed onto something (stopped at 0.55); pulling back along -x to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.26779,
      -0.43343,
      0.60233,
      -2.67945,
      -1.97903,
      2.16075,
      2.43852
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45129,
      0.27649,
      0.97527
    ],
    "tcp_roll_pitch_yaw": [
      0.40505,
      -1.48654,
      -0.38946
    ],
    "tcp_rotation_matrix": [
      [
        -0.04444,
        -0.06409,
        0.99695
      ],
      [
        0.10892,
        -0.9923,
        -0.05893
      ],
      [
        0.99306,
        0.10597,
        0.05108
      ]
    ],
    "simulated_seconds_remaining": 8.184,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 8.206871177069843,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "gripper": 1
                  },
                  "note": "Re-approaching the knob with gripper open (previous pull failed because the gripper reopened)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
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}

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    "tcp_rotation_matrix": [
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      [
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                    "gripper": 0
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                  "note": "Closing gripper on the drawer knob again."
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{
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{
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{
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                  },
                  "note": "Final attempt: close on the knob while retracting to pull the drawer open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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{
  "call": 26,
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    "instruction": "open the table.",
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      [
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    ],
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    "calls_remaining_including_this": 32
  },
  "api_seconds": 10.008376997895539,
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      {
        "content": {
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          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize/grasp the table drawer knob in the dark scene; grasp attempts closed on empty air and simulated time is nearly exhausted."
                }
              }
            }
          ]
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      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 909,
  "house_index": 421,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 40,
  "api_calls": 42,
  "wall_seconds": 383.98828887939453,
  "usage": {
    "input_tokens": 84,
    "cache_creation_input_tokens": 40591,
    "cache_read_input_tokens": 804716,
    "output_tokens": 18944
  },
  "estimated_cost_usd": 1.13007175
}


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.



MODEL RESPONSES


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          "note": "Rotating wrist to look forward so I can see the dresser drawers."
        },
        "caller": {
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        }
      }
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{
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          "targets": {
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          "note": "Continue pitching forward to face dresser front."
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          "note": "Lower slightly while pitching further forward, hoping IK finds a solution."
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{
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{
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            "x": 0.45
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          "note": "Descend further to drawer-face height while backing off slightly to get a view of handles."
        },
        "caller": {
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezjpCjWmD1tNBoauxHo5",
    "type": "message",
    "role": "assistant",
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      {
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        "thinking": ""
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          "note": "Probe forward at handle height to find the drawer face."
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{
  "api_call": 12,
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    "model": "claude-opus-5",
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      {
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        "input": {
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          "note": "Smaller forward step to avoid large joint jump."
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{
  "api_call": 13,
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    "model": "claude-opus-5",
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          "targets": {
            "y": 0.1
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          "note": "Test lateral move (+y) to calibrate wrist image directions relative to handle."
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{
  "api_call": 14,
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          "note": "Move right (-y) to align the fingers with the drawer handle based on calibration."
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{
  "api_call": 15,
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          "note": "Back off and raise camera angle to get a wider view of the dresser front and handles."
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{
  "api_call": 16,
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          "note": "Smaller retreat/raise step to avoid joint jump."
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{
  "api_call": 17,
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          "note": "Tiny move to test reachability from current awkward configuration."
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{
  "api_call": 18,
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      {
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          "note": "Probe forward 3 cm toward the drawer face."
        },
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{
  "api_call": 19,
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          "note": "Continue probing forward to detect the drawer face by position tracking error."
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{
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          "note": "Close gripper to test whether the handle is between the fingers."
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{
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          "note": "Retreat to a vantage point to view the whole dresser front and locate handles."
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{
  "api_call": 22,
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          "note": "Raise stepwise (avoid joint jump) before retreating for a wider view."
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{
  "api_call": 23,
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        "thinking": ""
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          "note": "Retreat to widen the wrist view of the dresser front."
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        "caller": {
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{
  "api_call": 24,
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          "targets": {
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          "note": "Return to top-drawer handle height for a grasp attempt."
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{
  "api_call": 25,
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            "y": -0.02,
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          "note": "Nudge toward the handle seen down-left of the fingers in wrist view."
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{
  "api_call": 26,
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          "note": "Push forward to bring fingers around/behind the handle."
        },
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{
  "api_call": 27,
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          "note": "Close gripper at contact depth to attempt grasping the handle."
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{
  "api_call": 28,
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      {
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        "id": "toolu_01DU1Ur8B9XerXjF4enN3BD6",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 780,
      "cache_read_input_tokens": 24479,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 780,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 153,
      "output_tokens_details": {
        "thinking_tokens": 129
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk1QRXbjpVpQftazawx",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_011XkMjgPxrUb3hDwtQPUohQ",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0,
            "x": 0.42
          },
          "note": "Gripper appears blocked by the handle; close and pull backward to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
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      "cache_creation_input_tokens": 587,
      "cache_read_input_tokens": 25259,
      "cache_creation": {
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      },
      "output_tokens": 251,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk22rXBQqXnX9J8c1Hu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01EysJzSSJe2MW3XK9CTm86Z",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.03,
            "z": 0.78,
            "gripper": 1.0
          },
          "note": "Using corrected (180°-rotated) wrist-image mapping, shift to handle: slightly -y and higher z, gripper open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
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      "cache_read_input_tokens": 25846,
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      },
      "output_tokens": 2295,
      "output_tokens_details": {
        "thinking_tokens": 2159
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk4jV5iyUWgpPwyPKdm",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01BmHNBkiCiy2KSUpjtG7JxL",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "y": 0.0,
            "z": 0.95,
            "pitch": -0.3
          },
          "note": "Raise and rotate toward downward view to see dresser top edge and protruding handles from above."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
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      "cache_creation_input_tokens": 2785,
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      },
      "output_tokens": 1317,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk6Wczdi3A11AX84V2Q",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_0143zhuncowBHWu3hwn4jg6w",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.15
          },
          "note": "Testing the calibration: moving -y should head toward the dresser if it lies on that side."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk7GHoDhDAyWq66zyGu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01DYhjwQQFztC5jYgUfNU7Ej",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.15,
            "z": 0.9
          },
          "note": "Exterior view shows dresser lies at +y; moving left toward it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
      "output_tokens": 691,
      "output_tokens_details": {
        "thinking_tokens": 585
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 34,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk8Ed7dJiMf7RBi1Ah8",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "id": "toolu_01NFkNbXNTT9QgkCUfSQFUVF",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.52,
            "z": 0.8
          },
          "note": "Committing: reach toward top drawer handle region at +y side of dresser front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk8qnTkrrYSzznnGDpt",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.12,
            "z": 0.78
          },
          "note": "Handle visible left/below gripper in wrist view; nudging -y and down to align."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 1006,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 36,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkAAHV8vrgp4E5Xk4H4",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "id": "toolu_01WMx4kSq41UDUtLaBYzfoD2",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.24
          },
          "note": "Exterior suggests the handle is at +y of the gripper; moving left to align laterally."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      },
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 37,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkAwKQQqD49MSQ3d5jt",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_015J9yZcbMFuREy4kiEeGKdw",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.08
          },
          "note": "Handle moves left with +y, so move -y to bring it into the gripper center."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "service_tier": "standard",
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  }
}

{
  "api_call": 38,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkBcFTs98sbLygWz1Cz",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017uVJRjmNFk9tTLBHTuJCtu",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.09,
            "z": 0.79
          },
          "note": "Final alignment onto the handle before grasping."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "service_tier": "standard",
      "inference_geo": "global"
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  }
}

{
  "api_call": 39,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkC7i1ni465KDsLc64W",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_016P8mByFXV18kfwfAG4oBCg",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Closing gripper on the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_creation_input_tokens": 809,
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      },
      "output_tokens": 240,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 40,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkCZ2GbEcCfgoxxZUD2",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UmFRgkHgkrQQAzpHq83u2p",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.33
          },
          "note": "Attempting to pull back in case the closed fingers are hooked behind the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 243,
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 41,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkD6R9bnRnjjhkJe5nd",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01N66b982kBFDysh3v8LTQbD",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.43
          },
          "note": "Smaller backward pull attempt with closed fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_creation_input_tokens": 731,
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      },
      "output_tokens": 92,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 42,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkDLwGLsP53AN9vyhf5",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017pLqV5U8epKk8kWSJxwXzv",
        "name": "give_up",
        "input": {
          "note": "Could not localize the drawer handle reliably; wrist views were very dark and ambiguous, several IK rejections consumed the motion budget, and the gripper closed on empty space each attempt. Out of simulated time without opening the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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  }
}


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": 15.21336124278605,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Rotating wrist to look forward so I can see the dresser 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 drawer.",
    "joint_positions": [
      -0.01241,
      -0.74489,
      -0.0073,
      -2.30794,
      0.07748,
      1.45395,
      0.1514
    ],
    "gripper_open": 0.9964,
    "tcp_xyz": [
      0.28905,
      0.01528,
      1.0176
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      0.0,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98011,
        -0.16685,
        -0.10745
      ],
      [
        -0.15831,
        -0.98384,
        0.0837
      ],
      [
        -0.11968,
        -0.06502,
        -0.99068
      ]
    ],
    "simulated_seconds_remaining": 30.03,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 3.6038018744438887,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7
                  },
                  "note": "Incremental pitch to tilt gripper forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.0137,
      -1.39702,
      -0.00288,
      -2.82159,
      0.09867,
      2.00924,
      0.10407
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.289,
      0.01529,
      1.01757
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.6957,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82905,
        -0.08637,
        0.55247
      ],
      [
        -0.15828,
        -0.98384,
        0.08371
      ],
      [
        0.53631,
        -0.15684,
        -0.82932
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.6036795927211642,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Continue pitching forward to face dresser 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 drawer.",
    "joint_positions": [
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      -1.39702,
      -0.00288,
      -2.82159,
      0.09867,
      2.00924,
      0.10407
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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      0.01529,
      1.01757
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.6957,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82905,
        -0.08637,
        0.55247
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      [
        -0.15828,
        -0.98384,
        0.08371
      ],
      [
        0.53631,
        -0.15684,
        -0.82932
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.2033611238002777,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.0,
                    "z": 0.95
                  },
                  "note": "Lower slightly while pitching further forward, hoping IK finds a solution."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.0137,
      -1.39702,
      -0.00288,
      -2.82159,
      0.09867,
      2.00924,
      0.10407
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.289,
      0.01529,
      1.01757
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    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.6957,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82905,
        -0.08637,
        0.55247
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      [
        -0.15828,
        -0.98384,
        0.08371
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      [
        0.53631,
        -0.15684,
        -0.82932
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.613010112196207,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "z": 0.97
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                  "note": "Move forward/down toward dresser front to gauge distance to handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.00339,
      -1.04512,
      0.00012,
      -2.83566,
      0.11831,
      2.3746,
      0.07706
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37881,
      0.0153,
      0.97051
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    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.69536,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82923,
        -0.0864,
        0.55218
      ],
      [
        -0.15827,
        -0.98384,
        0.08373
      ],
      [
        0.53603,
        -0.15683,
        -0.82951
      ]
    ],
    "simulated_seconds_remaining": 27.786,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.405845031142235,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2
                  },
                  "note": "Try pitching more forward from new arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.00339,
      -1.04512,
      0.00012,
      -2.83566,
      0.11831,
      2.3746,
      0.07706
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37881,
      0.0153,
      0.97051
    ],
    "tcp_roll_pitch_yaw": [
      1e-05,
      -0.69536,
      4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82923,
        -0.0864,
        0.55218
      ],
      [
        -0.15827,
        -0.98384,
        0.08373
      ],
      [
        0.53603,
        -0.15683,
        -0.82951
      ]
    ],
    "simulated_seconds_remaining": 27.786,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.40677976142615,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Advance toward dresser to find the drawer face distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02377,
      -0.58026,
      -0.01176,
      -2.57348,
      0.13319,
      2.57488,
      0.05642
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    "gripper_open": 1.0,
    "tcp_xyz": [
      0.49737,
      0.01538,
      0.97034
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    "tcp_roll_pitch_yaw": [
      0.00165,
      -0.69292,
      -0.00183
    ],
    "tcp_rotation_matrix": [
      [
        0.83041,
        -0.0876,
        0.55022
      ],
      [
        -0.15963,
        -0.98357,
        0.08432
      ],
      [
        0.5338,
        -0.15786,
        -0.83075
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.005437636747956,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85
                  },
                  "note": "Lower to drawer handle height to see handles in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.11001,
      -0.50018,
      -0.04818,
      -2.75345,
      0.20322,
      2.9435,
      -0.01845
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    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50439,
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      0.90481
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    "tcp_roll_pitch_yaw": [
      0.00407,
      -0.8,
      0.02023
    ],
    "tcp_rotation_matrix": [
      [
        0.7722,
        -0.04682,
        0.63365
      ],
      [
        -0.14222,
        -0.98471,
        0.10057
      ],
      [
        0.61926,
        -0.16778,
        -0.76705
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 12.610101224854589,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.75,
                    "x": 0.45
                  },
                  "note": "Descend further to drawer-face height while backing off slightly to get a view of handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.67168,
      -0.22979,
      -0.63515,
      -3.02215,
      0.09304,
      3.52929,
      0.00886
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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      0.02733,
      0.75112
    ],
    "tcp_roll_pitch_yaw": [
      0.00406,
      -0.79953,
      0.02012
    ],
    "tcp_rotation_matrix": [
      [
        0.77247,
        -0.04702,
        0.63331
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      [
        -0.14231,
        -0.98471,
        0.10047
      ],
      [
        0.6189,
        -0.16774,
        -0.76735
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.406760270707309,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Probe forward at handle height to find the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.63515,
      -3.02215,
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      0.00886
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      -0.79953,
      0.02012
    ],
    "tcp_rotation_matrix": [
      [
        0.77247,
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        0.63331
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      [
        -0.14231,
        -0.98471,
        0.10047
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      [
        0.6189,
        -0.16774,
        -0.76735
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    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 3.003351056948304,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48
                  },
                  "note": "Smaller forward step to avoid large joint jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.1516,
      -0.77951,
      -2.93615,
      -0.04004,
      3.51488,
      0.11788
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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      0.75113
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    "tcp_roll_pitch_yaw": [
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      0.02001
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    "tcp_rotation_matrix": [
      [
        0.77245,
        -0.04711,
        0.63333
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      [
        -0.14239,
        -0.9847,
        0.10042
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      [
        0.61891,
        -0.16775,
        -0.76734
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.804935958236456,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1
                  },
                  "note": "Test lateral move (+y) to calibrate wrist image directions relative to handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.46316,
      -2.89464,
      0.3684,
      3.5311,
      0.02422
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    "gripper_open": 0.9966,
    "tcp_xyz": [
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    "tcp_roll_pitch_yaw": [
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      -0.79963,
      0.02063
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    "tcp_rotation_matrix": [
      [
        0.77246,
        -0.04662,
        0.63335
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      [
        -0.14194,
        -0.98475,
        0.10063
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      [
        0.619,
        -0.16763,
        -0.7673
      ]
    ],
    "simulated_seconds_remaining": 22.902,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 15.612519083544612,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05
                  },
                  "note": "Move right (-y) to align the fingers with the drawer handle based on calibration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.23674,
      -1.21344,
      -2.915,
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      3.45319,
      0.10758
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    "gripper_open": 0.9506,
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    "tcp_roll_pitch_yaw": [
      -0.07325,
      -0.79733,
      0.23692
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    "tcp_rotation_matrix": [
      [
        0.77966,
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        0.6159
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      [
        0.01682,
        -0.98697,
        0.15999
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      [
        0.62597,
        -0.11438,
        -0.77141
      ]
    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 13.411291857250035,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.0,
                    "z": 0.8,
                    "yaw": 0.0,
                    "roll": 0.0,
                    "pitch": -0.5
                  },
                  "note": "Back off and raise camera angle to get a wider view of the dresser front and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      3.45319,
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
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        0.6159
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      [
        0.01682,
        -0.98697,
        0.15999
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      [
        0.62597,
        -0.11438,
        -0.77141
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    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 3.40375267714262,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "y": 0.0,
                    "z": 0.8
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                  "note": "Smaller retreat/raise step to avoid joint jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      3.45319,
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    "gripper_open": 0.9506,
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    "tcp_roll_pitch_yaw": [
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      0.23692
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    "tcp_rotation_matrix": [
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        0.6159
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      [
        0.01682,
        -0.98697,
        0.15999
      ],
      [
        0.62597,
        -0.11438,
        -0.77141
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    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 4.003594531677663,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.78
                  },
                  "note": "Tiny move to test reachability from current awkward configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.94641,
      -2.91813,
      -0.51062,
      3.31834,
      0.11425
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    "gripper_open": 0.9934,
    "tcp_xyz": [
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      0.77689
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    "tcp_roll_pitch_yaw": [
      -0.07113,
      -0.79217,
      0.23611
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    "tcp_rotation_matrix": [
      [
        0.783,
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        0.61164
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      [
        0.01723,
        -0.98687,
        0.16061
      ],
      [
        0.62179,
        -0.11522,
        -0.77467
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    ],
    "simulated_seconds_remaining": 21.054,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.606935267336667,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Probe forward 3 cm toward the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.30635,
      -1.12969,
      -2.87699,
      -0.47404,
      3.31641,
      0.11413
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.47913,
      -0.00336,
      0.76053
    ],
    "tcp_roll_pitch_yaw": [
      -0.03044,
      -0.76002,
      0.21173
    ],
    "tcp_rotation_matrix": [
      [
        0.80589,
        0.11245,
        0.58129
      ],
      [
        0.00765,
        -0.98369,
        0.17968
      ],
      [
        0.59202,
        -0.14035,
        -0.79361
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 15.6122134802863,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 0.76
                  },
                  "note": "Continue probing forward to detect the drawer face by position tracking error."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.23873,
      -0.28063,
      -1.4231,
      -2.81226,
      -0.40529,
      3.30138,
      0.23454
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.4947,
      0.01421,
      0.74068
    ],
    "tcp_roll_pitch_yaw": [
      0.11404,
      -0.69705,
      0.01724
    ],
    "tcp_rotation_matrix": [
      [
        0.84174,
        0.00213,
        0.53988
      ],
      [
        -0.12917,
        -0.97015,
        0.20522
      ],
      [
        0.52421,
        -0.24248,
        -0.81634
      ]
    ],
    "simulated_seconds_remaining": 19.932,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 8.407110690139234,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper to test whether the handle is between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.23873,
      -0.28063,
      -1.4231,
      -2.81226,
      -0.40529,
      3.30138,
      0.23454
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4947,
      0.01421,
      0.74066
    ],
    "tcp_roll_pitch_yaw": [
      0.11402,
      -0.69697,
      0.01725
    ],
    "tcp_rotation_matrix": [
      [
        0.84177,
        0.00212,
        0.53982
      ],
      [
        -0.12916,
        -0.97016,
        0.20521
      ],
      [
        0.52415,
        -0.24246,
        -0.81638
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 10.608731583692133,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "y": 0.0,
                    "z": 1.0,
                    "pitch": -0.7,
                    "roll": 0.0,
                    "yaw": 0.0,
                    "gripper": 1.0
                  },
                  "note": "Retreat to a vantage point to view the whole dresser front and locate handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.23873,
      -0.28063,
      -1.4231,
      -2.81226,
      -0.40529,
      3.30138,
      0.23454
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4947,
      0.01421,
      0.74066
    ],
    "tcp_roll_pitch_yaw": [
      0.11402,
      -0.69697,
      0.01725
    ],
    "tcp_rotation_matrix": [
      [
        0.84177,
        0.00212,
        0.53982
      ],
      [
        -0.12916,
        -0.97016,
        0.20521
      ],
      [
        0.52415,
        -0.24246,
        -0.81638
      ]
    ],
    "simulated_seconds_remaining": 19.008,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 3.0034557757899165,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.85,
                    "gripper": 1.0
                  },
                  "note": "Raise stepwise (avoid joint jump) before retreating for a wider view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.74367,
      -0.56133,
      -0.87907,
      -2.74977,
      -0.51951,
      2.89009,
      0.36754
    ],
    "gripper_open": 0.9918,
    "tcp_xyz": [
      0.49266,
      0.01526,
      0.84564
    ],
    "tcp_roll_pitch_yaw": [
      0.11338,
      -0.68958,
      0.01921
    ],
    "tcp_rotation_matrix": [
      [
        0.84582,
        0.00183,
        0.53347
      ],
      [
        -0.12753,
        -0.97031,
        0.20553
      ],
      [
        0.518,
        -0.24187,
        -0.82047
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 4.804324574768543,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.0
                  },
                  "note": "Retreat to widen the wrist view of the dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.74367,
      -0.56133,
      -0.87907,
      -2.74977,
      -0.51951,
      2.89009,
      0.36754
    ],
    "gripper_open": 0.9918,
    "tcp_xyz": [
      0.49266,
      0.01526,
      0.84564
    ],
    "tcp_roll_pitch_yaw": [
      0.11338,
      -0.68958,
      0.01921
    ],
    "tcp_rotation_matrix": [
      [
        0.84582,
        0.00183,
        0.53347
      ],
      [
        -0.12753,
        -0.97031,
        0.20553
      ],
      [
        0.518,
        -0.24187,
        -0.82047
      ]
    ],
    "simulated_seconds_remaining": 17.952,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 17.41455347649753,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.76,
                    "x": 0.49
                  },
                  "note": "Return to top-drawer handle height for a grasp attempt."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.00371,
      -0.33053,
      -1.19091,
      -2.81736,
      -0.45458,
      3.21182,
      0.28187
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48997,
      0.01533,
      0.7612
    ],
    "tcp_roll_pitch_yaw": [
      0.11348,
      -0.68919,
      0.01926
    ],
    "tcp_rotation_matrix": [
      [
        0.84604,
        0.00185,
        0.53312
      ],
      [
        -0.12747,
        -0.97029,
        0.20565
      ],
      [
        0.51766,
        -0.24194,
        -0.82066
      ]
    ],
    "simulated_seconds_remaining": 17.094,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 9.808245868422091,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.02,
                    "z": 0.73
                  },
                  "note": "Nudge toward the handle seen down-left of the fingers in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.25326,
      -0.33767,
      -1.52332,
      -2.83744,
      -0.53248,
      3.34797,
      0.16926
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.48552,
      0.00835,
      0.73895
    ],
    "tcp_roll_pitch_yaw": [
      0.10021,
      -0.74787,
      0.1136
    ],
    "tcp_rotation_matrix": [
      [
        0.82159,
        0.09892,
        0.56144
      ],
      [
        -0.05274,
        -0.96742,
        0.24763
      ],
      [
        0.56764,
        -0.23306,
        -0.7896
      ]
    ],
    "simulated_seconds_remaining": 16.5,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 7.406670477241278,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.545
                  },
                  "note": "Push forward to bring fingers around/behind the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.64522,
      -0.36077,
      -1.83049,
      -2.76056,
      -0.43076,
      3.3224,
      0.1957
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.50092,
      0.03336,
      0.70932
    ],
    "tcp_roll_pitch_yaw": [
      0.19184,
      -0.66541,
      0.02255
    ],
    "tcp_rotation_matrix": [
      [
        0.86495,
        0.04546,
        0.49979
      ],
      [
        -0.11311,
        -0.95261,
        0.28239
      ],
      [
        0.48894,
        -0.30079,
        -0.81882
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.205742301419377,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper at contact depth to attempt grasping the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.64398,
      -0.3588,
      -1.82819,
      -2.76338,
      -0.43153,
      3.32572,
      0.197
    ],
    "gripper_open": 0.9982,
    "tcp_xyz": [
      0.50022,
      0.03416,
      0.70947
    ],
    "tcp_roll_pitch_yaw": [
      0.19131,
      -0.66687,
      0.02392
    ],
    "tcp_rotation_matrix": [
      [
        0.86435,
        0.04689,
        0.50069
      ],
      [
        -0.11202,
        -0.95268,
        0.2826
      ],
      [
        0.49025,
        -0.30035,
        -0.8182
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 12.610254157334566,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0,
                    "x": 0.42
                  },
                  "note": "Gripper appears blocked by the handle; close and pull backward to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      1.11316,
      -0.32399,
      -1.41613,
      -2.99169,
      -0.5854,
      3.39286,
      0.27295
    ],
    "gripper_open": 0.0001,
    "tcp_xyz": [
      0.4211,
      0.03418,
      0.70945
    ],
    "tcp_roll_pitch_yaw": [
      0.19139,
      -0.6668,
      0.02389
    ],
    "tcp_rotation_matrix": [
      [
        0.86439,
        0.04689,
        0.50063
      ],
      [
        -0.11203,
        -0.95265,
        0.28266
      ],
      [
        0.49018,
        -0.30042,
        -0.81821
      ]
    ],
    "simulated_seconds_remaining": 13.926,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 36.42885934654623,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.03,
                    "z": 0.78,
                    "gripper": 1.0
                  },
                  "note": "Using corrected (180°-rotated) wrist-image mapping, shift to handle: slightly -y and higher z, gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.66585,
      -0.72748,
      -1.15322,
      -2.93698,
      -0.70306,
      2.91637,
      0.20427
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.42122,
      -0.02914,
      0.77909
    ],
    "tcp_roll_pitch_yaw": [
      0.19165,
      -0.66712,
      0.0235
    ],
    "tcp_rotation_matrix": [
      [
        0.86421,
        0.04677,
        0.50095
      ],
      [
        -0.11233,
        -0.9526,
        0.28272
      ],
      [
        0.49043,
        -0.30061,
        -0.818
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 23.818724680691957,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.0,
                    "z": 0.95,
                    "pitch": -0.3
                  },
                  "note": "Raise and rotate toward downward view to see dresser top edge and protruding handles from above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.76461,
      -0.88757,
      -0.72857,
      -2.47992,
      -0.32886,
      1.9708,
      0.36723
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.40024,
      -0.00021,
      0.94906
    ],
    "tcp_roll_pitch_yaw": [
      0.19161,
      -0.30251,
      0.02341
    ],
    "tcp_rotation_matrix": [
      [
        0.98243,
        -0.06209,
        0.17603
      ],
      [
        -0.10965,
        -0.95516,
        0.27502
      ],
      [
        0.15106,
        -0.28949,
        -0.94519
      ]
    ],
    "simulated_seconds_remaining": 11.55,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 9.81189623568207,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.15
                  },
                  "note": "Testing the calibration: moving -y should head toward the dresser if it lies on that side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.71343,
      -0.90644,
      -0.9338,
      -2.31394,
      -0.23819,
      1.83619,
      0.1073
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.39873,
      -0.10488,
      0.96476
    ],
    "tcp_roll_pitch_yaw": [
      0.37203,
      -0.2902,
      -0.0299
    ],
    "tcp_rotation_matrix": [
      [
        0.98395,
        -0.06688,
        0.16546
      ],
      [
        -0.13345,
        -0.8913,
        0.43334
      ],
      [
        0.11849,
        -0.44846,
        -0.88591
      ]
    ],
    "simulated_seconds_remaining": 10.23,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 12.611223196610808,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15,
                    "z": 0.9
                  },
                  "note": "Exterior view shows dresser lies at +y; moving left toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.90296,
      -0.76193,
      -0.6758,
      -2.65246,
      -0.10248,
      2.32944,
      0.46978
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39869,
      0.14874,
      0.90028
    ],
    "tcp_roll_pitch_yaw": [
      0.37184,
      -0.2901,
      -0.02962
    ],
    "tcp_rotation_matrix": [
      [
        0.98399,
        -0.06672,
        0.16526
      ],
      [
        -0.1332,
        -0.89139,
        0.43322
      ],
      [
        0.1184,
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    ],
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    "calls_remaining_including_this": 26
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  "api_seconds": 8.006937993690372,
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    "candidates": [
      {
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                  "note": "Committing: reach toward top drawer handle region at +y side of dresser front."
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              }
            }
          ]
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      }
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{
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                  "note": "Handle visible left/below gripper in wrist view; nudging -y and down to align."
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              }
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          ]
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{
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    "instruction": "open the drawer.",
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                  "note": "Exterior suggests the handle is at +y of the gripper; moving left to align laterally."
                }
              }
            }
          ]
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      }
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{
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                  "note": "Handle moves left with +y, so move -y to bring it into the gripper center."
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              }
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          ]
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{
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{
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                  "note": "Closing gripper on the handle."
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{
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                  "note": "Attempting to pull back in case the closed fingers are hooked behind the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
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}

{
  "call": 39,
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    "instruction": "open the drawer.",
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                  "note": "Smaller backward pull attempt with closed fingers."
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              }
            }
          ]
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      }
    ]
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  "execution": {
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{
  "call": 40,
  "state": {
    "instruction": "open the drawer.",
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      -2.77529,
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    "tcp_rotation_matrix": [
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      ],
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    ],
    "simulated_seconds_remaining": 1.452,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 5.805350340902805,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the drawer handle reliably; wrist views were very dark and ambiguous, several IK rejections consumed the motion budget, and the gripper closed on empty space each attempt. Out of simulated time without opening the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 927,
  "house_index": 422,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 30,
  "api_calls": 31,
  "wall_seconds": 290.5201222896576,
  "usage": {
    "input_tokens": 62,
    "cache_creation_input_tokens": 31237,
    "cache_read_input_tokens": 486758,
    "output_tokens": 15004
  },
  "estimated_cost_usd": 0.81402025
}


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.



MODEL RESPONSES


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    "id": "msg_011Cezk2ec67FEPqzUP6hMcc",
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      {
        "type": "text",
        "text": "I'll start by observing the scene more carefully."
      },
      {
        "type": "tool_use",
        "id": "toolu_01RSzfiU4wJvLZYWdhHifGQJ",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 2,
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    "model": "claude-opus-5",
    "id": "msg_011Cezk2syFsBVpeEcsf9SD1",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01VWbkgSvPuXhomPPsiadvjF",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.05,
            "z": 1.0
          },
          "note": "Moving forward toward the cabinet to get a better view of drawer/handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk3H9Xyk3YdWgmCe3PP",
    "type": "message",
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        "thinking": ""
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          },
          "note": "Cabinet appears to the left in wrist view; moving +y to center it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
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    "model": "claude-opus-5",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.57
          },
          "note": "Rotating gripper to point forward (+x) so wrist camera can see the cabinet front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 5,
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    "model": "claude-opus-5",
    "id": "msg_011Cezk4sypWsmHemMaKciYm",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.45
          },
          "note": "Probing lateral motion to identify which side the cabinet front is on."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
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        "input": {
          "targets": {
            "x": 0.6
          },
          "note": "Advancing forward to get closer view of the furniture front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
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    "id": "msg_011Cezk6MW46jxmuTH7zFmgh",
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      },
      {
        "type": "tool_use",
        "id": "toolu_01QobGyhvYnTxcAzjHcWZ1aq",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.0,
            "x": 0.5
          },
          "note": "Testing the other lateral side (y=0) to see if the cabinet front appears in wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_creation_input_tokens": 1004,
      "cache_read_input_tokens": 6250,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 519,
      "output_tokens_details": {
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      "service_tier": "standard",
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  }
}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk7ATogrVmbvUXaKjyw",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TQkrgwCfNpoAcRKeyWNaVL",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "y": 0.35,
            "z": 0.88
          },
          "note": "Cabinet drawers appear lower than current height; lowering z and adjusting y to view drawer fronts."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk7sMwEcMAm2bTksCHs",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FUw4MA4HXNcFma6j8Dgj9X",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.15
          },
          "note": "Moving toward -y where a vertical handle appears in wrist image's right side."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk91rx6Je8HnGdK3zZ2",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01EwtZd9ZAyPXDGnLbR5T4Z7",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.05
          },
          "note": "Continuing to -y toward the wooden cabinet seen in the exterior view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezk9zkVPTuT8Pz6iCaWN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_019PFENkV9A4xThJu1M2cvvz",
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        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.05,
            "z": 0.88
          },
          "note": "Retrying smaller step to -y with slightly reduced reach for IK feasibility."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      "service_tier": "standard",
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  }
}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkAYt2SJqtbejhgnxza",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019ZzNhY3ZmWDRqy3YoGd7xv",
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        "input": {
          "targets": {
            "x": 0.48,
            "y": 0.25,
            "z": 0.85
          },
          "note": "Returning toward previously reachable region while lowering slightly to inspect cabinet front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkB6sd3ZhU4FNeJ5iJi",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Fwrw8YuBfZHqYGJwmA8sbz",
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        "input": {
          "targets": {
            "x": 0.65,
            "y": 0.25,
            "z": 0.95
          },
          "note": "Reaching further forward and up to approach the wood-colored cabinet seen upper-center in wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkCDYVTEv9L2oCgwzvU",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QQRhomnNwHuK3N5CTdhfZc",
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        "input": {
          "targets": {
            "x": 0.4,
            "y": 0.1,
            "z": 1.0,
            "pitch": -0.8
          },
          "note": "Cabinet is likely on the robot's right (-y), close by; retreating and re-orienting to a mid pitch before swinging to -y."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkDCE9Rrn9xhE9DmuNW",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019JsVN3gHQZMpkHFjE8hfSA",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.15,
            "z": 1.0
          },
          "note": "Splitting the motion: retract position first, keeping orientation."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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        "thinking_tokens": 16
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      "service_tier": "standard",
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}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkDTrVnHWiFoNVepXu6",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Sm5Ms58Guf84rHgyUwFUub",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "y": 0.2,
            "z": 0.9
          },
          "note": "Taking a small intermediate step back along the path that was previously reachable."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
      "inference_geo": "global"
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}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkDu72j6pdiKBry8yEK",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01GCbfThbjU5Wnra8PRJyzPC",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.08
          },
          "note": "Stepping toward -y where the wooden cabinet front with handle sits next to the gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkEPpvdMUeCc1i68SZH",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Xt8p4MtMBGtsdeDTXoC6CY",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": -1.0
          },
          "note": "Yawing camera toward -y to confirm whether the wooden cabinet is on the robot's right."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkFKqbanF8FhuFRntZD",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 0.7
          },
          "note": "Now yawing camera toward +y to compare which side holds the wooden cabinet."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkFpo8KbPhGwyES7Vqv",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012tyi38BSxikF2Q932oG3H5",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.05
          },
          "note": "Wood-colored cabinet appears on the -y side in the yawed wrist view; moving right toward it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkHURqCYdTE33fcamWU",
    "type": "message",
    "role": "assistant",
    "content": [
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        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NPP1BsgJergZ7usnoBVP2f",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45,
            "y": -0.15,
            "z": 0.95
          },
          "note": "Moving closer to the wooden cabinet on the right side to see its front and handle clearly."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkJPKH6NnxLpH1MvGaS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NpdFNyhorVjMgH2ab4DVF2",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.15
          },
          "note": "Smaller step: continuing right along y at same x,z."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "service_tier": "standard",
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  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkJgoVugFN4oyk5qM5t",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019cUSgn7FzbNhB4T1vBQ5Wj",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 0.0,
            "roll": 0.0,
            "pitch": -1.57
          },
          "note": "Squaring gripper to face +x (likely cabinet front normal) at the estimated cabinet center y."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkKk2VrENyPRkgmyoEB",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LHod7qbw1wvjvmYbcHerUs",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": -0.6,
            "roll": -0.5
          },
          "note": "Partial orientation change toward facing +x, in smaller increments for IK."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      "cache_read_input_tokens": 24114,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1393,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 125,
      "output_tokens_details": {
        "thinking_tokens": 15
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkL36fTcM66b72MwCFc",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_014Z3mUTUN3bNWSdFUXNj9cY",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4
          },
          "note": "Backing off along -x to get the cabinet front fully in the wrist camera view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 622,
      "cache_read_input_tokens": 25507,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 622,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 582,
      "output_tokens_details": {
        "thinking_tokens": 481
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkLuW3DBC7UW7UZw7xc",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UUmVEDZZjnfcFSGkLsDsSH",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "z": 1.0
          },
          "note": "Small retreat and lift to regain a viewpoint of the cabinet front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1074,
      "cache_read_input_tokens": 26129,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1074,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 181,
      "output_tokens_details": {
        "thinking_tokens": 73
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkMG4JEVoLAvdUxVL8M",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_017qWkcLquXED1rVkmJK9489",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.25,
            "z": 0.95
          },
          "note": "Exterior view suggests cabinet front is further right (-y); moving there."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 673,
      "cache_read_input_tokens": 27203,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 673,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 444,
      "output_tokens_details": {
        "thinking_tokens": 337
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkMxQSPPoTC9Hv8uZnJ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JoWqhsZhGdSCVJbr7gNsk6",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Closing the gripper at the cabinet front where a handle should be, to attempt a grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 935,
      "cache_read_input_tokens": 27876,
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        "ephemeral_5m_input_tokens": 935,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 472,
      "output_tokens_details": {
        "thinking_tokens": 365
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkNkTdgLR4cvKo7F8uK",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01AUpmJVqjin2WdyrEz7zYgm",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "y": -0.02
          },
          "note": "Pulling back along the gripper's approach axis to attempt opening whatever was grasped."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 964,
      "cache_read_input_tokens": 28811,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 964,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 190,
      "output_tokens_details": {
        "thinking_tokens": 78
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkP7KkZjekC92VC33mD",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01AFnQ5RtpCLHsFh39CPu2x3",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0,
            "x": 0.45
          },
          "note": "Verifying the gripper can close while nudging forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 683,
      "cache_read_input_tokens": 29775,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 683,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 287,
      "output_tokens_details": {
        "thinking_tokens": 185
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkPbMU2MmthBJFRcG6J",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01VhG3WwR6RkxD4gtWpoBfht",
        "name": "give_up",
        "input": {
          "note": "I could not reliably localize the cabinet's handle: the wrist view was dominated by nearby flat surfaces and IK repeatedly rejected poses toward the cabinet side (-y). With under 4 s of motion budget left, there is not enough time to locate, grasp and pull the handle, so I am stopping rather than making blind motions."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 779,
      "cache_read_input_tokens": 30458,
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        "ephemeral_5m_input_tokens": 779,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 290,
      "output_tokens_details": {
        "thinking_tokens": 136
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 8.407289599999785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.05,
                    "z": 1.0
                  },
                  "note": "Moving forward toward the cabinet to get a better view of drawer/handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01511,
      -0.42383,
      0.08384,
      -2.16011,
      0.083,
      1.83427,
      -0.02698
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44883,
      0.0497,
      1.00044
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00026,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99279,
        0.0743,
        0.09408
      ],
      [
        0.06966,
        -0.99623,
        0.05169
      ],
      [
        0.09757,
        -0.04477,
        -0.99422
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 6.2051684549078345,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3,
                    "z": 1.0
                  },
                  "note": "Cabinet appears to the left in wrist view; moving +y to center it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.12711,
      -0.17705,
      0.42467,
      -1.90899,
      0.07037,
      1.85435,
      0.46122
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44879,
      0.29874,
      0.99997
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      0.0003,
      0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.99277,
        0.07455,
        0.09403
      ],
      [
        0.06992,
        -0.99621,
        0.05167
      ],
      [
        0.09753,
        -0.04472,
        -0.99423
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 14.21195977460593,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Rotating gripper to point forward (+x) so wrist camera can see the cabinet front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.68681,
      -1.54625,
      1.37384,
      -2.82287,
      -0.06293,
      3.56987,
      1.39176
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44876,
      0.2988,
      0.99993
    ],
    "tcp_roll_pitch_yaw": [
      -0.04345,
      -1.5655,
      0.04337
    ],
    "tcp_rotation_matrix": [
      [
        -0.09257,
        0.04509,
        0.99468
      ],
      [
        0.06987,
        -0.99622,
        0.05166
      ],
      [
        0.99325,
        0.07428,
        0.08907
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 9.410507251508534,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.45
                  },
                  "note": "Probing lateral motion to identify which side the cabinet front is on."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.70126,
      -1.56046,
      1.42679,
      -2.43601,
      -0.04098,
      3.19506,
      1.42513
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44873,
      0.44878,
      0.99994
    ],
    "tcp_roll_pitch_yaw": [
      -0.05018,
      -1.56553,
      0.05033
    ],
    "tcp_rotation_matrix": [
      [
        -0.09261,
        0.04532,
        0.99467
      ],
      [
        0.06988,
        -0.9962,
        0.0519
      ],
      [
        0.99325,
        0.07431,
        0.08909
      ]
    ],
    "simulated_seconds_remaining": 23.1,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 10.00850919727236,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Advancing forward to get closer view of the furniture front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.17156,
      -1.53142,
      1.45652,
      -2.11203,
      -0.02576,
      3.34096,
      1.4457
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59875,
      0.44866,
      0.99993
    ],
    "tcp_roll_pitch_yaw": [
      -0.04949,
      -1.56551,
      0.04939
    ],
    "tcp_rotation_matrix": [
      [
        -0.09258,
        0.04507,
        0.99468
      ],
      [
        0.0699,
        -0.99622,
        0.05164
      ],
      [
        0.99325,
        0.07431,
        0.08908
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 10.611453571356833,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "x": 0.5
                  },
                  "note": "Testing the other lateral side (y=0) to see if the cabinet front appears in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.17156,
      -1.53142,
      1.45652,
      -2.11203,
      -0.02576,
      3.34096,
      1.4457
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59875,
      0.44866,
      0.99993
    ],
    "tcp_roll_pitch_yaw": [
      -0.04949,
      -1.56551,
      0.04939
    ],
    "tcp_rotation_matrix": [
      [
        -0.09258,
        0.04507,
        0.99468
      ],
      [
        0.0699,
        -0.99622,
        0.05164
      ],
      [
        0.99325,
        0.07431,
        0.08908
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 9.207563946023583,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5,
                    "y": 0.35,
                    "z": 0.88
                  },
                  "note": "Cabinet drawers appear lower than current height; lowering z and adjusting y to view drawer fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.83034,
      -1.78288,
      1.6845,
      -2.60142,
      0.12317,
      3.48272,
      1.61603
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50071,
      0.35074,
      0.88076
    ],
    "tcp_roll_pitch_yaw": [
      -0.03435,
      -1.5652,
      0.03424
    ],
    "tcp_rotation_matrix": [
      [
        -0.09226,
        0.04508,
        0.99471
      ],
      [
        0.06983,
        -0.99622,
        0.05162
      ],
      [
        0.99328,
        0.07423,
        0.08876
      ]
    ],
    "simulated_seconds_remaining": 20.262,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 15.011957381851971,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15
                  },
                  "note": "Moving toward -y where a vertical handle appears in wrist image's right side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.16616,
      -1.7837,
      1.78673,
      -2.91436,
      0.25889,
      4.1284,
      1.62973
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50076,
      0.15057,
      0.88071
    ],
    "tcp_roll_pitch_yaw": [
      0.10949,
      -1.56482,
      -0.10999
    ],
    "tcp_rotation_matrix": [
      [
        -0.09189,
        0.04472,
        0.99476
      ],
      [
        0.06903,
        -0.9963,
        0.05116
      ],
      [
        0.99337,
        0.07337,
        0.08846
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 13.01025402545929,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05
                  },
                  "note": "Continuing to -y toward the wooden cabinet seen in the exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.16616,
      -1.7837,
      1.78673,
      -2.91436,
      0.25889,
      4.1284,
      1.62973
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50076,
      0.15057,
      0.88071
    ],
    "tcp_roll_pitch_yaw": [
      0.10949,
      -1.56482,
      -0.10999
    ],
    "tcp_rotation_matrix": [
      [
        -0.09189,
        0.04472,
        0.99476
      ],
      [
        0.06903,
        -0.9963,
        0.05116
      ],
      [
        0.99337,
        0.07337,
        0.08846
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.40615074429661,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.05,
                    "z": 0.88
                  },
                  "note": "Retrying smaller step to -y with slightly reduced reach for IK feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.16616,
      -1.7837,
      1.78673,
      -2.91436,
      0.25889,
      4.1284,
      1.62973
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.50076,
      0.15057,
      0.88071
    ],
    "tcp_roll_pitch_yaw": [
      0.10949,
      -1.56482,
      -0.10999
    ],
    "tcp_rotation_matrix": [
      [
        -0.09189,
        0.04472,
        0.99476
      ],
      [
        0.06903,
        -0.9963,
        0.05116
      ],
      [
        0.99337,
        0.07337,
        0.08846
      ]
    ],
    "simulated_seconds_remaining": 18.612,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 7.205965543165803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "y": 0.25,
                    "z": 0.85
                  },
                  "note": "Returning toward previously reachable region while lowering slightly to inspect cabinet front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.82774,
      -1.78366,
      1.89046,
      -2.82901,
      0.36502,
      3.72052,
      1.55845
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4801,
      0.24954,
      0.85006
    ],
    "tcp_roll_pitch_yaw": [
      0.20091,
      -1.56407,
      -0.20098
    ],
    "tcp_rotation_matrix": [
      [
        -0.09127,
        0.04518,
        0.9948
      ],
      [
        0.0683,
        -0.99633,
        0.05151
      ],
      [
        0.99348,
        0.07265,
        0.08785
      ]
    ],
    "simulated_seconds_remaining": 17.622,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 14.61154649592936,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.65,
                    "y": 0.25,
                    "z": 0.95
                  },
                  "note": "Reaching further forward and up to approach the wood-colored cabinet seen upper-center in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.44403,
      -1.59725,
      1.54016,
      -2.37236,
      0.08359,
      3.86761,
      1.45945
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64883,
      0.24995,
      0.94934
    ],
    "tcp_roll_pitch_yaw": [
      0.22241,
      -1.56409,
      -0.2226
    ],
    "tcp_rotation_matrix": [
      [
        -0.09132,
        0.04507,
        0.9948
      ],
      [
        0.06818,
        -0.99635,
        0.0514
      ],
      [
        0.99348,
        0.07252,
        0.08791
      ]
    ],
    "simulated_seconds_remaining": 16.038,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 13.210852545686066,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.1,
                    "z": 1.0,
                    "pitch": -0.8
                  },
                  "note": "Cabinet is likely on the robot's right (-y), close by; retreating and re-orienting to a mid pitch before swinging to -y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.44403,
      -1.59725,
      1.54016,
      -2.37236,
      0.08359,
      3.86761,
      1.45945
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64883,
      0.24995,
      0.94934
    ],
    "tcp_roll_pitch_yaw": [
      0.22241,
      -1.56409,
      -0.2226
    ],
    "tcp_rotation_matrix": [
      [
        -0.09132,
        0.04507,
        0.9948
      ],
      [
        0.06818,
        -0.99635,
        0.0514
      ],
      [
        0.99348,
        0.07252,
        0.08791
      ]
    ],
    "simulated_seconds_remaining": 16.038,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 3.4032386410981417,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.15,
                    "z": 1.0
                  },
                  "note": "Splitting the motion: retract position first, keeping orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.44403,
      -1.59725,
      1.54016,
      -2.37236,
      0.08359,
      3.86761,
      1.45945
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.64883,
      0.24995,
      0.94934
    ],
    "tcp_roll_pitch_yaw": [
      0.22241,
      -1.56409,
      -0.2226
    ],
    "tcp_rotation_matrix": [
      [
        -0.09132,
        0.04507,
        0.9948
      ],
      [
        0.06818,
        -0.99635,
        0.0514
      ],
      [
        0.99348,
        0.07252,
        0.08791
      ]
    ],
    "simulated_seconds_remaining": 16.038,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.604479115456343,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.2,
                    "z": 0.9
                  },
                  "note": "Taking a small intermediate step back along the path that was previously reachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.22632,
      -1.69161,
      1.68317,
      -2.726,
      0.21122,
      4.00332,
      1.50866
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55106,
      0.20053,
      0.90046
    ],
    "tcp_roll_pitch_yaw": [
      0.21218,
      -1.56399,
      -0.2124
    ],
    "tcp_rotation_matrix": [
      [
        -0.09121,
        0.04504,
        0.99481
      ],
      [
        0.06823,
        -0.99635,
        0.05136
      ],
      [
        0.99349,
        0.07256,
        0.0878
      ]
    ],
    "simulated_seconds_remaining": 14.916,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.405219400301576,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.08
                  },
                  "note": "Stepping toward -y where the wooden cabinet front with handle sits next to the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.57697,
      -1.71899,
      1.67579,
      -2.77827,
      0.21067,
      4.40014,
      1.57622
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55109,
      0.08116,
      0.90047
    ],
    "tcp_roll_pitch_yaw": [
      0.21023,
      -1.56402,
      -0.2108
    ],
    "tcp_rotation_matrix": [
      [
        -0.09121,
        0.04469,
        0.99483
      ],
      [
        0.06828,
        -0.99636,
        0.05102
      ],
      [
        0.99349,
        0.07258,
        0.08782
      ]
    ],
    "simulated_seconds_remaining": 13.794,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 12.20914997626096,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -1.0
                  },
                  "note": "Yawing camera toward -y to confirm whether the wooden cabinet is on the robot's right."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.07877,
      -1.7442,
      1.66853,
      -2.58655,
      0.20396,
      2.93352,
      1.4489
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55132,
      0.08143,
      0.90046
    ],
    "tcp_roll_pitch_yaw": [
      0.20257,
      -1.56402,
      -0.98691
    ],
    "tcp_rotation_matrix": [
      [
        -0.01635,
        -0.67173,
        0.74061
      ],
      [
        0.11278,
        -0.73722,
        -0.66617
      ],
      [
        0.99349,
        0.07263,
        0.08781
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.605282614007592,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.7
                  },
                  "note": "Now yawing camera toward +y to compare which side holds the wooden cabinet."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.07877,
      -1.7442,
      1.66853,
      -2.58655,
      0.20396,
      2.93352,
      1.4489
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55132,
      0.08143,
      0.90046
    ],
    "tcp_roll_pitch_yaw": [
      0.20257,
      -1.56402,
      -0.98691
    ],
    "tcp_rotation_matrix": [
      [
        -0.01635,
        -0.67173,
        0.74061
      ],
      [
        0.11278,
        -0.73722,
        -0.66617
      ],
      [
        0.99349,
        0.07263,
        0.08781
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 22.017150988802314,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.05
                  },
                  "note": "Wood-colored cabinet appears on the -y side in the yawed wrist view; moving right toward it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.33342,
      -1.71043,
      1.70176,
      -2.74448,
      0.22934,
      3.34679,
      1.46012
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55128,
      -0.04885,
      0.90047
    ],
    "tcp_roll_pitch_yaw": [
      0.20216,
      -1.56404,
      -0.98689
    ],
    "tcp_rotation_matrix": [
      [
        -0.01632,
        -0.67202,
        0.74035
      ],
      [
        0.1128,
        -0.73696,
        -0.66646
      ],
      [
        0.99348,
        0.07264,
        0.08783
      ]
    ],
    "simulated_seconds_remaining": 11.286,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 12.008303846232593,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": -0.15,
                    "z": 0.95
                  },
                  "note": "Moving closer to the wooden cabinet on the right side to see its front and handle clearly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.33342,
      -1.71043,
      1.70176,
      -2.74448,
      0.22934,
      3.34679,
      1.46012
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55128,
      -0.04885,
      0.90047
    ],
    "tcp_roll_pitch_yaw": [
      0.20216,
      -1.56404,
      -0.98689
    ],
    "tcp_rotation_matrix": [
      [
        -0.01632,
        -0.67202,
        0.74035
      ],
      [
        0.1128,
        -0.73696,
        -0.66646
      ],
      [
        0.99348,
        0.07264,
        0.08783
      ]
    ],
    "simulated_seconds_remaining": 11.286,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.003363823518157,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.15
                  },
                  "note": "Smaller step: continuing right along y at same x,z."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -1.65217,
      -1.69511,
      1.69699,
      -2.76141,
      0.22139,
      3.78176,
      1.48416
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55949,
      -0.12207,
      0.90061
    ],
    "tcp_roll_pitch_yaw": [
      -1.01186,
      -1.56302,
      0.32697
    ],
    "tcp_rotation_matrix": [
      [
        -0.0244,
        -0.59496,
        0.80338
      ],
      [
        0.11829,
        -0.79969,
        -0.58864
      ],
      [
        0.99268,
        0.08067,
        0.0899
      ]
    ],
    "simulated_seconds_remaining": 10.296,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 14.010503980331123,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.0,
                    "roll": 0.0,
                    "pitch": -1.57
                  },
                  "note": "Squaring gripper to face +x (likely cabinet front normal) at the estimated cabinet center y."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -1.65217,
      -1.69511,
      1.69699,
      -2.76141,
      0.22139,
      3.78176,
      1.48416
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.55949,
      -0.12207,
      0.90061
    ],
    "tcp_roll_pitch_yaw": [
      -1.01186,
      -1.56302,
      0.32697
    ],
    "tcp_rotation_matrix": [
      [
        -0.0244,
        -0.59496,
        0.80338
      ],
      [
        0.11829,
        -0.79969,
        -0.58864
      ],
      [
        0.99268,
        0.08067,
        0.0899
      ]
    ],
    "simulated_seconds_remaining": 10.296,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 3.803559876047075,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.6,
                    "roll": -0.5
                  },
                  "note": "Partial orientation change toward facing +x, in smaller increments for IK."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
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    "gripper_open": 1.0,
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      [
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    "calls_remaining_including_this": 34
  },
  "api_seconds": 11.20826288498938,
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                  "note": "Backing off along -x to get the cabinet front fully in the wrist camera view."
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    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
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{
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                  "note": "Small retreat and lift to regain a viewpoint of the cabinet front."
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              }
            }
          ]
        }
      }
    ]
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{
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                  "note": "Exterior view suggests cabinet front is further right (-y); moving there."
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              }
            }
          ]
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{
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              }
            }
          ]
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{
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                  },
                  "note": "Pulling back along the gripper's approach axis to attempt opening whatever was grasped."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 29,
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    "instruction": "open the cabinet.",
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    ],
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              "functionCall": {
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                "args": {
                  "targets": {
                    "gripper": 0.0,
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                  },
                  "note": "Verifying the gripper can close while nudging forward."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 30,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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    "tcp_rotation_matrix": [
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      ],
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      ],
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    ],
    "simulated_seconds_remaining": 4.092,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 6.805287787690759,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "I could not reliably localize the cabinet's handle: the wrist view was dominated by nearby flat surfaces and IK repeatedly rejected poses toward the cabinet side (-y). With under 4 s of motion budget left, there is not enough time to locate, grasp and pull the handle, so I am stopping rather than making blind motions."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 968,
  "house_index": 423,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 26,
  "api_calls": 27,
  "wall_seconds": 212.1642873287201,
  "usage": {
    "input_tokens": 54,
    "cache_creation_input_tokens": 23108,
    "cache_read_input_tokens": 318039,
    "output_tokens": 9012
  },
  "estimated_cost_usd": 0.5290145
}


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.



MODEL RESPONSES


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          "note": "Retract and raise arm to unclutter the exterior view and see the scene/doors."
        },
        "caller": {
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        }
      }
    ],
    "container": null,
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{
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          "note": "Moving left toward the dark cabinet with the visible handle to inspect it with the wrist camera."
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          "note": "Pitch the wrist to look forward horizontally to see the cabinet door face and handle."
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{
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{
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{
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{
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          "note": "Return to previously reachable forward-facing pose at left side as a waypoint."
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{
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{
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{
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{
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{
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{
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{
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{
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          "note": "Re-aim wrist forward-left-down and shift left to survey the left base cabinet region."
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{
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{
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          "note": "Drop lower and look horizontally forward to see the cabinet door fronts and handle heights."
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{
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          "note": "Smaller combined change: lower a bit and tilt more forward to view cabinet fronts."
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{
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{
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          "note": "Advance toward the handle region on the dark cabinet front before closing the gripper."
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{
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{
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          "note": "Close the gripper here in hope of capturing the handle in front of the fingers."
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{
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        "input": {
          "targets": {
            "x": 0.42,
            "y": 0.15
          },
          "note": "Pull back to test if anything (a door) was grasped and moves with the gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 748,
      "cache_read_input_tokens": 21718,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 748,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 155,
      "output_tokens_details": {
        "thinking_tokens": 46
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkWNYUbFfZhWkcbVtSN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01C88fcFHuguBMKtYTVWNPa7",
        "name": "give_up",
        "input": {
          "note": "Could not reliably localize the cabinet door handle in the cluttered/low-contrast views; repeated IK rejections consumed most of the motion budget, leaving under 6 s of simulated motion, insufficient to grasp and swing a door open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 642,
      "cache_read_input_tokens": 22466,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 642,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 325,
      "output_tokens_details": {
        "thinking_tokens": 201
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 9.008516814559698,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.2
                  },
                  "note": "Retract and raise arm to unclutter the exterior view and see the scene/doors."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.02098,
      -0.89733,
      0.06536,
      -1.90501,
      -0.06005,
      1.11512,
      -0.0492
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20074,
      0.00213,
      1.19894
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.00029,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99354,
        0.03664,
        0.10738
      ],
      [
        0.04771,
        -0.9936,
        -0.1024
      ],
      [
        0.10294,
        0.10686,
        -0.98893
      ]
    ],
    "simulated_seconds_remaining": 28.182,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 9.208687581121922,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.35,
                    "z": 1.0,
                    "x": 0.3
                  },
                  "note": "Moving left toward the dark cabinet with the visible handle to inspect it with the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.13688,
      -0.52398,
      0.85092,
      -2.02669,
      0.24027,
      1.68455,
      0.57966
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29966,
      0.34883,
      1.0006
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      -0.00016,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99355,
        0.03672,
        0.10726
      ],
      [
        0.04779,
        -0.99358,
        -0.10253
      ],
      [
        0.10281,
        0.107,
        -0.98893
      ]
    ],
    "simulated_seconds_remaining": 25.146,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.210288266651332,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4,
                    "z": 0.95
                  },
                  "note": "Pitch the wrist to look forward horizontally to see the cabinet door face and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.05206,
      -1.59079,
      1.46952,
      -2.78307,
      0.19763,
      2.7162,
      1.23263
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29961,
      0.34887,
      0.9501
    ],
    "tcp_roll_pitch_yaw": [
      -0.00239,
      -1.3957,
      0.0022
    ],
    "tcp_rotation_matrix": [
      [
        0.072,
        -0.09899,
        0.99248
      ],
      [
        0.04809,
        -0.99356,
        -0.10259
      ],
      [
        0.99624,
        0.05512,
        -0.06677
      ]
    ],
    "simulated_seconds_remaining": 22.968,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.007406000979245,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Move forward to get a closer forward-looking view of the cabinet fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.60315,
      -1.4584,
      1.49837,
      -2.62762,
      0.20039,
      3.12719,
      1.19776
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44873,
      0.34878,
      0.95009
    ],
    "tcp_roll_pitch_yaw": [
      -0.00237,
      -1.39566,
      0.00191
    ],
    "tcp_rotation_matrix": [
      [
        0.07206,
        -0.09926,
        0.99245
      ],
      [
        0.04807,
        -0.99353,
        -0.10286
      ],
      [
        0.99624,
        0.05512,
        -0.06682
      ]
    ],
    "simulated_seconds_remaining": 21.648,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 9.808884063735604,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.0,
                    "z": 1.35,
                    "pitch": -1.0
                  },
                  "note": "Back up high and look slightly downward-forward for a wide overview of the scene to locate the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      -0.60315,
      -1.4584,
      1.49837,
      -2.62762,
      0.20039,
      3.12719,
      1.19776
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44873,
      0.34878,
      0.95009
    ],
    "tcp_roll_pitch_yaw": [
      -0.00237,
      -1.39566,
      0.00191
    ],
    "tcp_rotation_matrix": [
      [
        0.07206,
        -0.09926,
        0.99245
      ],
      [
        0.04807,
        -0.99353,
        -0.10286
      ],
      [
        0.99624,
        0.05512,
        -0.06682
      ]
    ],
    "simulated_seconds_remaining": 21.648,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.80465036444366,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.0,
                    "z": 1.15,
                    "pitch": -1.0
                  },
                  "note": "Retry overview pose slightly lower to stay in workspace."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 50,
    "motion_seconds": 3.3000000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.0483,
      -1.74543,
      0.05868,
      -2.84013,
      -0.13683,
      2.19085,
      0.09998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2506,
      0.00109,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.00143,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.44917,
        -0.07029,
        0.89068
      ],
      [
        0.04871,
        -0.99349,
        -0.10297
      ],
      [
        0.89212,
        0.08964,
        -0.44282
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 14.012271241284907,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.55,
                    "z": 0.8,
                    "pitch": -1.4
                  },
                  "note": "Move down-left toward the dark base cabinet with the white handle, gripper facing forward to inspect the 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": [
      0.0483,
      -1.74543,
      0.05868,
      -2.84013,
      -0.13683,
      2.19085,
      0.09998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2506,
      0.00109,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.00143,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.44917,
        -0.07029,
        0.89068
      ],
      [
        0.04871,
        -0.99349,
        -0.10297
      ],
      [
        0.89212,
        0.08964,
        -0.44282
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 5.80540369078517,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.45,
                    "z": 0.85,
                    "pitch": -1.4
                  },
                  "note": "Slightly nearer target after IK failure, still moving toward the left base cabinet 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 door.",
    "joint_positions": [
      0.0483,
      -1.74543,
      0.05868,
      -2.84013,
      -0.13683,
      2.19085,
      0.09998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2506,
      0.00109,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.00143,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.44917,
        -0.07029,
        0.89068
      ],
      [
        0.04871,
        -0.99349,
        -0.10297
      ],
      [
        0.89212,
        0.08964,
        -0.44282
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 4.404423613101244,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.35,
                    "z": 0.95,
                    "pitch": -1.4
                  },
                  "note": "Return to previously reachable forward-facing pose at left side as a waypoint."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.0483,
      -1.74543,
      0.05868,
      -2.84013,
      -0.13683,
      2.19085,
      0.09998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2506,
      0.00109,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.00143,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.44917,
        -0.07029,
        0.89068
      ],
      [
        0.04871,
        -0.99349,
        -0.10297
      ],
      [
        0.89212,
        0.08964,
        -0.44282
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 4.204047332517803,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Small orientation-only change to re-establish forward-facing wrist from current pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.0483,
      -1.74543,
      0.05868,
      -2.84013,
      -0.13683,
      2.19085,
      0.09998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2506,
      0.00109,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.00143,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.44917,
        -0.07029,
        0.89068
      ],
      [
        0.04871,
        -0.99349,
        -0.10297
      ],
      [
        0.89212,
        0.08964,
        -0.44282
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.0050201984122396,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0,
                    "x": 0.35
                  },
                  "note": "Simple translation to lower/forward to escape the awkward configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.0483,
      -1.74543,
      0.05868,
      -2.84013,
      -0.13683,
      2.19085,
      0.09998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2506,
      0.00109,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.00143,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.44917,
        -0.07029,
        0.89068
      ],
      [
        0.04871,
        -0.99349,
        -0.10297
      ],
      [
        0.89212,
        0.08964,
        -0.44282
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.605176934972405,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.1
                  },
                  "note": "Tiny downward move to test whether IK works at all from current configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
      0.0483,
      -1.74543,
      0.05868,
      -2.84013,
      -0.13683,
      2.19085,
      0.09998
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2506,
      0.00109,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -1.00143,
      0.00177
    ],
    "tcp_rotation_matrix": [
      [
        0.44917,
        -0.07029,
        0.89068
      ],
      [
        0.04871,
        -0.99349,
        -0.10297
      ],
      [
        0.89212,
        0.08964,
        -0.44282
      ]
    ],
    "simulated_seconds_remaining": 18.348,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 5.004609178751707,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5
                  },
                  "note": "Try rotating wrist back toward the initial orientation to leave the near-limit configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the door.",
    "joint_positions": [
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    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
      -0.00217,
      -0.50419,
      0.00176
    ],
    "tcp_rotation_matrix": [
      [
        0.82031,
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      ],
      [
        0.04936,
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      ],
      [
        0.56979,
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    ],
    "simulated_seconds_remaining": 17.358,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 12.210499086417258,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
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                  "note": "Move forward toward the white handle seen in the wrist view to inspect it closer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
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{
  "call": 15,
  "state": {
    "instruction": "open the door.",
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  },
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    "candidates": [
      {
        "content": {
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              "functionCall": {
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                  "targets": {
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                  "note": "Shift right (-y) to test whether the white handle centers in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
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    "instruction": "open the door.",
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  },
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      {
        "content": {
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                  "note": "Aim the wrist camera forward and to the right to inspect the white handle seen at the image corner."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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{
  "call": 17,
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    "instruction": "open the door.",
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        -0.10768,
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    ],
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  },
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                  "note": "Re-aim wrist forward-left-down and shift left to survey the left base cabinet region."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 18,
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    "instruction": "open the door.",
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    ],
    "tcp_rotation_matrix": [
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    ],
    "simulated_seconds_remaining": 11.022,
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  },
  "api_seconds": 8.206832542084157,
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    "candidates": [
      {
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                "args": {
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                  "note": "Advance along the camera's viewing direction toward the dark cabinet front with white handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
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{
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    "tcp_rotation_matrix": [
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      [
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      [
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    ],
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  },
  "api_seconds": 9.208063365891576,
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    "candidates": [
      {
        "content": {
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                  },
                  "note": "Drop lower and look horizontally forward to see the cabinet door fronts and handle heights."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "movement_executed": false
  }
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{
  "call": 20,
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                  "note": "Smaller combined change: lower a bit and tilt more forward to view cabinet fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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{
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  },
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      {
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              }
            }
          ]
        }
      }
    ]
  },
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{
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  },
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      {
        "content": {
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                  "note": "Advance toward the handle region on the dark cabinet front before closing the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
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{
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                  "note": "Smaller forward-left step toward the cabinet front."
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              }
            }
          ]
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{
  "call": 24,
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    "instruction": "open the door.",
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    ],
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  },
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      {
        "content": {
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              "functionCall": {
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                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close the gripper here in hope of capturing the handle in front of the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 25,
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  },
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      {
        "content": {
          "role": "model",
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              "functionCall": {
                "name": "move_to",
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                  "note": "Pull back to test if anything (a door) was grasped and moves with the gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
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}

{
  "call": 26,
  "state": {
    "instruction": "open the door.",
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    "tcp_rotation_matrix": [
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      [
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    ],
    "simulated_seconds_remaining": 5.94,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 7.606990016065538,
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      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not reliably localize the cabinet door handle in the cluttered/low-contrast views; repeated IK rejections consumed most of the motion budget, leaving under 6 s of simulated motion, insufficient to grasp and swing a door open."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 985,
  "house_index": 424,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 53,
  "api_calls": 55,
  "wall_seconds": 444.0088052749634,
  "usage": {
    "input_tokens": 110,
    "cache_creation_input_tokens": 43617,
    "cache_read_input_tokens": 1235064,
    "output_tokens": 15918
  },
  "estimated_cost_usd": 1.28863825
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkRfoR5D87N8oLXKhPu",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01M7GduCMcwdPoPhEkpDr6PH",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
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    "model": "claude-opus-5",
    "id": "msg_011CezkS2x9UBQAvD4tZR3FX",
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          "note": "Raise and pitch up to view the cabinet front and its handles."
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{
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          "note": "Pitch up further to look straight at the cabinet front."
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{
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          "note": "Approach the cabinet front with gripper pointing more forward to see handles up close."
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{
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          "note": "Shift right to test which direction centers the handle bars in the wrist view."
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{
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          "note": "Handles moved out of view when going right, so shift left to center them."
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{
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          "note": "Move forward toward the handles to gauge depth."
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{
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{
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{
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{
  "api_call": 11,
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          "note": "z is at workspace limit; move forward only toward the handles."
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{
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          "note": "Continue advancing toward cabinet face, correcting roll drift."
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{
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{
  "api_call": 14,
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          "note": "Smaller forward step, keeping current orientation to avoid IK jump."
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{
  "api_call": 15,
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          "note": "At reach limit up high; lower the gripper to inspect the cabinet front lower down."
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{
  "api_call": 16,
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          "note": "Step forward at handle height to bring a handle between the fingers."
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{
  "api_call": 17,
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          "note": "Probe reach lower and further forward to find the cabinet front within reach."
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{
  "api_call": 18,
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          "note": "Gripper appears at the handles; close to test whether a handle is captured."
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{
  "api_call": 19,
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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{
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          "note": "Attempt a clean, well-conditioned pose to reset the arm configuration."
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{
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          "note": "Fully reopen the gripper; maybe releasing contact restores IK feasibility."
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{
  "api_call": 37,
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    "id": "msg_011CezkpFHvaX7mwGuuUrzmR",
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      {
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          "note": "With gripper reopened, retry a small retreat/down move."
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{
  "api_call": 38,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkpcpisrKi4WyUiBazJ",
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          "note": "Try a small roll-only change to find any feasible motion."
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{
  "api_call": 39,
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          "note": "Try an extremely small retreat delta, which succeeded before."
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{
  "api_call": 40,
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          "note": "Re-command the previously feasible orientation to unstick the arm."
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{
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          "note": "Move up toward the handle bars with explicit orientation that IK accepts."
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{
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          "note": "Continue up and slightly forward to bring a handle bar between the fingers."
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{
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{
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          "note": "Close the gripper to attempt capturing the handle bar at the finger gap."
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{
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          "note": "Continue closing the gripper on the handle."
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{
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          "note": "Keep closing; handle appears between fingers now."
        },
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{
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          "note": "Final closing step before pulling."
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{
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          "note": "Gripper stalled on handle; pull backward to swing the cabinet door open."
        },
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{
  "api_call": 49,
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          "note": "Smaller pull-back step to start opening the door."
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{
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          "note": "Continue pulling the handle backward to open the door."
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{
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          "note": "Smaller increment pull-back; IK only accepts tiny steps here."
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{
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    "id": "msg_011CezkwAuCaeq5iZh5mskHE",
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          "note": "Pull back along a slight arc (back and right) as a hinged door would swing."
        },
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      }
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{
  "api_call": 53,
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    "id": "msg_011CezkwpUQ7pm636ntC3WHQ",
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          "note": "Keep pulling along the arc to swing the door further open."
        },
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      }
    ],
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{
  "api_call": 54,
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            "roll": 2.9283,
            "pitch": -1.1564,
            "yaw": -2.5837,
            "gripper": 0.0
          },
          "note": "Final pull to swing the door open wider."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 708,
      "cache_read_input_tokens": 42098,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 708,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 318,
      "output_tokens_details": {
        "thinking_tokens": 180
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 55,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkxpzgPihF74qLvGjZS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TAEx8ckP61SsXRdwXcivfz",
        "name": "give_up",
        "input": {
          "note": "Reached the upper-cabinet handles at the edge of the arm's reach, grasped a handle and pulled it partly (door appears slightly ajar), but the grasp slipped and the remaining simulated time (~1.6 s) is insufficient to re-grasp and complete the opening."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 811,
      "cache_read_input_tokens": 42806,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 811,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 621,
      "output_tokens_details": {
        "thinking_tokens": 484
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 12.209386557340622,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "z": 1.15,
                    "pitch": -0.5
                  },
                  "note": "Raise and pitch up to view the cabinet front and its handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00474,
      -0.84259,
      -0.0124,
      -2.16386,
      0.05279,
      1.70048,
      0.0756
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34955,
      0.00638,
      1.14926
    ],
    "tcp_roll_pitch_yaw": [
      0.0,
      -0.49727,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.92617,
        -0.07009,
        0.37052
      ],
      [
        -0.09764,
        -0.99364,
        0.05609
      ],
      [
        0.36423,
        -0.08813,
        -0.92713
      ]
    ],
    "simulated_seconds_remaining": 28.71,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.8041614927351475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.2,
                    "pitch": -1.0
                  },
                  "note": "Pitch up further to look straight at the cabinet front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00592,
      -1.29699,
      -0.01097,
      -2.48142,
      0.06378,
      2.06176,
      0.05401
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30035,
      0.00639,
      1.19965
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.99599,
      3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.63915,
        -0.01938,
        0.76884
      ],
      [
        -0.09762,
        -0.99364,
        0.0561
      ],
      [
        0.76286,
        -0.11092,
        -0.63698
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 7.006355865858495,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 1.18,
                    "pitch": -0.3
                  },
                  "note": "Approach the cabinet front with gripper pointing more forward to see handles up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.00059,
      -0.44333,
      -0.01606,
      -1.72972,
      0.0522,
      1.47255,
      0.0881
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4194,
      0.00638,
      1.18001
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.30397,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.9789,
        -0.08571,
        0.18552
      ],
      [
        -0.09764,
        -0.99364,
        0.05611
      ],
      [
        0.17953,
        -0.07304,
        -0.98104
      ]
    ],
    "simulated_seconds_remaining": 26.466,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 8.007163072004914,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.12
                  },
                  "note": "Shift right to test which direction centers the handle bars in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.05677,
      -0.38594,
      -0.20268,
      -1.66568,
      0.02497,
      1.45412,
      -0.15333
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4194,
      -0.11874,
      1.17999
    ],
    "tcp_roll_pitch_yaw": [
      8e-05,
      -0.30393,
      -0.00028
    ],
    "tcp_rotation_matrix": [
      [
        0.97888,
        -0.08598,
        0.1855
      ],
      [
        -0.09791,
        -0.99361,
        0.05611
      ],
      [
        0.17949,
        -0.07309,
        -0.98104
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.203855992294848,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15
                  },
                  "note": "Handles moved out of view when going right, so shift left to center them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.05489,
      -0.3959,
      0.17571,
      -1.67397,
      0.06616,
      1.47013,
      0.39126
    ],
    "gripper_open": 0.9951,
    "tcp_xyz": [
      0.41781,
      0.12914,
      1.18214
    ],
    "tcp_roll_pitch_yaw": [
      -0.00585,
      -0.29611,
      -0.06077
    ],
    "tcp_rotation_matrix": [
      [
        0.97233,
        -0.14818,
        0.18062
      ],
      [
        -0.15769,
        -0.9867,
        0.03939
      ],
      [
        0.17238,
        -0.06679,
        -0.98276
      ]
    ],
    "simulated_seconds_remaining": 23.232,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.0047049736604095,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Move forward toward the handles to gauge depth."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.04787,
      -0.26428,
      0.19446,
      -1.43207,
      0.02867,
      1.06801,
      0.38942
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.36507,
      0.11033,
      1.19414
    ],
    "tcp_roll_pitch_yaw": [
      -0.10906,
      -0.02288,
      -0.0356
    ],
    "tcp_rotation_matrix": [
      [
        0.98547,
        -0.14036,
        -0.09569
      ],
      [
        -0.14548,
        -0.98816,
        -0.04879
      ],
      [
        -0.08771,
        0.06201,
        -0.99421
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 15.612197747454047,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.15,
                    "z": 1.2,
                    "pitch": -1.5
                  },
                  "note": "Rotate gripper to point horizontally forward for a frontal view of the cabinet doors."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02853,
      -1.33869,
      0.42644,
      -2.75688,
      -0.19145,
      2.76189,
      0.71732
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3501,
      0.14982,
      1.19987
    ],
    "tcp_roll_pitch_yaw": [
      -0.11089,
      -1.49526,
      -0.03421
    ],
    "tcp_rotation_matrix": [
      [
        0.18047,
        -0.10775,
        0.97766
      ],
      [
        -0.11675,
        -0.9893,
        -0.08748
      ],
      [
        0.97663,
        -0.09835,
        -0.19112
      ]
    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.40551698114723,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 1.26
                  },
                  "note": "Handles appear above view center; move up and slightly forward toward them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02853,
      -1.33869,
      0.42644,
      -2.75688,
      -0.19145,
      2.76189,
      0.71732
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3501,
      0.14982,
      1.19987
    ],
    "tcp_roll_pitch_yaw": [
      -0.11089,
      -1.49526,
      -0.03421
    ],
    "tcp_rotation_matrix": [
      [
        0.18047,
        -0.10775,
        0.97766
      ],
      [
        -0.11675,
        -0.9893,
        -0.08748
      ],
      [
        0.97663,
        -0.09835,
        -0.19112
      ]
    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.2050328170880675,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 1.22
                  },
                  "note": "Smaller step forward/up toward handles after bounds rejection."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02853,
      -1.33869,
      0.42644,
      -2.75688,
      -0.19145,
      2.76189,
      0.71732
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3501,
      0.14982,
      1.19987
    ],
    "tcp_roll_pitch_yaw": [
      -0.11089,
      -1.49526,
      -0.03421
    ],
    "tcp_rotation_matrix": [
      [
        0.18047,
        -0.10775,
        0.97766
      ],
      [
        -0.11675,
        -0.9893,
        -0.08748
      ],
      [
        0.97663,
        -0.09835,
        -0.19112
      ]
    ],
    "simulated_seconds_remaining": 20.13,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.005749961361289,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "z is at workspace limit; move forward only toward the handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.22146,
      -1.11436,
      0.4996,
      -2.64645,
      -0.2248,
      2.91467,
      0.73787
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42295,
      0.15138,
      1.20391
    ],
    "tcp_roll_pitch_yaw": [
      -0.64905,
      -1.48166,
      0.46589
    ],
    "tcp_rotation_matrix": [
      [
        0.18029,
        -0.14393,
        0.97303
      ],
      [
        -0.07874,
        -0.98817,
        -0.13158
      ],
      [
        0.98046,
        -0.05289,
        -0.18949
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 3.8032158939167857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "roll": 0.0
                  },
                  "note": "Continue advancing toward cabinet face, correcting roll drift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.22146,
      -1.11436,
      0.4996,
      -2.64645,
      -0.2248,
      2.91467,
      0.73787
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42295,
      0.15138,
      1.20391
    ],
    "tcp_roll_pitch_yaw": [
      -0.64905,
      -1.48166,
      0.46589
    ],
    "tcp_rotation_matrix": [
      [
        0.18029,
        -0.14393,
        0.97303
      ],
      [
        -0.07874,
        -0.98817,
        -0.13158
      ],
      [
        0.98046,
        -0.05289,
        -0.18949
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.606094451621175,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "z": 1.19,
                    "roll": 0.0
                  },
                  "note": "Advance forward keeping z just under the 1.2 limit."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.22146,
      -1.11436,
      0.4996,
      -2.64645,
      -0.2248,
      2.91467,
      0.73787
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42295,
      0.15138,
      1.20391
    ],
    "tcp_roll_pitch_yaw": [
      -0.64905,
      -1.48166,
      0.46589
    ],
    "tcp_rotation_matrix": [
      [
        0.18029,
        -0.14393,
        0.97303
      ],
      [
        -0.07874,
        -0.98817,
        -0.13158
      ],
      [
        0.98046,
        -0.05289,
        -0.18949
      ]
    ],
    "simulated_seconds_remaining": 19.14,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.003691390156746,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.47,
                    "z": 1.19
                  },
                  "note": "Smaller forward step, keeping current orientation to avoid IK jump."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.30053,
      -1.1643,
      0.57707,
      -2.61321,
      -0.24098,
      2.83808,
      0.76685
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41911,
      0.15197,
      1.2076
    ],
    "tcp_roll_pitch_yaw": [
      -1.18095,
      -1.44235,
      0.90782
    ],
    "tcp_rotation_matrix": [
      [
        0.16893,
        -0.22924,
        0.9586
      ],
      [
        -0.02684,
        -0.97329,
        -0.22802
      ],
      [
        0.98526,
        0.01279,
        -0.17057
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 12.410675796680152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1.0,
                    "roll": 0.0,
                    "pitch": -1.5,
                    "yaw": 0.0
                  },
                  "note": "At reach limit up high; lower the gripper to inspect the cabinet front lower down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.50848,
      -0.94816,
      0.84459,
      -3.03067,
      0.00313,
      3.9398,
      0.90509
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43361,
      0.15814,
      1.07948
    ],
    "tcp_roll_pitch_yaw": [
      2.40745,
      -1.33336,
      -2.34523
    ],
    "tcp_rotation_matrix": [
      [
        -0.03544,
        0.13519,
        0.99019
      ],
      [
        -0.25646,
        -0.95886,
        0.12173
      ],
      [
        0.9659,
        -0.24963,
        0.06865
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 13.811872078105807,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Step forward at handle height to bring a handle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.77195,
      -0.74565,
      1.0207,
      -2.99425,
      0.01752,
      4.38708,
      0.8554
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43559,
      0.16,
      1.08252
    ],
    "tcp_roll_pitch_yaw": [
      2.74168,
      -1.20181,
      -2.54165
    ],
    "tcp_rotation_matrix": [
      [
        -0.15949,
        0.29067,
        0.94344
      ],
      [
        -0.27547,
        -0.93081,
        0.24021
      ],
      [
        0.94799,
        -0.22158,
        0.22853
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 13.4111507255584,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.9
                  },
                  "note": "Probe reach lower and further forward to find the cabinet front within reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.77195,
      -0.74565,
      1.0207,
      -2.99425,
      0.01752,
      4.38708,
      0.8554
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43559,
      0.16,
      1.08252
    ],
    "tcp_roll_pitch_yaw": [
      2.74168,
      -1.20181,
      -2.54165
    ],
    "tcp_rotation_matrix": [
      [
        -0.15949,
        0.29067,
        0.94344
      ],
      [
        -0.27547,
        -0.93081,
        0.24021
      ],
      [
        0.94799,
        -0.22158,
        0.22853
      ]
    ],
    "simulated_seconds_remaining": 16.104,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 7.806894749403,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Gripper appears at the handles; close to test whether a handle is captured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.77102,
      -0.74751,
      1.01936,
      -3.0045,
      0.01961,
      4.40062,
      0.85512
    ],
    "gripper_open": 0.9579,
    "tcp_xyz": [
      0.43214,
      0.15804,
      1.08184
    ],
    "tcp_roll_pitch_yaw": [
      2.74953,
      -1.19685,
      -2.5487
    ],
    "tcp_rotation_matrix": [
      [
        -0.16482,
        0.29218,
        0.94205
      ],
      [
        -0.27592,
        -0.93064,
        0.24036
      ],
      [
        0.94694,
        -0.22031,
        0.23401
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 11.80918000638485,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.33,
                    "gripper": 0.0
                  },
                  "note": "Attempt to pull back with gripper closed to see if a handle was captured."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.77102,
      -0.74751,
      1.01936,
      -3.0045,
      0.01961,
      4.40062,
      0.85512
    ],
    "gripper_open": 0.9579,
    "tcp_xyz": [
      0.43214,
      0.15804,
      1.08184
    ],
    "tcp_roll_pitch_yaw": [
      2.74953,
      -1.19685,
      -2.5487
    ],
    "tcp_rotation_matrix": [
      [
        -0.16482,
        0.29218,
        0.94205
      ],
      [
        -0.27592,
        -0.93064,
        0.24036
      ],
      [
        0.94694,
        -0.22031,
        0.23401
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 5.404434225521982,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.15,
                    "z": 1.08,
                    "roll": 0.0,
                    "pitch": -1.4,
                    "yaw": 0.0
                  },
                  "note": "Reset to a clean forward-facing orientation to escape the awkward configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.77102,
      -0.74751,
      1.01936,
      -3.0045,
      0.01961,
      4.40062,
      0.85512
    ],
    "gripper_open": 0.9579,
    "tcp_xyz": [
      0.43214,
      0.15804,
      1.08184
    ],
    "tcp_roll_pitch_yaw": [
      2.74953,
      -1.19685,
      -2.5487
    ],
    "tcp_rotation_matrix": [
      [
        -0.16482,
        0.29218,
        0.94205
      ],
      [
        -0.27592,
        -0.93064,
        0.24036
      ],
      [
        0.94694,
        -0.22031,
        0.23401
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 5.804277505725622,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0,
                    "roll": 2.4,
                    "yaw": -2.2
                  },
                  "note": "Small incremental pose change to unwind from the awkward configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.77102,
      -0.74751,
      1.01936,
      -3.0045,
      0.01961,
      4.40062,
      0.85512
    ],
    "gripper_open": 0.9579,
    "tcp_xyz": [
      0.43214,
      0.15804,
      1.08184
    ],
    "tcp_roll_pitch_yaw": [
      2.74953,
      -1.19685,
      -2.5487
    ],
    "tcp_rotation_matrix": [
      [
        -0.16482,
        0.29218,
        0.94205
      ],
      [
        -0.27592,
        -0.93064,
        0.24036
      ],
      [
        0.94694,
        -0.22031,
        0.23401
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 8.00564983021468,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4
                  },
                  "note": "Try a tiny pure retreat to regain IK feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.77102,
      -0.74751,
      1.01936,
      -3.0045,
      0.01961,
      4.40062,
      0.85512
    ],
    "gripper_open": 0.9579,
    "tcp_xyz": [
      0.43214,
      0.15804,
      1.08184
    ],
    "tcp_roll_pitch_yaw": [
      2.74953,
      -1.19685,
      -2.5487
    ],
    "tcp_rotation_matrix": [
      [
        -0.16482,
        0.29218,
        0.94205
      ],
      [
        -0.27592,
        -0.93064,
        0.24036
      ],
      [
        0.94694,
        -0.22031,
        0.23401
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.805726993829012,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35,
                    "y": 0.0,
                    "z": 1.05,
                    "roll": 0.0,
                    "pitch": -1.0,
                    "yaw": 0.0
                  },
                  "note": "Retreat to a known-good pose near the starting configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.77102,
      -0.74751,
      1.01936,
      -3.0045,
      0.01961,
      4.40062,
      0.85512
    ],
    "gripper_open": 0.9579,
    "tcp_xyz": [
      0.43214,
      0.15804,
      1.08184
    ],
    "tcp_roll_pitch_yaw": [
      2.74953,
      -1.19685,
      -2.5487
    ],
    "tcp_rotation_matrix": [
      [
        -0.16482,
        0.29218,
        0.94205
      ],
      [
        -0.27592,
        -0.93064,
        0.24036
      ],
      [
        0.94694,
        -0.22031,
        0.23401
      ]
    ],
    "simulated_seconds_remaining": 15.18,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.407374989241362,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.425
                  },
                  "note": "Micro retreat step to test IK feasibility near current configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 5,
    "motion_seconds": 0.33,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.7462,
      -0.7673,
      1.00239,
      -3.02226,
      0.01925,
      4.39332,
      0.86288
    ],
    "gripper_open": 0.9952,
    "tcp_xyz": [
      0.42611,
      0.15804,
      1.08184
    ],
    "tcp_roll_pitch_yaw": [
      2.74955,
      -1.19681,
      -2.54868
    ],
    "tcp_rotation_matrix": [
      [
        -0.16485,
        0.29221,
        0.94204
      ],
      [
        -0.27594,
        -0.93063,
        0.24039
      ],
      [
        0.94693,
        -0.22032,
        0.23405
      ]
    ],
    "simulated_seconds_remaining": 14.85,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 8.408374181948602,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper to check if the handle bar lies between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.752,
      -0.76533,
      0.99657,
      -3.03429,
      0.03499,
      4.38949,
      0.8625
    ],
    "gripper_open": 0.6481,
    "tcp_xyz": [
      0.42721,
      0.14533,
      1.07983
    ],
    "tcp_roll_pitch_yaw": [
      2.71459,
      -1.19382,
      -2.54604
    ],
    "tcp_rotation_matrix": [
      [
        -0.16874,
        0.26325,
        0.94985
      ],
      [
        -0.28258,
        -0.93614,
        0.20925
      ],
      [
        0.94428,
        -0.2331,
        0.23236
      ]
    ],
    "simulated_seconds_remaining": 13.926,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 6.005283084698021,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Continue closing to confirm whether it stalls on the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.75678,
      -0.76374,
      0.99169,
      -3.04367,
      0.04008,
      4.38741,
      0.8622
    ],
    "gripper_open": 0.462,
    "tcp_xyz": [
      0.42767,
      0.13692,
      1.07732
    ],
    "tcp_roll_pitch_yaw": [
      2.69307,
      -1.19559,
      -2.54446
    ],
    "tcp_rotation_matrix": [
      [
        -0.16841,
        0.24457,
        0.9549
      ],
      [
        -0.28471,
        -0.93951,
        0.19042
      ],
      [
        0.9437,
        -0.2398,
        0.22785
      ]
    ],
    "simulated_seconds_remaining": 13.002,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 5.004178984090686,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Keep closing; watch for stall indicating handle grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
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    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 10.207462177611887,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.12,
                    "gripper": 1.0
                  },
                  "note": "Open gripper and raise slightly toward the handle bars seen above the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
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    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 12.013650090433657,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.09,
                    "gripper": 1.0
                  },
                  "note": "Tiny upward step with gripper reopened."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 12.209624853916466,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.17,
                    "gripper": 1.0
                  },
                  "note": "Small lateral step left to see how the handle bars shift and regain IK room."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 5.0045267613604665,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "gripper": 1.0
                  },
                  "note": "Retreat slightly, which previously worked, to recover IK freedom."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 19.015423459932208,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.422,
                    "gripper": 1.0
                  },
                  "note": "Micro retreat step to escape the degenerate configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 20.016305781900883,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "gripper": 1.0
                  },
                  "note": "Try a moderate pitch change to find a feasible IK branch out of the stuck configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 5.805343072861433,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.05,
                    "z": 1.05,
                    "roll": 0.0,
                    "pitch": -1.57,
                    "yaw": 0.0,
                    "gripper": 1.0
                  },
                  "note": "Attempt a clean, well-conditioned pose to reset the arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.04645,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.368,
    "tcp_xyz": [
      0.42858,
      0.13263,
      1.07613
    ],
    "tcp_roll_pitch_yaw": [
      2.67878,
      -1.1967,
      -2.54082
    ],
    "tcp_rotation_matrix": [
      [
        -0.16751,
        0.23455,
        0.95756
      ],
      [
        -0.28657,
        -0.94093,
        0.18035
      ],
      [
        0.9433,
        -0.2442,
        0.22484
      ]
    ],
    "simulated_seconds_remaining": 12.078,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 7.006001899018884,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1.0
                  },
                  "note": "Fully reopen the gripper; maybe releasing contact restores IK feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.0421,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42903,
      0.13395,
      1.07795
    ],
    "tcp_roll_pitch_yaw": [
      2.68365,
      -1.19363,
      -2.54284
    ],
    "tcp_rotation_matrix": [
      [
        -0.17014,
        0.23778,
        0.9563
      ],
      [
        -0.28724,
        -0.94028,
        0.18269
      ],
      [
        0.94263,
        -0.24361,
        0.22828
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 10.80906462110579,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.41,
                    "z": 1.06
                  },
                  "note": "With gripper reopened, retry a small retreat/down move."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.0421,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42903,
      0.13395,
      1.07795
    ],
    "tcp_roll_pitch_yaw": [
      2.68365,
      -1.19363,
      -2.54284
    ],
    "tcp_rotation_matrix": [
      [
        -0.17014,
        0.23778,
        0.9563
      ],
      [
        -0.28724,
        -0.94028,
        0.18269
      ],
      [
        0.94263,
        -0.24361,
        0.22828
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 5.404672262258828,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 2.58
                  },
                  "note": "Try a small roll-only change to find any feasible motion."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.0421,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42903,
      0.13395,
      1.07795
    ],
    "tcp_roll_pitch_yaw": [
      2.68365,
      -1.19363,
      -2.54284
    ],
    "tcp_rotation_matrix": [
      [
        -0.17014,
        0.23778,
        0.9563
      ],
      [
        -0.28724,
        -0.94028,
        0.18269
      ],
      [
        0.94263,
        -0.24361,
        0.22828
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 8.406614907085896,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.424
                  },
                  "note": "Try an extremely small retreat delta, which succeeded before."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.76037,
      -0.76145,
      0.98962,
      -3.0421,
      0.04244,
      4.38503,
      0.86213
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42903,
      0.13395,
      1.07795
    ],
    "tcp_roll_pitch_yaw": [
      2.68365,
      -1.19363,
      -2.54284
    ],
    "tcp_rotation_matrix": [
      [
        -0.17014,
        0.23778,
        0.9563
      ],
      [
        -0.28724,
        -0.94028,
        0.18269
      ],
      [
        0.94263,
        -0.24361,
        0.22828
      ]
    ],
    "simulated_seconds_remaining": 11.154,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 6.405915497802198,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.426,
                    "roll": 2.7495,
                    "pitch": -1.1968,
                    "yaw": -2.5487
                  },
                  "note": "Re-command the previously feasible orientation to unstick the arm."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 6,
    "motion_seconds": 0.396,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.79694,
      -0.71579,
      0.95751,
      -3.03776,
      -0.05823,
      4.46372,
      0.84627
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42619,
      0.13385,
      1.07795
    ],
    "tcp_roll_pitch_yaw": [
      2.74625,
      -1.19664,
      -2.54843
    ],
    "tcp_rotation_matrix": [
      [
        -0.16512,
        0.28947,
        0.94284
      ],
      [
        -0.27651,
        -0.93121,
        0.23747
      ],
      [
        0.94672,
        -0.22149,
        0.2338
      ]
    ],
    "simulated_seconds_remaining": 10.758,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 10.408015666529536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.12,
                    "roll": 2.7495,
                    "pitch": -1.1968,
                    "yaw": -2.5487
                  },
                  "note": "Move up toward the handle bars with explicit orientation that IK accepts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.6993,
      -0.81594,
      0.76206,
      -3.00231,
      -0.20261,
      4.32114,
      0.91581
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.42619,
      0.13387,
      1.1189
    ],
    "tcp_roll_pitch_yaw": [
      2.74971,
      -1.19662,
      -2.54892
    ],
    "tcp_rotation_matrix": [
      [
        -0.16505,
        0.29218,
        0.94201
      ],
      [
        -0.27598,
        -0.93064,
        0.2403
      ],
      [
        0.94689,
        -0.22032,
        0.23424
      ]
    ],
    "simulated_seconds_remaining": 10.164,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 7.606603937223554,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.17,
                    "x": 0.44,
                    "roll": 2.7495,
                    "pitch": -1.1968,
                    "yaw": -2.5487
                  },
                  "note": "Continue up and slightly forward to bring a handle bar between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.6492,
      -0.8433,
      0.61887,
      -2.91881,
      -0.35334,
      4.18718,
      0.9732
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43715,
      0.13387,
      1.15604
    ],
    "tcp_roll_pitch_yaw": [
      2.73103,
      -1.21695,
      -2.52709
    ],
    "tcp_rotation_matrix": [
      [
        -0.14438,
        0.29172,
        0.94554
      ],
      [
        -0.2709,
        -0.9307,
        0.24578
      ],
      [
        0.95172,
        -0.22066,
        0.21341
      ]
    ],
    "simulated_seconds_remaining": 9.504,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 6.80581421777606,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.465,
                    "roll": 2.7495,
                    "pitch": -1.1968,
                    "yaw": -2.5487
                  },
                  "note": "Bar tip is just above the finger gap; advance forward to straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 42,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.73658,
      -0.74061,
      0.71811,
      -2.91218,
      -0.26486,
      4.40155,
      0.91368
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.43266,
      0.13335,
      1.15802
    ],
    "tcp_roll_pitch_yaw": [
      2.81648,
      -1.11837,
      -2.54992
    ],
    "tcp_rotation_matrix": [
      [
        -0.22231,
        0.36482,
        0.90415
      ],
      [
        -0.30769,
        -0.90622,
        0.29
      ],
      [
        0.92515,
        -0.21373,
        0.31371
      ]
    ],
    "simulated_seconds_remaining": 9.042,
    "calls_remaining_including_this": 16
  },
  "api_seconds": 6.405384600162506,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close the gripper to attempt capturing the handle bar at the finger gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 43,
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    "instruction": "open the cabinet.",
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    "gripper_open": 0.8853,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
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      -1.11598,
      -2.55036
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    "tcp_rotation_matrix": [
      [
        -0.22472,
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      ],
      [
        -0.30999,
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      [
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      ]
    ],
    "simulated_seconds_remaining": 8.118,
    "calls_remaining_including_this": 15
  },
  "api_seconds": 5.204487084411085,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Continue closing the gripper on the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 44,
  "state": {
    "instruction": "open the cabinet.",
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      [
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      ]
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  },
  "api_seconds": 4.404038731008768,
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    "candidates": [
      {
        "content": {
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              "functionCall": {
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                  "targets": {
                    "gripper": 0.0
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                  "note": "Keep closing; handle appears between fingers now."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 45,
  "state": {
    "instruction": "open the cabinet.",
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    ],
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  },
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    "candidates": [
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                  "note": "Final closing step before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
  }
}

{
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  "state": {
    "instruction": "open the cabinet.",
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      -0.7425,
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      -2.54565
    ],
    "tcp_rotation_matrix": [
      [
        -0.22835,
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      ],
      [
        -0.31915,
        -0.91684,
        0.2399
      ],
      [
        0.91978,
        -0.23866,
        0.31151
      ]
    ],
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    "calls_remaining_including_this": 12
  },
  "api_seconds": 5.404747151769698,
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    "candidates": [
      {
        "content": {
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                  },
                  "note": "Gripper stalled on handle; pull backward to swing the cabinet door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
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}

{
  "call": 47,
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    "instruction": "open the cabinet.",
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    "tcp_rotation_matrix": [
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    ],
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  },
  "api_seconds": 3.8031940925866365,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
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                  "targets": {
                    "x": 0.41,
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                    "gripper": 0.0
                  },
                  "note": "Smaller pull-back step to start opening the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 48,
  "state": {
    "instruction": "open the cabinet.",
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      -0.81677,
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      -3.00315,
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    ],
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      -1.11181,
      -2.54723
    ],
    "tcp_rotation_matrix": [
      [
        -0.22985,
        0.31488,
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      ],
      [
        -0.31987,
        -0.91809,
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      [
        0.91916,
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      ]
    ],
    "simulated_seconds_remaining": 4.422,
    "calls_remaining_including_this": 10
  },
  "api_seconds": 7.606373957358301,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
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                "args": {
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                    "x": 0.38,
                    "roll": 2.7552,
                    "pitch": -1.1118,
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                    "gripper": 0.0
                  },
                  "note": "Continue pulling the handle backward to open the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 49,
  "state": {
    "instruction": "open the cabinet.",
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      -0.81677,
      0.64194,
      -3.00315,
      -0.27852,
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      -1.11181,
      -2.54723
    ],
    "tcp_rotation_matrix": [
      [
        -0.22985,
        0.31488,
        0.92088
      ],
      [
        -0.31987,
        -0.91809,
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      ],
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        0.91916,
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    ],
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    "calls_remaining_including_this": 9
  },
  "api_seconds": 4.60408936906606,
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    "candidates": [
      {
        "content": {
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                  "note": "Smaller increment pull-back; IK only accepts tiny steps here."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 50,
  "state": {
    "instruction": "open the cabinet.",
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      -0.81677,
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    ],
    "tcp_rotation_matrix": [
      [
        -0.22985,
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    "calls_remaining_including_this": 8
  },
  "api_seconds": 8.606440572999418,
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      {
        "content": {
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                  "note": "Pull back along a slight arc (back and right) as a hinged door would swing."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 51,
  "state": {
    "instruction": "open the cabinet.",
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      -2.55868
    ],
    "tcp_rotation_matrix": [
      [
        -0.22115,
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      ],
      [
        -0.30183,
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      ],
      [
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      ]
    ],
    "simulated_seconds_remaining": 3.498,
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  },
  "api_seconds": 6.404959416948259,
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      {
        "content": {
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            {
              "functionCall": {
                "name": "move_to",
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                    "x": 0.385,
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                    "roll": 2.8299,
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                    "gripper": 0.0
                  },
                  "note": "Keep pulling along the arc to swing the door further open."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 52,
  "state": {
    "instruction": "open the cabinet.",
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      -0.78906,
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      -3.00749,
      -0.62991,
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    "gripper_open": 0.7779,
    "tcp_xyz": [
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      0.0961,
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    ],
    "tcp_roll_pitch_yaw": [
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      -1.15636,
      -2.58374
    ],
    "tcp_rotation_matrix": [
      [
        -0.19698,
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      ],
      [
        -0.26575,
        -0.89076,
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      [
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    ],
    "simulated_seconds_remaining": 2.574,
    "calls_remaining_including_this": 6
  },
  "api_seconds": 6.605579322203994,
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    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
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                    "x": 0.365,
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                    "roll": 2.9283,
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                    "gripper": 0.0
                  },
                  "note": "Final pull to swing the door open wider."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 53,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.62308,
      -0.71872,
      0.13189,
      -3.02163,
      -0.84427,
      4.5169,
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    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.36531,
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    ],
    "tcp_roll_pitch_yaw": [
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      -2.58364
    ],
    "tcp_rotation_matrix": [
      [
        -0.19634,
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      ],
      [
        -0.26546,
        -0.89101,
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      ],
      [
        0.94392,
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    ],
    "simulated_seconds_remaining": 1.65,
    "calls_remaining_including_this": 5
  },
  "api_seconds": 21.617427388206124,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Reached the upper-cabinet handles at the edge of the arm's reach, grasped a handle and pulled it partly (door appears slightly ajar), but the grasp slipped and the remaining simulated time (~1.6 s) is insufficient to re-grasp and complete the opening."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 987,
  "house_index": 424,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 26,
  "api_calls": 27,
  "wall_seconds": 239.68605542182922,
  "usage": {
    "input_tokens": 54,
    "cache_creation_input_tokens": 26794,
    "cache_read_input_tokens": 325044,
    "output_tokens": 12439
  },
  "estimated_cost_usd": 0.6412295
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkYVpbb3FH7FjDski5w",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01X5RWd2agukGS1Ls8DYpNkL",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1779,
      "cache_read_input_tokens": 0,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1779,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 95,
      "output_tokens_details": {
        "thinking_tokens": 71
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkYiWKtxaYcJNwVeKfs",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Qdc5yTNkkVdYuRF47kG7ik",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.4
          },
          "note": "Rotate gripper to point forward so wrist camera can see the cabinet ahead."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 527,
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        "ephemeral_5m_input_tokens": 527,
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      },
      "output_tokens": 701,
      "output_tokens_details": {
        "thinking_tokens": 596
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkZWjh1jnc4nFHPmfua",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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            "pitch": -0.7,
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          "note": "Try smaller pitch rotation with slightly lower height to stay within reach."
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{
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    "model": "claude-opus-5",
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          "note": "Test pure translation down to check IK works at all."
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{
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          "targets": {
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          "note": "Small pitch step to test rotation feasibility."
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{
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          "note": "Continue pitching gripper forward incrementally."
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{
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          "note": "Combine pitch with lower/forward position to find feasible IK."
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{
  "api_call": 8,
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          "note": "Move forward and down first to change arm configuration before further pitching."
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{
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          "note": "Retry pitching forward from new configuration."
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{
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          "note": "Try pitching with lower height to avoid joint limits."
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{
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          "note": "Try intermediate pitch to find feasible limit."
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{
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          "note": "Raise and shift left to view the cabinet with the wrist camera."
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{
  "api_call": 13,
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            "z": 1.1
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          "note": "Tilt gripper more downward-forward and raise to get an overview from the wrist camera."
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{
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          "note": "Retract to get a wider wrist view of the scene."
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{
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            "z": 1.0,
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          "note": "Move left and forward with 45° pitch to see whether the thin vertical bars (likely handle) center in wrist view."
        },
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{
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          "note": "Shift further left to center the suspected handle bars in the wrist view and reset roll/yaw drift."
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{
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          "note": "Approach the thin bar seen at left in wrist view while resetting orientation to a clean 30° down-forward grasp pose."
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{
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        "input": {
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          "note": "Probe left and lower along the cabinet face to bring the handle bars into the gripper view."
        },
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{
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          "note": "Probe forward near y=0.15 where the cabinet face should be farther, expecting to approach the handle region."
        },
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{
  "api_call": 20,
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        "input": {
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          "note": "Slide up along the cabinet face to search for the handle in the wrist view."
        },
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      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkkUZXHxDoMzbB3RCH4",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FrXpBUCxgHSR74JFnENCV6",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 1.57,
            "x": 0.45,
            "y": 0.25,
            "z": 1.0
          },
          "note": "Cabinet face appears to be a y≈0.4 plane facing the robot's right; rotate fingers to open along x so I can grasp a vertical handle from above, and look down near the face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1462,
      "cache_read_input_tokens": 18344,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1462,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 2290,
      "output_tokens_details": {
        "thinking_tokens": 2129
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezko5CRoPe1dsn3J8Em6",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01CGYVGBTjCTUMfvm3X1ToCo",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.3,
            "z": 0.92
          },
          "note": "Move toward the cabinet face and down to handle height to look for the handle between fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 2785,
      "cache_read_input_tokens": 19806,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 2785,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 515,
      "output_tokens_details": {
        "thinking_tokens": 405
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkoqTCxsFxP3dY1uLki",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FTh9rd7WJhxgX3jg7yA8bZ",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Gripper is in contact with the cabinet handle region; close fingers to attempt a grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1012,
      "cache_read_input_tokens": 22591,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1012,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 304,
      "output_tokens_details": {
        "thinking_tokens": 198
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkpM9tqGvmWiS3mQDPg",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01N5SVT4B1sdAoWWkpgwRNBt",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1,
            "y": 0.22,
            "z": 0.95,
            "x": 0.42
          },
          "note": "Reopen and reposition slightly left and lower to straddle the handle bar."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 795,
      "cache_read_input_tokens": 23603,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 795,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 432,
      "output_tokens_details": {
        "thinking_tokens": 308
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkpvnTcF3tPfhzMMosj",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012hmPigDz5ZXZb4fQASzb7k",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close on the bright bar seen between the fingers in the wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 923,
      "cache_read_input_tokens": 24398,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 923,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 188,
      "output_tokens_details": {
        "thinking_tokens": 91
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezkqKREsr3tSuiN9Uk7Q",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01AGr783zEhBpZvKWLq16dze",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.3,
            "y": 0.1
          },
          "note": "Pull back with closed fingers in case they hooked the door edge/handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 679,
      "cache_read_input_tokens": 25321,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 679,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 303,
      "output_tokens_details": {
        "thinking_tokens": 196
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezkqs6jE3cAQUoEpQPWq",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FfxQrb75Tix8xY5XBbUDp6",
        "name": "give_up",
        "input": {
          "note": "Could not localize the cabinet handle reliably: the wrist view was dominated by the cabinet's blank face, large pitch rotations were IK-infeasible, and repeated grasp attempts closed on empty air. Simulated time is nearly exhausted, so I am stopping without having opened the cabinet."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 794,
      "cache_read_input_tokens": 26000,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 794,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 186,
      "output_tokens_details": {
        "thinking_tokens": 42
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 14.011978656984866,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Rotate gripper to point forward so wrist camera can see the cabinet ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": 3.803751714527607,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "z": 0.95
                  },
                  "note": "Try smaller pitch rotation with slightly lower height to stay within reach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01107,
      -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": 3.603660744614899,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.95
                  },
                  "note": "Test pure translation down to check IK works at all."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01341,
      -0.90268,
      0.02155,
      -2.63696,
      0.0092,
      1.9211,
      0.01087
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33031,
      0.01148,
      0.95128
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      0.00028,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.98248,
        0.01458,
        0.18578
      ],
      [
        0.01541,
        -0.99988,
        -0.00301
      ],
      [
        0.18571,
        0.00582,
        -0.98259
      ]
    ],
    "simulated_seconds_remaining": 28.974,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.2035008668899536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.4
                  },
                  "note": "Small pitch step to test rotation feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.01857,
      -1.27478,
      0.03097,
      -2.96147,
      0.0085,
      2.26952,
      0.01846
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33026,
      0.01148,
      0.95123
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.39583,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.83475,
        0.01122,
        0.55051
      ],
      [
        0.01543,
        -0.99988,
        -0.00303
      ],
      [
        0.55041,
        0.01103,
        -0.83482
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 2.8030113894492388,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Continue pitching gripper forward incrementally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01857,
      -1.27478,
      0.03097,
      -2.96147,
      0.0085,
      2.26952,
      0.01846
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33026,
      0.01148,
      0.95123
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.39583,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.83475,
        0.01122,
        0.55051
      ],
      [
        0.01543,
        -0.99988,
        -0.00303
      ],
      [
        0.55041,
        0.01103,
        -0.83482
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.204214910976589,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "z": 0.85,
                    "x": 0.4
                  },
                  "note": "Combine pitch with lower/forward position to find feasible IK."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.01857,
      -1.27478,
      0.03097,
      -2.96147,
      0.0085,
      2.26952,
      0.01846
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33026,
      0.01148,
      0.95123
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.39583,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.83475,
        0.01122,
        0.55051
      ],
      [
        0.01543,
        -0.99988,
        -0.00303
      ],
      [
        0.55041,
        0.01103,
        -0.83482
      ]
    ],
    "simulated_seconds_remaining": 28.116,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 5.004714474081993,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 0.9
                  },
                  "note": "Move forward and down first to change arm configuration before further pitching."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00109,
      -0.68514,
      0.035,
      -2.82922,
      0.00281,
      2.72679,
      0.01592
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44877,
      0.01147,
      0.90046
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.39559,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.83489,
        0.0112,
        0.5503
      ],
      [
        0.01542,
        -0.99988,
        -0.00304
      ],
      [
        0.5502,
        0.01102,
        -0.83496
      ]
    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 2.803007511422038,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Retry pitching forward from new configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00109,
      -0.68514,
      0.035,
      -2.82922,
      0.00281,
      2.72679,
      0.01592
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44877,
      0.01147,
      0.90046
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.39559,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.83489,
        0.0112,
        0.5503
      ],
      [
        0.01542,
        -0.99988,
        -0.00304
      ],
      [
        0.5502,
        0.01102,
        -0.83496
      ]
    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 7.206605166196823,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "z": 0.75
                  },
                  "note": "Try pitching with lower height to avoid joint limits."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00109,
      -0.68514,
      0.035,
      -2.82922,
      0.00281,
      2.72679,
      0.01592
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44877,
      0.01147,
      0.90046
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.39559,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.83489,
        0.0112,
        0.5503
      ],
      [
        0.01542,
        -0.99988,
        -0.00304
      ],
      [
        0.5502,
        0.01102,
        -0.83496
      ]
    ],
    "simulated_seconds_remaining": 26.928,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.806822010315955,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6
                  },
                  "note": "Try intermediate pitch to find feasible limit."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00831,
      -0.72282,
      0.0463,
      -2.98265,
      -2e-05,
      3.04293,
      0.02491
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44873,
      0.01147,
      0.90025
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.59581,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.70878,
        0.00877,
        0.70538
      ],
      [
        0.01543,
        -0.99988,
        -0.00308
      ],
      [
        0.70526,
        0.01307,
        -0.70883
      ]
    ],
    "simulated_seconds_remaining": 26.334,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 9.808680557645857,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05,
                    "y": 0.2
                  },
                  "note": "Raise and shift left to view the cabinet with the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03479,
      -0.77329,
      0.47668,
      -2.52845,
      0.0263,
      2.54674,
      0.41472
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44874,
      0.19901,
      1.04925
    ],
    "tcp_roll_pitch_yaw": [
      -0.00011,
      -0.596,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.70864,
        0.00891,
        0.70551
      ],
      [
        0.01555,
        -0.99987,
        -0.00298
      ],
      [
        0.7054,
        0.01308,
        -0.70869
      ]
    ],
    "simulated_seconds_remaining": 24.42,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.207420230843127,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.2,
                    "z": 1.1
                  },
                  "note": "Tilt gripper more downward-forward and raise to get an overview from the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.04005,
      -0.51099,
      0.40237,
      -2.03787,
      0.0622,
      1.93187,
      0.32563
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44892,
      0.19903,
      1.09957
    ],
    "tcp_roll_pitch_yaw": [
      0.00011,
      -0.20442,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.92422,
        0.01312,
        0.38163
      ],
      [
        0.01539,
        -0.99988,
        -0.00289
      ],
      [
        0.38155,
        0.00854,
        -0.92431
      ]
    ],
    "simulated_seconds_remaining": 23.562,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 6.405857217498124,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.0,
                    "z": 1.15
                  },
                  "note": "Retract to get a wider wrist view of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 30,
    "motion_seconds": 1.98,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02202,
      -0.9845,
      0.01226,
      -2.22724,
      0.01242,
      1.63455,
      -0.02622
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3008,
      0.00102,
      1.14981
    ],
    "tcp_roll_pitch_yaw": [
      0.00018,
      -0.20462,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.92415,
        0.013,
        0.38182
      ],
      [
        0.01525,
        -0.99988,
        -0.00287
      ],
      [
        0.38173,
        0.00847,
        -0.92423
      ]
    ],
    "simulated_seconds_remaining": 21.582,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 13.211500176228583,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.35,
                    "z": 1.0,
                    "pitch": -0.6
                  },
                  "note": "Move left and forward with 45° pitch to see whether the thin vertical bars (likely handle) center in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 46,
    "motion_seconds": 3.036,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.29704,
      -0.82718,
      0.96225,
      -2.32897,
      -0.10927,
      2.28704,
      0.69016
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.41561,
      0.28889,
      1.02717
    ],
    "tcp_roll_pitch_yaw": [
      -0.36989,
      -0.61375,
      0.08531
    ],
    "tcp_rotation_matrix": [
      [
        0.69694,
        -0.1194,
        0.70712
      ],
      [
        0.1415,
        -0.94376,
        -0.29882
      ],
      [
        0.70303,
        0.30832,
        -0.64085
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 12.210268309339881,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.5,
                    "roll": 0,
                    "yaw": 0
                  },
                  "note": "Shift further left to center the suspected handle bars in the wrist view and reset roll/yaw drift."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.58973,
      -0.62963,
      1.37968,
      -1.92726,
      -0.15854,
      1.73381,
      0.91799
    ],
    "gripper_open": 0.9675,
    "tcp_xyz": [
      0.36971,
      0.34388,
      0.98301
    ],
    "tcp_roll_pitch_yaw": [
      -0.52617,
      -0.39202,
      -0.11572
    ],
    "tcp_rotation_matrix": [
      [
        0.85606,
        -0.27859,
        0.43538
      ],
      [
        0.00794,
        -0.83514,
        -0.54999
      ],
      [
        0.51682,
        0.47428,
        -0.71271
      ]
    ],
    "simulated_seconds_remaining": 16.83,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 13.811437613330781,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.42,
                    "z": 0.98,
                    "roll": 0,
                    "pitch": -0.5,
                    "yaw": 0
                  },
                  "note": "Approach the thin bar seen at left in wrist view while resetting orientation to a clean 30° down-forward grasp pose."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.42476,
      -0.48355,
      1.21506,
      -2.02181,
      -0.07673,
      1.87437,
      0.8577
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.37334,
      0.35227,
      0.96048
    ],
    "tcp_roll_pitch_yaw": [
      -0.31807,
      -0.23037,
      -0.08705
    ],
    "tcp_rotation_matrix": [
      [
        0.92009,
        -0.14066,
        0.36557
      ],
      [
        -0.00722,
        -0.93924,
        -0.3432
      ],
      [
        0.39163,
        0.31313,
        -0.8652
      ]
    ],
    "simulated_seconds_remaining": 15.708,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.207009110599756,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.45,
                    "z": 0.9
                  },
                  "note": "Probe left and lower along the cabinet face to bring the handle bars into the gripper view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.83514,
      -0.5376,
      1.64249,
      -1.83538,
      0.0253,
      1.6445,
      0.92314
    ],
    "gripper_open": 0.9879,
    "tcp_xyz": [
      0.34569,
      0.37755,
      0.90929
    ],
    "tcp_roll_pitch_yaw": [
      -0.46644,
      -0.11533,
      -0.20526
    ],
    "tcp_rotation_matrix": [
      [
        0.95734,
        -0.21855,
        0.18905
      ],
      [
        -0.09982,
        -0.86405,
        -0.49341
      ],
      [
        0.27118,
        0.45349,
        -0.849
      ]
    ],
    "simulated_seconds_remaining": 14.652,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.611936807632446,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.15,
                    "z": 0.95,
                    "roll": 0,
                    "pitch": -0.5,
                    "yaw": 0
                  },
                  "note": "Probe forward near y=0.15 where the cabinet face should be farther, expecting to approach the handle region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.32941,
      -0.42312,
      0.63916,
      -2.47763,
      0.0868,
      2.48884,
      0.24623
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.49517,
      0.13694,
      0.8887
    ],
    "tcp_roll_pitch_yaw": [
      -0.07429,
      -0.21056,
      -0.00834
    ],
    "tcp_rotation_matrix": [
      [
        0.92242,
        -0.01078,
        0.38605
      ],
      [
        0.02147,
        -0.99663,
        -0.07913
      ],
      [
        0.3856,
        0.08128,
        -0.91908
      ]
    ],
    "simulated_seconds_remaining": 12.276,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 16.414019552990794,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Slide up along the cabinet face to search for the handle in the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.31053,
      -0.49777,
      0.55899,
      -2.25986,
      0.10689,
      2.19558,
      0.18749
    ],
    "gripper_open": 0.9936,
    "tcp_xyz": [
      0.49454,
      0.1367,
      0.99722
    ],
    "tcp_roll_pitch_yaw": [
      -0.07518,
      -0.20692,
      -0.00814
    ],
    "tcp_rotation_matrix": [
      [
        0.92382,
        -0.01046,
        0.38269
      ],
      [
        0.02181,
        -0.99656,
        -0.0799
      ],
      [
        0.38221,
        0.08216,
        -0.92042
      ]
    ],
    "simulated_seconds_remaining": 11.22,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 34.627875005826354,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.57,
                    "x": 0.45,
                    "y": 0.25,
                    "z": 1.0
                  },
                  "note": "Cabinet face appears to be a y≈0.4 plane facing the robot's right; rotate fingers to open along x so I can grasp a vertical handle from above, and look down near the face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.176,
      -0.3741,
      0.10999,
      -2.13491,
      0.09867,
      1.89795,
      -1.18771
    ],
    "gripper_open": 0.9997,
    "tcp_xyz": [
      0.4521,
      0.15532,
      0.9974
    ],
    "tcp_roll_pitch_yaw": [
      -0.09935,
      0.08164,
      1.41447
    ],
    "tcp_rotation_matrix": [
      [
        0.12141,
        0.98584,
        0.11567
      ],
      [
        0.98726,
        -0.132,
        0.08881
      ],
      [
        0.10282,
        0.10341,
        -0.98931
      ]
    ],
    "simulated_seconds_remaining": 8.844,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 10.009959856979549,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3,
                    "z": 0.92
                  },
                  "note": "Move toward the cabinet face and down to handle height to look for the handle between fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.24412,
      -0.37353,
      0.09174,
      -2.12571,
      0.07144,
      1.87312,
      -0.90966
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4417,
      0.17102,
      0.99903
    ],
    "tcp_roll_pitch_yaw": [
      -0.06717,
      0.08324,
      1.19973
    ],
    "tcp_rotation_matrix": [
      [
        0.33461,
        0.93683,
        0.10192
      ],
      [
        0.9368,
        -0.34242,
        0.07185
      ],
      [
        0.10221,
        0.07143,
        -0.99219
      ]
    ],
    "simulated_seconds_remaining": 7.458,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 6.605776473879814,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Gripper is in contact with the cabinet handle region; close fingers to attempt a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.24406,
      -0.37557,
      0.09152,
      -2.12678,
      0.07129,
      1.87149,
      -0.9099
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.44097,
      0.1706,
      0.99925
    ],
    "tcp_roll_pitch_yaw": [
      -0.06682,
      0.08387,
      1.19976
    ],
    "tcp_rotation_matrix": [
      [
        0.33467,
        0.93687,
        0.10137
      ],
      [
        0.93684,
        -0.34238,
        0.0714
      ],
      [
        0.1016,
        0.07107,
        -0.99228
      ]
    ],
    "simulated_seconds_remaining": 6.534,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.60623249784112,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1,
                    "y": 0.22,
                    "z": 0.95,
                    "x": 0.42
                  },
                  "note": "Reopen and reposition slightly left and lower to straddle the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
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}

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    "instruction": "open the cabinet.",
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    "gripper_open": 0.9965,
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    "tcp_rotation_matrix": [
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    "calls_remaining_including_this": 34
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              }
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          ]
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{
  "call": 26,
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    "instruction": "open the cabinet.",
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                  "note": "Could not localize the cabinet handle reliably: the wrist view was dominated by the cabinet's blank face, large pitch rotations were IK-infeasible, and repeated grasp attempts closed on empty air. Simulated time is nearly exhausted, so I am stopping without having opened the cabinet."
                }
              }
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          ]
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    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 112,
  "house_index": 17,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 29,
  "api_calls": 30,
  "wall_seconds": 258.6321380138397,
  "usage": {
    "input_tokens": 60,
    "cache_creation_input_tokens": 28237,
    "cache_read_input_tokens": 399747,
    "output_tokens": 12422
  },
  "estimated_cost_usd": 0.68720475
}


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.



MODEL RESPONSES


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      "output_tokens": 152,
      "output_tokens_details": {
        "thinking_tokens": 55
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      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznQuDGRu445dGYFz4hJ",
    "type": "message",
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        "type": "thinking",
        "thinking": ""
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        "id": "toolu_01TyWSvr8yNZb1K9XNjbuLn9",
        "name": "move_to",
        "input": {
          "targets": {
            "y": -0.15
          },
          "note": "Shift right to test horizontal image direction and center on the handles."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznRUgAy33B47HPZgShy",
    "type": "message",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "y": 0.15
          },
          "note": "Handles lie toward +y; shift left to center them in wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznSANsMN7s8b53gdeTc",
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        "thinking": ""
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      {
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        "input": {
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            "y": 0.18,
            "x": 0.62
          },
          "note": "Advance toward the vertical handle while centering on it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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}

{
  "api_call": 17,
  "response": {
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    "id": "msg_011CeznSxM5whKSg5fvPto61",
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      {
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        "input": {
          "targets": {
            "y": 0.13
          },
          "note": "Shift slightly right to align the right-hand vertical handle with the finger gap."
        },
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          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznTy42gUPFaAnxDPNys",
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.68
          },
          "note": "Advance toward handle to straddle it with the open fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznUJY3yPmPWdbGRVgYs",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.72
          },
          "note": "Handle aligned with finger gap; advance to enclose the handle."
        },
        "caller": {
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        }
      }
    ],
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    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
      },
      {
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        "id": "toolu_01QiCC1vyAF28hz62fvNPgGy",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper attempting to grasp the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
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      "service_tier": "standard",
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  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznV5oNcoraMHFFcAVQ5",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_016jdEoQxE19NnU7trtXhwsr",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Retry closing the gripper on the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "service_tier": "standard",
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  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznVrWCc429T6W8n5Hey",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "gripper": 0.0
          },
          "note": "Pull back to test whether the handle is grasped and door opens."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "service_tier": "standard",
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  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznWAJGNFe5izd9Xg9RR",
    "type": "message",
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.62,
            "gripper": 1.0
          },
          "note": "Open gripper and back off slightly to re-localize the handle relative to fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznZHSU6CLRwEUXETLoM",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01VdKnZeVwb3WTF9Vt2jtYdo",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.118,
            "x": 0.7
          },
          "note": "Align finger gap with the bright handle and advance to straddle it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznaPAHs98QyKAvsxj4p",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "id": "toolu_01UBQ8qbxrDg2P9fwcSepT6U",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.665,
            "gripper": 0.0
          },
          "note": "Back off a bit so fingertips straddle the protruding handle, then close."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznbHeRkGU5zGPSCymsx",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01EwGxukfyznAZ9h1K62JJLg",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.52,
            "y": 0.05
          },
          "note": "Gripper closed on handle (0.30); pull back and sideways to swing the door open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznbgPf6xT9BGDRzinZb",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0136YfHDE971iajCTvNHdiz7",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.665,
            "y": 0.142,
            "gripper": 1.0
          },
          "note": "Return to the successful pre-grasp pose with gripper open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezncE7cryiEagRh3qvvE",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01YGfbKF3xF662AiE5WCFgJ5",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close on handle again before pulling."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezncdNrNQ7WAcvB8k9kV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JYjSTUwT1veVxwcRzQzbcV",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0,
            "x": 0.55
          },
          "note": "Final attempt: close on handle while pulling back to open the door."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      },
      "service_tier": "standard",
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  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznczDVM4btNwUejChwW",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01TCoDWoA55H5kYnd3bwi21R",
        "name": "give_up",
        "input": {
          "note": "Located the cabinet door and its handle, achieved a partial grasp once (gripper blocked at 0.30), but the grip slipped during the pull and simulated time ran out before a successful door opening."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}


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": 16.214350000023842,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57,
                    "z": 0.9
                  },
                  "note": "Pitch gripper to look forward to find the cabinet in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00067,
      -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": 3.403332879766822,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Smaller pitch step toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.0326,
      -1.58224,
      0.10406,
      -2.91146,
      0.11783,
      1.99934,
      0.12964
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.26634,
      0.04252,
      1.01152
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79569,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.78468,
        -0.04229,
        0.61845
      ],
      [
        -0.08911,
        -0.995,
        0.04502
      ],
      [
        0.61346,
        -0.09044,
        -0.78453
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.8037928668782115,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Continue pitching to face forward toward 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 cabinet.",
    "joint_positions": [
      0.0326,
      -1.58224,
      0.10406,
      -2.91146,
      0.11783,
      1.99934,
      0.12964
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.26634,
      0.04252,
      1.01152
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79569,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.78468,
        -0.04229,
        0.61845
      ],
      [
        -0.08911,
        -0.995,
        0.04502
      ],
      [
        0.61346,
        -0.09044,
        -0.78453
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.6033505462110043,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "z": 0.95
                  },
                  "note": "Try intermediate pitch with slightly lower height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.0326,
      -1.58224,
      0.10406,
      -2.91146,
      0.11783,
      1.99934,
      0.12964
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.26634,
      0.04252,
      1.01152
    ],
    "tcp_roll_pitch_yaw": [
      -9e-05,
      -0.79569,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.78468,
        -0.04229,
        0.61845
      ],
      [
        -0.08911,
        -0.995,
        0.04502
      ],
      [
        0.61346,
        -0.09044,
        -0.78453
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 6.205652496777475,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "y": 0.2
                  },
                  "note": "Move forward-left toward the cabinet seen in exterior view to inspect handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02264,
      -0.90584,
      0.50507,
      -2.62511,
      0.25605,
      2.42668,
      0.37317
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39911,
      0.19893,
      1.0115
    ],
    "tcp_roll_pitch_yaw": [
      -0.00026,
      -0.79561,
      0.0002
    ],
    "tcp_rotation_matrix": [
      [
        0.78473,
        -0.04232,
        0.61839
      ],
      [
        -0.08905,
        -0.99501,
        0.04491
      ],
      [
        0.61341,
        -0.09031,
        -0.78459
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 7.607050061225891,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "y": 0.2,
                    "z": 1.15,
                    "pitch": -0.4
                  },
                  "note": "Retreat and raise to get a wider wrist view of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.03859,
      -0.90684,
      0.34442,
      -2.07575,
      0.23464,
      1.48539,
      0.4308
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2508,
      0.20004,
      1.14939
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      -0.40234,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.9599,
        -0.07364,
        0.27052
      ],
      [
        -0.08902,
        -0.99501,
        0.04501
      ],
      [
        0.26585,
        -0.06729,
        -0.96166
      ]
    ],
    "simulated_seconds_remaining": 25.344,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.607749902643263,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.0,
                    "z": 1.15,
                    "pitch": 0.0
                  },
                  "note": "Point gripper down and move forward to see what the brown surface in front is."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 33,
    "motion_seconds": 2.178,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.09883,
      -0.10581,
      0.06527,
      -1.39815,
      0.05173,
      1.16465,
      0.0753
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44934,
      0.00065,
      1.1499
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      -0.00122,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98749,
        -0.09425,
        -0.12642
      ],
      [
        -0.0892,
        -0.995,
        0.04499
      ],
      [
        -0.13003,
        -0.03315,
        -0.99096
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 13.210640890523791,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.2,
                    "z": 1.15
                  },
                  "note": "Try facing gripper forward at higher z where IK may allow it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.03424,
      -0.96655,
      0.02711,
      -2.64673,
      0.18708,
      2.74194,
      -0.07283
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44938,
      0.00071,
      1.14981
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -1.19507,
      0.00011
    ],
    "tcp_rotation_matrix": [
      [
        0.4844,
        -0.00368,
        0.87484
      ],
      [
        -0.08912,
        -0.995,
        0.04517
      ],
      [
        0.8703,
        -0.09985,
        -0.4823
      ]
    ],
    "simulated_seconds_remaining": 21.252,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.404452205635607,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5
                  },
                  "note": "Cabinet face now visible ahead; finish rotating to face it squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.07969,
      -0.97668,
      -0.02159,
      -2.86023,
      0.21882,
      3.25415,
      -0.13202
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4495,
      0.00076,
      1.14955
    ],
    "tcp_roll_pitch_yaw": [
      0.00026,
      -1.49531,
      0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.20537,
        0.02627,
        0.97833
      ],
      [
        -0.08912,
        -0.99498,
        0.04543
      ],
      [
        0.97462,
        -0.09652,
        -0.20199
      ]
    ],
    "simulated_seconds_remaining": 20.526,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 7.607153168879449,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Approach cabinet face to locate handle in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.19095,
      -0.58651,
      -0.12566,
      -2.63039,
      0.19152,
      3.42261,
      -0.14547
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54874,
      0.00076,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      0.00078,
      -1.49514,
      -0.00038
    ],
    "tcp_rotation_matrix": [
      [
        0.20553,
        0.02627,
        0.9783
      ],
      [
        -0.08915,
        -0.99498,
        0.04545
      ],
      [
        0.97458,
        -0.09656,
        -0.20215
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 5.605151577852666,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.25
                  },
                  "note": "Raise 10cm to calibrate wrist image direction relative to base z and locate handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.19095,
      -0.58651,
      -0.12566,
      -2.63039,
      0.19152,
      3.42261,
      -0.14547
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54874,
      0.00076,
      1.14949
    ],
    "tcp_roll_pitch_yaw": [
      0.00078,
      -1.49514,
      -0.00038
    ],
    "tcp_rotation_matrix": [
      [
        0.20553,
        0.02627,
        0.9783
      ],
      [
        -0.08915,
        -0.99498,
        0.04545
      ],
      [
        0.97458,
        -0.09656,
        -0.20215
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 3.8040382778272033,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05
                  },
                  "note": "Lower 10cm to calibrate wrist view vertical direction."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.34813,
      -0.44346,
      -0.30682,
      -2.78499,
      0.08723,
      3.73293,
      -0.09647
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54876,
      0.00075,
      1.05111
    ],
    "tcp_roll_pitch_yaw": [
      0.00046,
      -1.49479,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.20586,
        0.02622,
        0.97823
      ],
      [
        -0.08913,
        -0.99498,
        0.04543
      ],
      [
        0.97451,
        -0.09654,
        -0.20249
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 7.206111948005855,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.15
                  },
                  "note": "Shift right to test horizontal image direction and center on the handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.6378,
      -0.61734,
      -1.02396,
      -2.67783,
      -0.4401,
      3.58332,
      -0.0831
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    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54873,
      -0.14882,
      1.05121
    ],
    "tcp_roll_pitch_yaw": [
      0.00253,
      -1.49497,
      -0.00241
    ],
    "tcp_rotation_matrix": [
      [
        0.20567,
        0.02597,
        0.97828
      ],
      [
        -0.08934,
        -0.99498,
        0.0452
      ],
      [
        0.97453,
        -0.0967,
        -0.20232
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 8.406926124356687,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15
                  },
                  "note": "Handles lie toward +y; shift left to center them in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.22163,
      -0.2846,
      0.32761,
      -2.62237,
      0.79142,
      3.81054,
      -0.36659
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54875,
      0.1488,
      1.05128
    ],
    "tcp_roll_pitch_yaw": [
      0.00059,
      -1.49513,
      -0.00013
    ],
    "tcp_rotation_matrix": [
      [
        0.20555,
        0.02634,
        0.97829
      ],
      [
        -0.08913,
        -0.99498,
        0.04551
      ],
      [
        0.97458,
        -0.09655,
        -0.20217
      ]
    ],
    "simulated_seconds_remaining": 14.916,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.408373297192156,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.18,
                    "x": 0.62
                  },
                  "note": "Advance toward the vertical handle while centering on it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.19144,
      -0.04625,
      0.36,
      -2.36127,
      0.83159,
      3.83109,
      -0.47442
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61877,
      0.17945,
      1.05124
    ],
    "tcp_roll_pitch_yaw": [
      0.00068,
      -1.49504,
      -0.00022
    ],
    "tcp_rotation_matrix": [
      [
        0.20563,
        0.02633,
        0.97828
      ],
      [
        -0.08913,
        -0.99498,
        0.04551
      ],
      [
        0.97456,
        -0.09655,
        -0.20225
      ]
    ],
    "simulated_seconds_remaining": 14.124,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 13.410560756921768,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.13
                  },
                  "note": "Shift slightly right to align the right-hand vertical handle with the finger gap."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      -0.11856,
      0.26262,
      -2.46587,
      0.60317,
      3.78407,
      -0.29704
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.61882,
      0.13115,
      1.05125
    ],
    "tcp_roll_pitch_yaw": [
      0.00071,
      -1.49507,
      -0.00065
    ],
    "tcp_rotation_matrix": [
      [
        0.20557,
        0.02593,
        0.9783
      ],
      [
        -0.08922,
        -0.99499,
        0.04512
      ],
      [
        0.97457,
        -0.09656,
        -0.20222
      ]
    ],
    "simulated_seconds_remaining": 13.53,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 4.203823946416378,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68
                  },
                  "note": "Advance toward handle to straddle it with the open fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.13641,
      0.03329,
      0.25862,
      -2.28643,
      0.57654,
      3.76634,
      -0.32924
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.6719,
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      1.05303
    ],
    "tcp_roll_pitch_yaw": [
      0.00109,
      -1.50263,
      0.01856
    ],
    "tcp_rotation_matrix": [
      [
        0.1999,
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        0.97873
      ],
      [
        -0.08534,
        -0.99427,
        0.0643
      ],
      [
        0.97609,
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        -0.19482
      ]
    ],
    "simulated_seconds_remaining": 12.804,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.2045622589066625,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.72
                  },
                  "note": "Handle aligned with finger gap; advance to enclose the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.2092,
      0.1521,
      0.26517,
      -2.1416,
      0.79199,
      3.92529,
      -0.36934
    ],
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    "tcp_xyz": [
      0.68735,
      0.14589,
      1.06569
    ],
    "tcp_roll_pitch_yaw": [
      1.62956,
      -1.43234,
      -1.74549
    ],
    "tcp_rotation_matrix": [
      [
        0.0965,
        -0.0783,
        0.99225
      ],
      [
        -0.23719,
        -0.96999,
        -0.05348
      ],
      [
        0.96666,
        -0.23019,
        -0.11217
      ]
    ],
    "simulated_seconds_remaining": 12.21,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 4.604391044005752,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Close gripper attempting to grasp the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.21272,
      0.14941,
      0.26945,
      -2.14897,
      0.79787,
      3.94072,
      -0.36829
    ],
    "gripper_open": 0.9995,
    "tcp_xyz": [
      0.68356,
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      1.06618
    ],
    "tcp_roll_pitch_yaw": [
      1.67396,
      -1.42997,
      -1.79418
    ],
    "tcp_rotation_matrix": [
      [
        0.08907,
        -0.08137,
        0.9927
      ],
      [
        -0.23869,
        -0.96936,
        -0.05804
      ],
      [
        0.967,
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        -0.10576
      ]
    ],
    "simulated_seconds_remaining": 11.286,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 10.008705929853022,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Retry closing the gripper on the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      0.14646,
      0.27056,
      -2.1541,
      0.80307,
      3.94717,
      -0.3677
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      1.06614
    ],
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      -1.42794,
      -1.80792
    ],
    "tcp_rotation_matrix": [
      [
        0.08625,
        -0.08574,
        0.99258
      ],
      [
        -0.24075,
        -0.96856,
        -0.06274
      ],
      [
        0.96675,
        -0.23355,
        -0.10418
      ]
    ],
    "simulated_seconds_remaining": 10.362,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 3.6034702248871326,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "gripper": 0.0
                  },
                  "note": "Pull back to test whether the handle is grasped and door opens."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      -0.17736,
      0.33907,
      -2.54242,
      0.92625,
      4.01848,
      -0.31185
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      0.55134,
      0.14678,
      1.06628
    ],
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      1.6857,
      -1.4286,
      -1.80935
    ],
    "tcp_rotation_matrix": [
      [
        0.08636,
        -0.08436,
        0.99269
      ],
      [
        -0.23992,
        -0.96884,
        -0.06147
      ],
      [
        0.96694,
        -0.23286,
        -0.10391
      ]
    ],
    "simulated_seconds_remaining": 9.174,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 41.83425792027265,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.62,
                    "gripper": 1.0
                  },
                  "note": "Open gripper and back off slightly to re-localize the handle relative to fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      -0.00948,
      0.30012,
      -2.35671,
      0.83975,
      3.99092,
      -0.32454
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      0.14672,
      1.06624
    ],
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      1.68518,
      -1.42861,
      -1.80893
    ],
    "tcp_rotation_matrix": [
      [
        0.0864,
        -0.08447,
        0.99267
      ],
      [
        -0.23994,
        -0.96884,
        -0.06156
      ],
      [
        0.96694,
        -0.23286,
        -0.10398
      ]
    ],
    "simulated_seconds_remaining": 8.25,
    "calls_remaining_including_this": 35
  },
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  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.118,
                    "x": 0.7
                  },
                  "note": "Align finger gap with the bright handle and advance to straddle it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      0.1506,
      0.25966,
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      0.72259,
      3.96984,
      -0.2973
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      0.14335,
      1.07009
    ],
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      1.87947,
      -1.41203,
      -1.99004
    ],
    "tcp_rotation_matrix": [
      [
        0.05729,
        -0.06603,
        0.99617
      ],
      [
        -0.24518,
        -0.96818,
        -0.05007
      ],
      [
        0.96778,
        -0.24137,
        -0.07166
      ]
    ],
    "simulated_seconds_remaining": 7.392,
    "calls_remaining_including_this": 34
  },
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  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
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            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665,
                    "gripper": 0.0
                  },
                  "note": "Back off a bit so fingertips straddle the protruding handle, then close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.20394,
      0.10655,
      0.26672,
      -2.23118,
      0.73039,
      3.98515,
      -0.28448
    ],
    "gripper_open": 0.2983,
    "tcp_xyz": [
      0.66585,
      0.1424,
      1.07012
    ],
    "tcp_roll_pitch_yaw": [
      1.88252,
      -1.41245,
      -1.99469
    ],
    "tcp_rotation_matrix": [
      [
        0.05663,
        -0.06755,
        0.99611
      ],
      [
        -0.24471,
        -0.96822,
        -0.05174
      ],
      [
        0.96794,
        -0.24082,
        -0.07136
      ]
    ],
    "simulated_seconds_remaining": 6.468,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 4.604566415771842,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": 0.05
                  },
                  "note": "Gripper closed on handle (0.30); pull back and sideways to swing the door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      -0.40342,
      0.14576,
      -2.81268,
      0.50832,
      3.95341,
      -0.03414
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    "gripper_open": 0.0,
    "tcp_xyz": [
      0.52113,
      0.05069,
      1.07018
    ],
    "tcp_roll_pitch_yaw": [
      1.88313,
      -1.41245,
      -1.99534
    ],
    "tcp_rotation_matrix": [
      [
        0.05653,
        -0.06758,
        0.99611
      ],
      [
        -0.24467,
        -0.96822,
        -0.0518
      ],
      [
        0.96796,
        -0.24079,
        -0.07127
      ]
    ],
    "simulated_seconds_remaining": 5.016,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 6.806437186896801,
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    "candidates": [
      {
        "content": {
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          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.665,
                    "y": 0.142,
                    "gripper": 1.0
                  },
                  "note": "Return to the successful pre-grasp pose with gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
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  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
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      0.09846,
      0.28617,
      -2.25415,
      0.84648,
      4.1027,
      -0.28057
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    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64392,
      0.11739,
      1.07407
    ],
    "tcp_roll_pitch_yaw": [
      1.94766,
      -1.34141,
      -2.17459
    ],
    "tcp_rotation_matrix": [
      [
        -0.01914,
        -0.16586,
        0.98596
      ],
      [
        -0.30048,
        -0.9396,
        -0.1639
      ],
      [
        0.9536,
        -0.2994,
        -0.03186
      ]
    ],
    "simulated_seconds_remaining": 3.564,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.604345844127238,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close on handle again before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.21345,
      0.09559,
      0.28909,
      -2.25954,
      0.8513,
      4.11052,
      -0.28089
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.64114,
      0.1183,
      1.07423
    ],
    "tcp_roll_pitch_yaw": [
      1.95789,
      -1.34007,
      -2.18686
    ],
    "tcp_rotation_matrix": [
      [
        -0.02238,
        -0.16723,
        0.98566
      ],
      [
        -0.3002,
        -0.93929,
        -0.16618
      ],
      [
        0.95361,
        -0.29962,
        -0.02918
      ]
    ],
    "simulated_seconds_remaining": 2.64,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 4.604260707274079,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0,
                    "x": 0.55
                  },
                  "note": "Final attempt: close on handle while pulling back to open the door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.26186,
      -0.1249,
      0.33706,
      -2.52508,
      0.94541,
      4.15764,
      -0.24134
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.55126,
      0.11844,
      1.07431
    ],
    "tcp_roll_pitch_yaw": [
      1.95882,
      -1.34009,
      -2.18743
    ],
    "tcp_rotation_matrix": [
      [
        -0.02243,
        -0.16687,
        0.98572
      ],
      [
        -0.30007,
        -0.93939,
        -0.16585
      ],
      [
        0.95365,
        -0.29951,
        -0.029
      ]
    ],
    "simulated_seconds_remaining": 1.716,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 4.804539442062378,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Located the cabinet door and its handle, achieved a partial grasp once (gripper blocked at 0.30), but the grip slipped during the pull and simulated time ran out before a successful door opening."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 175,
  "house_index": 19,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 36,
  "api_calls": 37,
  "wall_seconds": 275.45615553855896,
  "usage": {
    "input_tokens": 74,
    "cache_creation_input_tokens": 31425,
    "cache_read_input_tokens": 572193,
    "output_tokens": 12142
  },
  "estimated_cost_usd": 0.78642275
}


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.



MODEL RESPONSES


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          "note": "Retreat and raise to get a wider view of the refrigerator."
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          "note": "Move back and to the right to widen the wrist view of the scene."
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          "note": "Pitch the wrist to look forward so the camera sees the refrigerator front."
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          "note": "Center and raise while facing forward to view the fridge door and handle."
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      }
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          "note": "Approach forward to inspect the dark surface (likely fridge door) ahead."
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          "note": "Step forward/up slightly to approach the dark magnet-covered surface ahead."
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          "note": "Lower slightly to free the arm and step forward."
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  "api_call": 15,
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          "note": "Reduce pitch to escape the near-singular configuration."
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{
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          "note": "Approach forward toward the vertical gray feature (possible handle) on the dark fridge door."
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            "x": 0.28
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          "note": "Continue forward slowly toward the fridge door."
        },
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      }
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{
  "api_call": 19,
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    "model": "claude-opus-5",
    "id": "msg_011CeznZg5zRhfPm7icJbf1r",
    "type": "message",
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            "yaw": 0.6
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          "note": "Yaw left to scan the scene for the refrigerator."
        },
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      }
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{
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          "note": "Yaw the other direction to scan the opposite side of the scene."
        },
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{
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          "note": "Return to the initial well-conditioned pose to restart approach from a good arm configuration."
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{
  "api_call": 22,
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          "note": "Probe forward to find the fridge door surface distance."
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{
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          "note": "Back off slightly and pitch camera forward to view the door face and locate the handle."
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{
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          "note": "Moderate pitch change in place to tilt camera forward."
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{
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          "note": "Point gripper forward, slightly back, to prepare grasping the vertical handle bar."
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{
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          "note": "Advance into contact with the door/handle with fingers oriented forward-down."
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{
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            "gripper": 0.0
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          "note": "Close gripper to attempt to grab the handle at contact point."
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{
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          "note": "Open gripper and shift left to check if the gray bar (candidate handle) is on that side."
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{
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          "note": "Shift right instead, since left was blocked, to scan for the handle."
        },
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{
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          "note": "Center the gripper on the candidate handle bar (slightly right of center) before closing."
        },
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{
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      {
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        "input": {
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          },
          "note": "Advance toward the candidate handle to see if it enters between the fingers."
        },
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      }
    ],
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{
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      {
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        "input": {
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            "gripper": 0.0
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          "note": "Close gripper on the object in front to test if it is graspable (handle)."
        },
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      }
    ],
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{
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        "input": {
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            "x": 0.3,
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          "note": "Grasp achieved (gripper stalled at 0.52); pull backward to swing the door open."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
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    "id": "msg_011CeznjLnQparZ2GbjgcLbv",
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      {
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        "input": {
          "targets": {
            "x": 0.415,
            "y": -0.058,
            "gripper": 0.0
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          "note": "Return to the grasp pose and close the gripper on the handle again."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 35,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceznjxu4bUym5Dwz6Zroq",
    "type": "message",
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    "content": [
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "gripper": 1.0,
            "x": 0.42,
            "y": -0.058
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          "note": "Open fingers and advance to straddle the handle."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 36,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznkMuf5YH85kLLhGnjU",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01Kqy4KyLyDEkDQXtpr9qLVy",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close on the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 746,
      "cache_read_input_tokens": 30103,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 746,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 83,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 37,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Ceznkj4sunndHffGKNzRk",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Sb9oNcFgFMLbJt8Rmkobvv",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.27,
            "y": 0.02,
            "gripper": 0.0
          },
          "note": "Holding the handle; pull backward to swing the refrigerator door open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 576,
      "cache_read_input_tokens": 30849,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 576,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 202,
      "output_tokens_details": {
        "thinking_tokens": 86
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 6.205348132178187,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.25,
                    "z": 1.15
                  },
                  "note": "Retreat and raise to get a wider view of the refrigerator."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      0.02129,
      -0.92236,
      0.05363,
      -2.10025,
      -0.03292,
      1.34409,
      0.01031
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.25095,
      0.01453,
      1.14913
    ],
    "tcp_roll_pitch_yaw": [
      2e-05,
      -0.00034,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.98526,
        0.03081,
        0.16829
      ],
      [
        0.04232,
        -0.99697,
        -0.06523
      ],
      [
        0.16577,
        0.07138,
        -0.98358
      ]
    ],
    "simulated_seconds_remaining": 28.908,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.606322661973536,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.15,
                    "y": -0.2,
                    "z": 1.1
                  },
                  "note": "Move back and to the right to widen the wrist view of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -0.02118,
      -1.17202,
      -0.35998,
      -2.24445,
      -0.37522,
      1.30568,
      -0.37058
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15055,
      -0.19883,
      1.10029
    ],
    "tcp_roll_pitch_yaw": [
      0.00013,
      -0.00043,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.98525,
        0.03068,
        0.16838
      ],
      [
        0.04218,
        -0.99698,
        -0.06513
      ],
      [
        0.16587,
        0.07127,
        -0.98357
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.610001601278782,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3,
                    "x": 0.2,
                    "y": 0.0,
                    "z": 1.1
                  },
                  "note": "Pitch the wrist to look forward so the camera sees the refrigerator 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 refrigerator.",
    "joint_positions": [
      -0.02118,
      -1.17202,
      -0.35998,
      -2.24445,
      -0.37522,
      1.30568,
      -0.37058
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15055,
      -0.19883,
      1.10029
    ],
    "tcp_roll_pitch_yaw": [
      0.00013,
      -0.00043,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.98525,
        0.03068,
        0.16838
      ],
      [
        0.04218,
        -0.99698,
        -0.06513
      ],
      [
        0.16587,
        0.07127,
        -0.98357
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.6030575493350625,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "x": 0.2,
                    "y": 0.0
                  },
                  "note": "Smaller pitch rotation to tilt camera 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 refrigerator.",
    "joint_positions": [
      -0.02118,
      -1.17202,
      -0.35998,
      -2.24445,
      -0.37522,
      1.30568,
      -0.37058
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15055,
      -0.19883,
      1.10029
    ],
    "tcp_roll_pitch_yaw": [
      0.00013,
      -0.00043,
      -0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.98525,
        0.03068,
        0.16838
      ],
      [
        0.04218,
        -0.99698,
        -0.06513
      ],
      [
        0.16587,
        0.07127,
        -0.98357
      ]
    ],
    "simulated_seconds_remaining": 26.994,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.4030454251915216,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.3
                  },
                  "note": "Test small pitch rotation only."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -0.04699,
      -1.42047,
      -0.39786,
      -2.39439,
      -0.36507,
      1.49687,
      -0.35507
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15048,
      -0.19886,
      1.10028
    ],
    "tcp_roll_pitch_yaw": [
      0.00021,
      -0.29626,
      -0.00019
    ],
    "tcp_rotation_matrix": [
      [
        0.89409,
        0.0085,
        0.4478
      ],
      [
        0.04209,
        -0.99699,
        -0.06512
      ],
      [
        0.4459,
        0.07707,
        -0.89176
      ]
    ],
    "simulated_seconds_remaining": 26.268,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.0037904949858785,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Continue pitching up to look forward at the fridge."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -0.27565,
      -1.78302,
      -0.54369,
      -2.69225,
      -0.25178,
      1.87171,
      -0.49269
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15063,
      -0.19888,
      1.09996
    ],
    "tcp_roll_pitch_yaw": [
      0.00106,
      -0.79518,
      -0.00081
    ],
    "tcp_rotation_matrix": [
      [
        0.57175,
        -0.02944,
        0.8199
      ],
      [
        0.04166,
        -0.99702,
        -0.06486
      ],
      [
        0.81937,
        0.07124,
        -0.56883
      ]
    ],
    "simulated_seconds_remaining": 25.278,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 8.806595280766487,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Pitch further to point gripper forward toward the fridge door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -0.97836,
      -1.7837,
      -0.76304,
      -3.03067,
      0.59542,
      2.11855,
      -1.26398
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15079,
      -0.19899,
      1.09959
    ],
    "tcp_roll_pitch_yaw": [
      0.00723,
      -1.39549,
      -0.00661
    ],
    "tcp_rotation_matrix": [
      [
        0.00892,
        -0.06441,
        0.99788
      ],
      [
        0.04104,
        -0.99706,
        -0.06473
      ],
      [
        0.99912,
        0.04153,
        -0.00625
      ]
    ],
    "simulated_seconds_remaining": 24.156,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.004133061505854,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "z": 1.2
                  },
                  "note": "Center and raise while facing forward to view the fridge door and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 27,
    "motion_seconds": 1.782,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.08243,
      -1.7837,
      -0.51562,
      -2.83297,
      1.30623,
      1.0288,
      -1.04937
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.1506,
      -0.0009,
      1.19983
    ],
    "tcp_roll_pitch_yaw": [
      0.01128,
      -1.39609,
      -0.01077
    ],
    "tcp_rotation_matrix": [
      [
        0.00832,
        -0.06461,
        0.99788
      ],
      [
        0.04034,
        -0.99708,
        -0.06489
      ],
      [
        0.99915,
        0.0408,
        -0.00569
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.404511545784771,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3
                  },
                  "note": "Approach forward to inspect the dark surface (likely fridge door) ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.08243,
      -1.7837,
      -0.51562,
      -2.83297,
      1.30623,
      1.0288,
      -1.04937
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.1506,
      -0.0009,
      1.19983
    ],
    "tcp_roll_pitch_yaw": [
      0.01128,
      -1.39609,
      -0.01077
    ],
    "tcp_rotation_matrix": [
      [
        0.00832,
        -0.06461,
        0.99788
      ],
      [
        0.04034,
        -0.99708,
        -0.06489
      ],
      [
        0.99915,
        0.0408,
        -0.00569
      ]
    ],
    "simulated_seconds_remaining": 22.374,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 3.60338154155761,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2
                  },
                  "note": "Small forward step to test reachability in current awkward configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.42182,
      -1.7837,
      -0.41652,
      -2.89702,
      1.59691,
      0.78268,
      -0.97611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19914,
      -0.00115,
      1.19997
    ],
    "tcp_roll_pitch_yaw": [
      0.01814,
      -1.39681,
      -0.01794
    ],
    "tcp_rotation_matrix": [
      [
        0.0076,
        -0.06506,
        0.99785
      ],
      [
        0.03916,
        -0.9971,
        -0.06531
      ],
      [
        0.9992,
        0.03957,
        -0.00503
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 14.412180546671152,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.27,
                    "z": 1.25
                  },
                  "note": "Step forward/up slightly to approach the dark magnet-covered surface ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.42182,
      -1.7837,
      -0.41652,
      -2.89702,
      1.59691,
      0.78268,
      -0.97611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19914,
      -0.00115,
      1.19997
    ],
    "tcp_roll_pitch_yaw": [
      0.01814,
      -1.39681,
      -0.01794
    ],
    "tcp_rotation_matrix": [
      [
        0.0076,
        -0.06506,
        0.99785
      ],
      [
        0.03916,
        -0.9971,
        -0.06531
      ],
      [
        0.9992,
        0.03957,
        -0.00503
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 5.604988016188145,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.26
                  },
                  "note": "Step forward toward the surface ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.42182,
      -1.7837,
      -0.41652,
      -2.89702,
      1.59691,
      0.78268,
      -0.97611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19914,
      -0.00115,
      1.19997
    ],
    "tcp_roll_pitch_yaw": [
      0.01814,
      -1.39681,
      -0.01794
    ],
    "tcp_rotation_matrix": [
      [
        0.0076,
        -0.06506,
        0.99785
      ],
      [
        0.03916,
        -0.9971,
        -0.06531
      ],
      [
        0.9992,
        0.03957,
        -0.00503
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 4.203853539191186,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.1,
                    "x": 0.25
                  },
                  "note": "Lower slightly to free the arm and step forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.42182,
      -1.7837,
      -0.41652,
      -2.89702,
      1.59691,
      0.78268,
      -0.97611
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19914,
      -0.00115,
      1.19997
    ],
    "tcp_roll_pitch_yaw": [
      0.01814,
      -1.39681,
      -0.01794
    ],
    "tcp_rotation_matrix": [
      [
        0.0076,
        -0.06506,
        0.99785
      ],
      [
        0.03916,
        -0.9971,
        -0.06531
      ],
      [
        0.9992,
        0.03957,
        -0.00503
      ]
    ],
    "simulated_seconds_remaining": 21.78,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 3.4033120768144727,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Reduce pitch to escape the near-singular configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.26326,
      -1.51007,
      -0.24091,
      -2.44815,
      1.23148,
      0.6537,
      -1.26392
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19919,
      -0.00116,
      1.19999
    ],
    "tcp_roll_pitch_yaw": [
      0.01812,
      -0.90409,
      -0.01803
    ],
    "tcp_rotation_matrix": [
      [
        0.47935,
        -0.04083,
        0.87667
      ],
      [
        0.03066,
        -0.99753,
        -0.06323
      ],
      [
        0.87709,
        0.05719,
        -0.47692
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 6.405165798962116,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 1.15
                  },
                  "note": "Approach forward toward the vertical gray feature (possible handle) on the dark fridge door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.26326,
      -1.51007,
      -0.24091,
      -2.44815,
      1.23148,
      0.6537,
      -1.26392
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.19919,
      -0.00116,
      1.19999
    ],
    "tcp_roll_pitch_yaw": [
      0.01812,
      -0.90409,
      -0.01803
    ],
    "tcp_rotation_matrix": [
      [
        0.47935,
        -0.04083,
        0.87667
      ],
      [
        0.03066,
        -0.99753,
        -0.06323
      ],
      [
        0.87709,
        0.05719,
        -0.47692
      ]
    ],
    "simulated_seconds_remaining": 20.79,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 10.40802150964737,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.23,
                    "z": 1.18
                  },
                  "note": "Very small forward step to test reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 8,
    "motion_seconds": 0.528,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.30147,
      -1.61183,
      -0.19957,
      -2.52907,
      1.31111,
      0.65813,
      -1.21594
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22899,
      -0.00115,
      1.18065
    ],
    "tcp_roll_pitch_yaw": [
      0.01807,
      -0.90393,
      -0.01802
    ],
    "tcp_rotation_matrix": [
      [
        0.47949,
        -0.04085,
        0.87659
      ],
      [
        0.03067,
        -0.99753,
        -0.06326
      ],
      [
        0.87701,
        0.05722,
        -0.47705
      ]
    ],
    "simulated_seconds_remaining": 20.262,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 6.605632656253874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.28
                  },
                  "note": "Continue forward slowly toward the fridge door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.32931,
      -1.70454,
      -0.10862,
      -2.55511,
      1.49059,
      0.68748,
      -1.09441
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27884,
      -0.00116,
      1.18061
    ],
    "tcp_roll_pitch_yaw": [
      0.01798,
      -0.90371,
      -0.01803
    ],
    "tcp_rotation_matrix": [
      [
        0.47969,
        -0.04092,
        0.87648
      ],
      [
        0.03068,
        -0.99752,
        -0.06336
      ],
      [
        0.8769,
        0.05728,
        -0.47724
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 9.607597867958248,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.6
                  },
                  "note": "Yaw left to scan the scene for the refrigerator."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.08631,
      -1.33546,
      0.13663,
      -2.46184,
      1.4714,
      0.54464,
      -1.60086
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27889,
      -0.00147,
      1.18068
    ],
    "tcp_roll_pitch_yaw": [
      0.01777,
      -0.90377,
      0.59559
    ],
    "tcp_rotation_matrix": [
      [
        0.37446,
        0.5408,
        0.7532
      ],
      [
        0.3013,
        -0.83919,
        0.45274
      ],
      [
        0.87692,
        0.05741,
        -0.47719
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 4.803941406309605,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.6
                  },
                  "note": "Yaw the other direction to scan the opposite side of the scene."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.08631,
      -1.33546,
      0.13663,
      -2.46184,
      1.4714,
      0.54464,
      -1.60086
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27889,
      -0.00147,
      1.18068
    ],
    "tcp_roll_pitch_yaw": [
      0.01777,
      -0.90377,
      0.59559
    ],
    "tcp_rotation_matrix": [
      [
        0.37446,
        0.5408,
        0.7532
      ],
      [
        0.3013,
        -0.83919,
        0.45274
      ],
      [
        0.87692,
        0.05741,
        -0.47719
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 13.210723054595292,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "y": 0.01,
                    "z": 1.06,
                    "pitch": 0.0,
                    "yaw": 0.0
                  },
                  "note": "Return to the initial well-conditioned pose to restart approach from a good arm configuration."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.24101,
      -1.71163,
      0.31852,
      -2.11754,
      1.08071,
      0.5559,
      -1.35776
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.33562,
      0.00963,
      1.06354
    ],
    "tcp_roll_pitch_yaw": [
      0.0296,
      -0.02681,
      0.00206
    ],
    "tcp_rotation_matrix": [
      [
        0.98041,
        0.03174,
        0.19438
      ],
      [
        0.0394,
        -0.99859,
        -0.0357
      ],
      [
        0.19297,
        0.04266,
        -0.98028
      ]
    ],
    "simulated_seconds_remaining": 16.764,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 10.808311409316957,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Probe forward to find the fridge door surface distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -2.22418,
      -1.65486,
      0.40418,
      -2.10191,
      1.3035,
      0.54297,
      -1.11064
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38484,
      0.01869,
      1.06371
    ],
    "tcp_roll_pitch_yaw": [
      0.18044,
      -0.08532,
      -0.04114
    ],
    "tcp_rotation_matrix": [
      [
        0.96688,
        -0.00093,
        0.25521
      ],
      [
        -0.02787,
        -0.9944,
        0.10193
      ],
      [
        0.25369,
        -0.10567,
        -0.9615
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 11.210035073570907,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "pitch": -1.2,
                    "roll": 0.0,
                    "yaw": 0.0
                  },
                  "note": "Back off slightly and pitch camera forward to view the door face and locate the 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 refrigerator.",
    "joint_positions": [
      -2.22418,
      -1.65486,
      0.40418,
      -2.10191,
      1.3035,
      0.54297,
      -1.11064
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38484,
      0.01869,
      1.06371
    ],
    "tcp_roll_pitch_yaw": [
      0.18044,
      -0.08532,
      -0.04114
    ],
    "tcp_rotation_matrix": [
      [
        0.96688,
        -0.00093,
        0.25521
      ],
      [
        -0.02787,
        -0.9944,
        0.10193
      ],
      [
        0.25369,
        -0.10567,
        -0.9615
      ]
    ],
    "simulated_seconds_remaining": 15.378,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 2.803077802993357,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.6,
                    "roll": 0.0,
                    "yaw": 0.0
                  },
                  "note": "Moderate pitch change in place to tilt camera forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.53654,
      -1.7837,
      0.49827,
      -2.59262,
      1.33844,
      1.35213,
      -0.90626
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38479,
      0.01879,
      1.06359
    ],
    "tcp_roll_pitch_yaw": [
      0.00332,
      -0.59599,
      -0.00095
    ],
    "tcp_rotation_matrix": [
      [
        0.72253,
        -0.01366,
        0.6912
      ],
      [
        0.04106,
        -0.99719,
        -0.06263
      ],
      [
        0.69012,
        0.07363,
        -0.71994
      ]
    ],
    "simulated_seconds_remaining": 14.388,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 10.808523969724774,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3,
                    "x": 0.33
                  },
                  "note": "Point gripper forward, slightly back, to prepare grasping the vertical handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.53654,
      -1.7837,
      0.49827,
      -2.59262,
      1.33844,
      1.35213,
      -0.90626
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.38479,
      0.01879,
      1.06359
    ],
    "tcp_roll_pitch_yaw": [
      0.00332,
      -0.59599,
      -0.00095
    ],
    "tcp_rotation_matrix": [
      [
        0.72253,
        -0.01366,
        0.6912
      ],
      [
        0.04106,
        -0.99719,
        -0.06263
      ],
      [
        0.69012,
        0.07363,
        -0.71994
      ]
    ],
    "simulated_seconds_remaining": 14.388,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 5.604933499358594,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Advance into contact with the door/handle with fingers oriented forward-down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.59492,
      -1.72578,
      0.57742,
      -2.48812,
      1.37749,
      1.35692,
      -0.87823
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.42189,
      0.01842,
      1.06321
    ],
    "tcp_roll_pitch_yaw": [
      -0.00299,
      -0.54207,
      -0.01616
    ],
    "tcp_rotation_matrix": [
      [
        0.75937,
        -0.02808,
        0.65006
      ],
      [
        0.03053,
        -0.99643,
        -0.0787
      ],
      [
        0.64995,
        0.0796,
        -0.7558
      ]
    ],
    "simulated_seconds_remaining": 13.662,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 11.010503734461963,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper to attempt to grab the handle at contact point."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.59492,
      -1.72578,
      0.57742,
      -2.48812,
      1.37749,
      1.35692,
      -0.87823
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.42189,
      0.01842,
      1.06321
    ],
    "tcp_roll_pitch_yaw": [
      -0.00302,
      -0.54203,
      -0.01617
    ],
    "tcp_rotation_matrix": [
      [
        0.75939,
        -0.0281,
        0.65002
      ],
      [
        0.03052,
        -0.99643,
        -0.07874
      ],
      [
        0.64991,
        0.07963,
        -0.75582
      ]
    ],
    "simulated_seconds_remaining": 12.738,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 12.809566897340119,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 1.0,
                    "y": 0.12
                  },
                  "note": "Open gripper and shift left to check if the gray bar (candidate handle) is on that side."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.37978,
      -1.78217,
      0.62214,
      -2.43094,
      1.11804,
      1.42418,
      -0.62281
    ],
    "gripper_open": 0.9688,
    "tcp_xyz": [
      0.38951,
      0.06771,
      1.049
    ],
    "tcp_roll_pitch_yaw": [
      -0.12769,
      -0.4336,
      -0.11329
    ],
    "tcp_rotation_matrix": [
      [
        0.82927,
        -0.16554,
        0.53377
      ],
      [
        -0.03092,
        -0.96725,
        -0.25193
      ],
      [
        0.55799,
        0.19241,
        -0.80723
      ]
    ],
    "simulated_seconds_remaining": 11.748,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 5.805335247889161,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.12,
                    "roll": 0.0,
                    "pitch": -0.54,
                    "yaw": 0.0
                  },
                  "note": "Shift right instead, since left was blocked, to scan for the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.57031,
      -1.3688,
      0.56957,
      -2.56042,
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      1.60616,
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      -0.00061
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    "tcp_rotation_matrix": [
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        0.76079,
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                  "targets": {
                    "y": -0.05,
                    "x": 0.4
                  },
                  "note": "Center the gripper on the candidate handle bar (slightly right of center) before closing."
                }
              }
            }
          ]
        }
      }
    ]
  },
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the refrigerator.",
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      1.24851,
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      -0.00036
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      [
        0.04195,
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      ],
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    ],
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      {
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            {
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                  },
                  "note": "Advance toward the candidate handle to see if it enters between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
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}

{
  "call": 31,
  "state": {
    "instruction": "open the refrigerator.",
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      -1.45044,
      0.64344,
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      1.19132,
      1.53328,
      -1.00192
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    "tcp_xyz": [
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      -0.42833,
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    ],
    "tcp_rotation_matrix": [
      [
        0.82815,
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      ],
      [
        0.03995,
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        -0.08531
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      [
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    ],
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    "calls_remaining_including_this": 27
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  "api_seconds": 4.403718979097903,
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      {
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            {
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                "name": "move_to",
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                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper on the object in front to test if it is graspable (handle)."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 32,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.53612,
      -1.44968,
      0.63759,
      -2.45864,
      1.18573,
      1.54513,
      -1.0015
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      -0.43605,
      -0.0178
    ],
    "tcp_rotation_matrix": [
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        0.82439,
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      [
        0.03168,
        -0.99454,
        -0.09946
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  },
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      {
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                    "x": 0.3,
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                  "note": "Grasp achieved (gripper stalled at 0.52); pull backward to swing the door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 33,
  "state": {
    "instruction": "open the refrigerator.",
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      -0.01768
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        0.82431,
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        -0.0995
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  },
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                  },
                  "note": "Return to the grasp pose and close the gripper on the handle again."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 34,
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    "instruction": "open the refrigerator.",
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    "gripper_open": 0.0009,
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      -0.02147
    ],
    "tcp_rotation_matrix": [
      [
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      ],
      [
        0.02381,
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      ],
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      ]
    ],
    "simulated_seconds_remaining": 5.544,
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  },
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                    "gripper": 1.0,
                    "x": 0.42,
                    "y": -0.058
                  },
                  "note": "Open fingers and advance to straddle the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 35,
  "state": {
    "instruction": "open the refrigerator.",
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      -0.05619,
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    ],
    "tcp_roll_pitch_yaw": [
      0.00399,
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      -0.02266
    ],
    "tcp_rotation_matrix": [
      [
        0.86182,
        -0.01791,
        0.5069
      ],
      [
        0.02211,
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      ],
      [
        0.50673,
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    ],
    "simulated_seconds_remaining": 4.62,
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  },
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          "parts": [
            {
              "functionCall": {
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                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close on the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 36,
  "state": {
    "instruction": "open the refrigerator.",
    "joint_positions": [
      -1.57464,
      -1.40118,
      0.63872,
      -2.39145,
      1.13929,
      1.48141,
      -0.99275
    ],
    "gripper_open": 0.5111,
    "tcp_xyz": [
      0.41413,
      -0.05853,
      1.05385
    ],
    "tcp_roll_pitch_yaw": [
      0.00263,
      -0.36731,
      -0.02797
    ],
    "tcp_rotation_matrix": [
      [
        0.86097,
        -0.02383,
        0.5081
      ],
      [
        0.01779,
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        -0.0769
      ],
      [
        0.50834,
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      ]
    ],
    "simulated_seconds_remaining": 3.696,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 5.8051083935424685,
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      {
        "content": {
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                "args": {
                  "targets": {
                    "x": 0.27,
                    "y": 0.02,
                    "gripper": 0.0
                  },
                  "note": "Holding the handle; pull backward to swing the refrigerator door open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
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  }
}

========================================================================
Opus 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,
  "source_episode_index": 737,
  "house_index": 414,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 42,
  "api_calls": 43,
  "wall_seconds": 346.71525263786316,
  "usage": {
    "input_tokens": 86,
    "cache_creation_input_tokens": 38032,
    "cache_read_input_tokens": 812034,
    "output_tokens": 15852
  },
  "estimated_cost_usd": 1.040447
}


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.



MODEL RESPONSES


{
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    "model": "claude-opus-5",
    "id": "msg_011Cezm8yVvTJwrkWi3yBf3z",
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    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0142mekiiVSmWYmB9Jpd6fRW",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_read_input_tokens": 0,
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      },
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      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezm9BTktuHSjwfsfyLzW",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01YK9zqdJTWTn3QRVE7JtpzS",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.3,
            "y": 0.0,
            "z": 1.2
          },
          "note": "Raise TCP to get a wider wrist view of the cabinet and locate the drawer handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
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      "output_tokens_details": {
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      },
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    }
  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezm9cLygYNVEwDwtuJYE",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01N16W54oDhfGNQYFcKRirGv",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.57
          },
          "note": "Pitch gripper to point forward (+x) so wrist camera looks ahead to find the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens_details": {
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      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmAdFa9RUayxFj3kDUV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_0111tUGFhh1i7b5C4qFmdupp",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.8
          },
          "note": "Smaller pitch step toward forward-facing gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens_details": {
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}

{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmAuNCRntbswQoZgppb",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.4
          },
          "note": "Continue pitching to face the drawer front directly."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 6,
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    "id": "msg_011CezmBSyTveFYpXfh3435N",
    "type": "message",
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    "content": [
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        "thinking": ""
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      {
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        "id": "toolu_016hVr7chbCdcJ1sUu4M6mjN",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 1.0,
            "pitch": -1.2
          },
          "note": "Lower and pitch more to face drawer front; lower z should help IK."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
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{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmBrkxTWHmJkCmQTbBJ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01DTLsGKcgmuyCb2sUwpCr6c",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 1.0
          },
          "note": "Just lower z, keeping current orientation."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "output_tokens": 118,
      "output_tokens_details": {
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      "service_tier": "standard",
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  }
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{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmC7F6gVdXGX15Ts1Af",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01WVkrkAqtoy2GcSD49K8dh6",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 1.15
          },
          "note": "Small downward step to test IK feasibility."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 128,
      "output_tokens_details": {
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      "service_tier": "standard",
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  }
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{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmCPdabzTpyPKxVa2NQ",
    "type": "message",
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    "content": [
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        "thinking": ""
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      {
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        "id": "toolu_013v9FkcFgtKYJhKpozPvAZF",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "pitch": -0.95
          },
          "note": "Step forward toward cabinet and pitch slightly more forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
      "output_tokens": 260,
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      "service_tier": "standard",
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  }
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{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmCrtRYAkZYKbqAV5AL",
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      {
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        "thinking": ""
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      {
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          "note": "Pitch more to view drawer front squarely."
        },
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
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        "input": {
          "targets": {
            "z": 1.05
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          "note": "Lower toward the drawer handle height."
        },
        "caller": {
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    "container": null,
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{
  "api_call": 12,
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    "model": "claude-opus-5",
    "id": "msg_011CezmELaqayQErNou2tApF",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "input": {
          "targets": {
            "z": 1.11
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          "note": "Small lowering step to check reachability."
        },
        "caller": {
          "type": "direct"
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      }
    ],
    "container": null,
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{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmEoP8YAjMVobmrd8nZ",
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      {
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        "input": {
          "targets": {
            "x": 0.48
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          "note": "Advance toward the drawer front to gauge distance to the handle."
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        "caller": {
          "type": "direct"
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      "output_tokens": 240,
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      "service_tier": "standard",
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{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmFM58cmMSVkg3PG4ih",
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          "targets": {
            "y": -0.08
          },
          "note": "Test lateral direction mapping: move right (-y) and see how handle shifts in wrist image."
        },
        "caller": {
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{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmFxqSJje3dGRDk86XH",
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        "input": {
          "targets": {
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          "note": "Move left (+y) to center handle horizontally per mapping test."
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{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmH3eSA4TixMbLVf8MB",
    "type": "message",
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        "input": {
          "targets": {
            "z": 1.04
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          "note": "Lower to handle height (handle appears ~9cm below TCP)."
        },
        "caller": {
          "type": "direct"
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    ],
    "container": null,
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{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmHNYzDhUaELtMsGyeb",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "z": 1.015
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          "note": "Fine-align height with the nearest drawer handle."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 18,
  "response": {
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        "input": {
          "targets": {
            "roll": 1.0
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          "note": "Roll gripper so fingers open vertically to clamp the horizontal handle bar."
        },
        "caller": {
          "type": "direct"
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      }
    ],
    "container": null,
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{
  "api_call": 19,
  "response": {
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      {
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        "input": {
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            "roll": 0.4
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          "note": "Smaller roll increment toward vertical finger alignment."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmKh4X2j561pBR2nDYp",
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      {
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        "input": {
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          "note": "Continue rolling toward vertical finger opening for the horizontal handle."
        },
        "caller": {
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    ],
    "container": null,
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{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmLavCgukSKMzArso1r",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "roll": 1.3
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          "note": "Roll further; fingers not yet vertical."
        },
        "caller": {
          "type": "direct"
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      }
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    "container": null,
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{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "x": 0.55,
            "roll": 0.4
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          "note": "Advance toward drawer face to learn its x location, unrolling somewhat."
        },
        "caller": {
          "type": "direct"
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      }
    ],
    "container": null,
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{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmNYnHMgDxGPPG7oUG3",
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    "content": [
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "roll": 0.5
          },
          "note": "Unroll in small steps back toward roll 0."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmNnmAFHbYPBHzsC2C1",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55
          },
          "note": "Advance forward to gauge distance to the drawer face/handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 25,
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      {
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        "name": "move_to",
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          "targets": {
            "x": 0.6
          },
          "note": "Creep closer to find contact distance with the drawer face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmPdy6gXVf1gCoU4T1z",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
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      {
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          "targets": {
            "x": 0.48,
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          "note": "Back off and raise to reorient the gripper downward for a hook-behind-handle approach."
        },
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          "type": "direct"
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{
  "api_call": 27,
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        "thinking": ""
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      {
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          "targets": {
            "pitch": -0.7,
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          "note": "Rotate gripper back toward downward-pointing orientation for hooking."
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{
  "api_call": 28,
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      {
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          "targets": {
            "pitch": -0.2,
            "yaw": 0.0
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          "note": "Continue toward downward-pointing gripper."
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{
  "api_call": 29,
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            "gripper": 0.0
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          "note": "Close gripper to use closed fingertips as a hook behind the handle bar."
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{
  "api_call": 30,
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          "note": "Move just in front of the drawer face, above the handle, ready to drop fingers behind the bar."
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{
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          "note": "Lower closed fingers down alongside the handle to hook behind it."
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{
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          "note": "Attempt to pull back; if fingers are behind the handle, drawer should open."
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{
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          "note": "Reorient forward and drop just below handle height to slide fingers under the bar."
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{
  "api_call": 34,
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          "note": "Point gripper forward, just below the drawer handle bar."
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{
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          "note": "Point more forward and open gripper to grasp the vertical handle bar seen ahead."
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{
  "api_call": 36,
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          "note": "Close fingers and slide forward just below the drawer handle bar, in front of the drawer face."
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{
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          "note": "Raise closed fingers so they come up behind the handle bar."
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{
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          "note": "Pull backward with fingers engaged under/behind the handle to open the drawer."
        },
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{
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          "targets": {
            "z": 0.94,
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            "gripper": 1.0
          },
          "note": "Switch to the vertical handle bar (graspable with horizontal finger opening); approach its height."
        },
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{
  "api_call": 40,
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        "thinking": ""
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          "note": "Advance so the open fingers straddle the vertical handle bar."
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{
  "api_call": 41,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmZAGzDaPtLADJBm9RP",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "input": {
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            "gripper": 0.0
          },
          "note": "Close on the vertical handle bar."
        },
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      }
    ],
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}

{
  "api_call": 42,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmZwoRaAAAeevPbtU4X",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.5
          },
          "note": "Final pull attempt with remaining time."
        },
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          "type": "direct"
        }
      }
    ],
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{
  "api_call": 43,
  "response": {
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    "id": "msg_011CezmaEMb1nXdRG56uUHpv",
    "type": "message",
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    "content": [
      {
        "type": "text",
        "text": "Simulated time is exhausted and the drawer remains closed — my hook and grasp attempts on the handle never captured it."
      },
      {
        "type": "tool_use",
        "id": "toolu_013Mxkpi2pNoEfPQibT6kQX2",
        "name": "give_up",
        "input": {
          "note": "Out of simulated motion time. I located the cabinet's drawer handles and repeatedly approached them, but joint-limit constraints prevented rolling the gripper to align its fingers across the horizontal handle bar, and hook/pull attempts slipped off without opening the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 617,
      "cache_read_input_tokens": 37415,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 617,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 174,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 8.407562652602792,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.0,
                    "z": 1.2
                  },
                  "note": "Raise TCP to get a wider wrist view of the cabinet and locate the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02504,
      -0.70821,
      0.00062,
      -1.84522,
      -0.0288,
      1.30005,
      -0.11841
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30029,
      -0.00017,
      1.19878
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00024,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.97807,
        0.12985,
        0.16282
      ],
      [
        0.1355,
        -0.99049,
        -0.024
      ],
      [
        0.15815,
        0.04554,
        -0.98636
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 13.611518020741642,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Pitch gripper to point forward (+x) so wrist camera looks ahead to find the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02504,
      -0.70821,
      0.00062,
      -1.84522,
      -0.0288,
      1.30005,
      -0.11841
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30029,
      -0.00017,
      1.19878
    ],
    "tcp_roll_pitch_yaw": [
      -0.0,
      -0.00024,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.97807,
        0.12985,
        0.16282
      ],
      [
        0.1355,
        -0.99049,
        -0.024
      ],
      [
        0.15815,
        0.04554,
        -0.98636
      ]
    ],
    "simulated_seconds_remaining": 28.776,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 3.4034866355359554,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Smaller pitch step toward forward-facing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02395,
      -1.36,
      0.00362,
      -2.55564,
      -0.05055,
      2.15339,
      -0.09101
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30026,
      -0.00018,
      1.19872
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.79552,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.57181,
        0.05837,
        0.81831
      ],
      [
        0.13548,
        -0.99049,
        -0.02402
      ],
      [
        0.80912,
        0.1246,
        -0.57427
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 7.206573469564319,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Continue pitching to face the drawer front directly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.02395,
      -1.36,
      0.00362,
      -2.55564,
      -0.05055,
      2.15339,
      -0.09101
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30026,
      -0.00018,
      1.19872
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.79552,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.57181,
        0.05837,
        0.81831
      ],
      [
        0.13548,
        -0.99049,
        -0.02402
      ],
      [
        0.80912,
        0.1246,
        -0.57427
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.6052060928195715,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0,
                    "pitch": -1.2
                  },
                  "note": "Lower and pitch more to face drawer front; lower z should help IK."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.02395,
      -1.36,
      0.00362,
      -2.55564,
      -0.05055,
      2.15339,
      -0.09101
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30026,
      -0.00018,
      1.19872
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.79552,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.57181,
        0.05837,
        0.81831
      ],
      [
        0.13548,
        -0.99049,
        -0.02402
      ],
      [
        0.80912,
        0.1246,
        -0.57427
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 3.203425981104374,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Just lower z, keeping current orientation."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.02395,
      -1.36,
      0.00362,
      -2.55564,
      -0.05055,
      2.15339,
      -0.09101
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30026,
      -0.00018,
      1.19872
    ],
    "tcp_roll_pitch_yaw": [
      -3e-05,
      -0.79552,
      1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.57181,
        0.05837,
        0.81831
      ],
      [
        0.13548,
        -0.99049,
        -0.02402
      ],
      [
        0.80912,
        0.1246,
        -0.57427
      ]
    ],
    "simulated_seconds_remaining": 27.39,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 3.6036215238273144,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.15
                  },
                  "note": "Small downward step to test IK feasibility."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.02393,
      -1.45256,
      0.00327,
      -2.70757,
      -0.05252,
      2.21251,
      -0.08785
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.30026,
      -0.00018,
      1.15129
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.79539,
      2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.57191,
        0.05838,
        0.81824
      ],
      [
        0.13549,
        -0.99049,
        -0.02403
      ],
      [
        0.80905,
        0.12461,
        -0.57438
      ]
    ],
    "simulated_seconds_remaining": 26.796,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.00542875379324,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "pitch": -0.95
                  },
                  "note": "Step forward toward cabinet and pitch slightly more forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.00585,
      -1.17495,
      -0.00057,
      -2.75838,
      -0.06784,
      2.69391,
      -0.07274
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39908,
      -0.00019,
      1.15114
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -0.94804,
      -0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.44224,
        0.03872,
        0.89606
      ],
      [
        0.13548,
        -0.99049,
        -0.02407
      ],
      [
        0.88661,
        0.13205,
        -0.44328
      ]
    ],
    "simulated_seconds_remaining": 25.806,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 5.805200787261128,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.15
                  },
                  "note": "Pitch more to view drawer front squarely."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01462,
      -1.21773,
      0.00479,
      -2.91279,
      -0.07625,
      3.004,
      -0.05941
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39915,
      -0.0002,
      1.15095
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -1.14589,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.25935,
        0.01194,
        0.96571
      ],
      [
        0.13548,
        -0.99049,
        -0.02414
      ],
      [
        0.95623,
        0.13709,
        -0.2585
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.011903008446097,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.05
                  },
                  "note": "Lower toward the drawer handle height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.01462,
      -1.21773,
      0.00479,
      -2.91279,
      -0.07625,
      3.004,
      -0.05941
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39915,
      -0.0002,
      1.15095
    ],
    "tcp_roll_pitch_yaw": [
      -0.0001,
      -1.14589,
      -4e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.25935,
        0.01194,
        0.96571
      ],
      [
        0.13548,
        -0.99049,
        -0.02414
      ],
      [
        0.95623,
        0.13709,
        -0.2585
      ]
    ],
    "simulated_seconds_remaining": 25.212,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.205860020592809,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.11
                  },
                  "note": "Small lowering step to check reachability."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.02237,
      -1.22567,
      0.00841,
      -3.01679,
      -0.07823,
      3.1001,
      -0.0552
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39916,
      -0.0002,
      1.11103
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -1.14569,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.25954,
        0.01196,
        0.96566
      ],
      [
        0.13549,
        -0.99048,
        -0.02414
      ],
      [
        0.95618,
        0.1371,
        -0.2587
      ]
    ],
    "simulated_seconds_remaining": 24.618,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 7.206584596075118,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48
                  },
                  "note": "Advance toward the drawer front to gauge distance to the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.05601,
      -0.83584,
      0.03535,
      -2.85406,
      -0.07449,
      3.32824,
      -0.04578
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47875,
      -0.00021,
      1.111
    ],
    "tcp_roll_pitch_yaw": [
      -0.00014,
      -1.14551,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.25972,
        0.01196,
        0.96561
      ],
      [
        0.13549,
        -0.99048,
        -0.02418
      ],
      [
        0.95613,
        0.13711,
        -0.25887
      ]
    ],
    "simulated_seconds_remaining": 23.76,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 8.007145261391997,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": -0.08
                  },
                  "note": "Test lateral direction mapping: move right (-y) and see how handle shifts in wrist image."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.09071,
      -0.83525,
      -0.30353,
      -2.8297,
      -0.16574,
      3.31544,
      -0.21844
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47874,
      -0.07882,
      1.11105
    ],
    "tcp_roll_pitch_yaw": [
      0.00024,
      -1.14558,
      -0.00052
    ],
    "tcp_rotation_matrix": [
      [
        0.25967,
        0.01182,
        0.96562
      ],
      [
        0.1353,
        -0.99051,
        -0.02427
      ],
      [
        0.95617,
        0.13695,
        -0.25881
      ]
    ],
    "simulated_seconds_remaining": 22.902,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 14.412408554926515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.09
                  },
                  "note": "Move left (+y) to center handle horizontally per mapping test."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.20466,
      -0.86904,
      0.40067,
      -2.81886,
      0.02305,
      3.28604,
      0.14917
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47873,
      0.08875,
      1.1111
    ],
    "tcp_roll_pitch_yaw": [
      -0.00017,
      -1.14566,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.25958,
        0.01196,
        0.96565
      ],
      [
        0.1355,
        -0.99048,
        -0.02416
      ],
      [
        0.95617,
        0.13712,
        -0.25872
      ]
    ],
    "simulated_seconds_remaining": 21.45,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 4.203913957811892,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.04
                  },
                  "note": "Lower to handle height (handle appears ~9cm below TCP)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.29257,
      -0.79358,
      0.53548,
      -2.94236,
      0.05506,
      3.5055,
      0.19792
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47874,
      0.08873,
      1.04112
    ],
    "tcp_roll_pitch_yaw": [
      -0.00029,
      -1.14537,
      6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.25986,
        0.01193,
        0.96557
      ],
      [
        0.13554,
        -0.99048,
        -0.02424
      ],
      [
        0.95609,
        0.13717,
        -0.259
      ]
    ],
    "simulated_seconds_remaining": 20.658,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 17.214194201864302,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.015
                  },
                  "note": "Fine-align height with the nearest drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.34359,
      -0.75085,
      0.60807,
      -2.97602,
      0.07766,
      3.59389,
      0.21321
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47875,
      0.08871,
      1.01603
    ],
    "tcp_roll_pitch_yaw": [
      -0.00039,
      -1.14514,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.26009,
        0.01191,
        0.96551
      ],
      [
        0.13556,
        -0.99047,
        -0.0243
      ],
      [
        0.95602,
        0.1372,
        -0.25922
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.808628904633224,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.0
                  },
                  "note": "Roll gripper so fingers open vertically to clamp the horizontal handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.34359,
      -0.75085,
      0.60807,
      -2.97602,
      0.07766,
      3.59389,
      0.21321
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47875,
      0.08871,
      1.01603
    ],
    "tcp_roll_pitch_yaw": [
      -0.00039,
      -1.14514,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.26009,
        0.01191,
        0.96551
      ],
      [
        0.13556,
        -0.99047,
        -0.0243
      ],
      [
        0.95602,
        0.1372,
        -0.25922
      ]
    ],
    "simulated_seconds_remaining": 20.196,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 4.004332473501563,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.4
                  },
                  "note": "Smaller roll increment toward vertical finger alignment."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.22889,
      -0.53354,
      -0.3678,
      -2.92131,
      -0.71696,
      3.77601,
      0.32625
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47893,
      0.08857,
      1.01635
    ],
    "tcp_roll_pitch_yaw": [
      0.398,
      -1.14538,
      -0.00251
    ],
    "tcp_rotation_matrix": [
      [
        0.22339,
        0.36272,
        0.90473
      ],
      [
        0.06312,
        -0.93162,
        0.35792
      ],
      [
        0.97268,
        -0.02285,
        -0.23101
      ]
    ],
    "simulated_seconds_remaining": 19.338,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 11.809956590645015,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.8
                  },
                  "note": "Continue rolling toward vertical finger opening for the horizontal handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.50584,
      -0.1765,
      -0.885,
      -2.59403,
      -1.38169,
      4.23005,
      0.77798
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47919,
      0.08849,
      1.01634
    ],
    "tcp_roll_pitch_yaw": [
      0.79573,
      -1.14566,
      -0.00308
    ],
    "tcp_rotation_matrix": [
      [
        0.21452,
        0.6669,
        0.7136
      ],
      [
        -0.01868,
        -0.72768,
        0.68567
      ],
      [
        0.97654,
        -0.16042,
        -0.14365
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.604377762414515,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 1.3
                  },
                  "note": "Roll further; fingers not yet vertical."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.50584,
      -0.1765,
      -0.885,
      -2.59403,
      -1.38169,
      4.23005,
      0.77798
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47919,
      0.08849,
      1.01634
    ],
    "tcp_roll_pitch_yaw": [
      0.79573,
      -1.14566,
      -0.00308
    ],
    "tcp_rotation_matrix": [
      [
        0.21452,
        0.6669,
        0.7136
      ],
      [
        -0.01868,
        -0.72768,
        0.68567
      ],
      [
        0.97654,
        -0.16042,
        -0.14365
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 21.417509377002716,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "roll": 0.4
                  },
                  "note": "Advance toward drawer face to learn its x location, unrolling somewhat."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.50584,
      -0.1765,
      -0.885,
      -2.59403,
      -1.38169,
      4.23005,
      0.77798
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47919,
      0.08849,
      1.01634
    ],
    "tcp_roll_pitch_yaw": [
      0.79573,
      -1.14566,
      -0.00308
    ],
    "tcp_rotation_matrix": [
      [
        0.21452,
        0.6669,
        0.7136
      ],
      [
        -0.01868,
        -0.72768,
        0.68567
      ],
      [
        0.97654,
        -0.16042,
        -0.14365
      ]
    ],
    "simulated_seconds_remaining": 18.48,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 3.403629781678319,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0.5
                  },
                  "note": "Unroll in small steps back toward roll 0."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.36027,
      -0.48256,
      -0.59433,
      -2.85068,
      -0.97355,
      3.82919,
      0.45084
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.47917,
      0.08878,
      1.01658
    ],
    "tcp_roll_pitch_yaw": [
      0.50533,
      -1.14644,
      -0.00337
    ],
    "tcp_rotation_matrix": [
      [
        0.21717,
        0.45114,
        0.86563
      ],
      [
        0.04136,
        -0.89025,
        0.45359
      ],
      [
        0.97526,
        -0.0627,
        -0.212
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 7.006223559379578,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Advance forward to gauge distance to the drawer face/handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.45712,
      -0.22583,
      -0.65551,
      -2.6284,
      -0.95678,
      3.91539,
      0.52992
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54878,
      0.08878,
      1.01656
    ],
    "tcp_roll_pitch_yaw": [
      0.50524,
      -1.14637,
      -0.00332
    ],
    "tcp_rotation_matrix": [
      [
        0.21723,
        0.45111,
        0.86563
      ],
      [
        0.04139,
        -0.89026,
        0.45356
      ],
      [
        0.97524,
        -0.0627,
        -0.21207
      ]
    ],
    "simulated_seconds_remaining": 17.028,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 4.2039669789373875,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Creep closer to find contact distance with the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 25,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.46593,
      -0.05196,
      -0.72213,
      -2.47104,
      -1.08462,
      4.06456,
      0.64745
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.57345,
      0.08614,
      1.01536
    ],
    "tcp_roll_pitch_yaw": [
      0.47931,
      -1.17617,
      0.09832
    ],
    "tcp_rotation_matrix": [
      [
        0.18345,
        0.52056,
        0.83388
      ],
      [
        0.0657,
        -0.85288,
        0.51796
      ],
      [
        0.98083,
        -0.04023,
        -0.19067
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 19.616370695643127,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "z": 1.1,
                    "roll": 0.2
                  },
                  "note": "Back off and raise to reorient the gripper downward for a hook-behind-handle approach."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 26,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.19025,
      -0.72566,
      -0.25469,
      -2.80641,
      -0.75939,
      3.48088,
      0.43606
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48074,
      0.0862,
      1.09953
    ],
    "tcp_roll_pitch_yaw": [
      0.20278,
      -1.17657,
      0.09815
    ],
    "tcp_rotation_matrix": [
      [
        0.19679,
        0.28794,
        0.93721
      ],
      [
        0.12076,
        -0.95574,
        0.26827
      ],
      [
        0.97298,
        0.06039,
        -0.22285
      ]
    ],
    "simulated_seconds_remaining": 15.246,
    "calls_remaining_including_this": 32
  },
  "api_seconds": 3.6037282552570105,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "roll": 0.0
                  },
                  "note": "Rotate gripper back toward downward-pointing orientation for hooking."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 27,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.51482,
      -0.78945,
      -0.2536,
      -2.50678,
      -0.58309,
      2.5391,
      0.3753
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48091,
      0.08625,
      1.0997
    ],
    "tcp_roll_pitch_yaw": [
      0.00131,
      -0.70455,
      0.09875
    ],
    "tcp_rotation_matrix": [
      [
        0.62636,
        0.16761,
        0.7613
      ],
      [
        0.19798,
        -0.97879,
        0.0526
      ],
      [
        0.75398,
        0.11778,
        -0.64626
      ]
    ],
    "simulated_seconds_remaining": 14.256,
    "calls_remaining_including_this": 31
  },
  "api_seconds": 4.204493002966046,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.2,
                    "yaw": 0.0
                  },
                  "note": "Continue toward downward-pointing gripper."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 28,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.62738,
      -0.49502,
      -0.29605,
      -2.0334,
      -0.29621,
      1.89125,
      0.25546
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.48106,
      0.08622,
      1.09971
    ],
    "tcp_roll_pitch_yaw": [
      0.00149,
      -0.20441,
      0.00064
    ],
    "tcp_rotation_matrix": [
      [
        0.92556,
        0.11884,
        0.35946
      ],
      [
        0.13583,
        -0.99048,
        -0.0223
      ],
      [
        0.35338,
        0.06947,
        -0.9329
      ]
    ],
    "simulated_seconds_remaining": 13.266,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 6.605375945568085,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper to use closed fingertips as a hook behind the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 29,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.62738,
      -0.49502,
      -0.29605,
      -2.0334,
      -0.29621,
      1.89125,
      0.25546
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.48105,
      0.08622,
      1.09971
    ],
    "tcp_roll_pitch_yaw": [
      0.00148,
      -0.20434,
      0.00063
    ],
    "tcp_rotation_matrix": [
      [
        0.92559,
        0.11883,
        0.35939
      ],
      [
        0.13583,
        -0.99048,
        -0.02231
      ],
      [
        0.35331,
        0.06946,
        -0.93292
      ]
    ],
    "simulated_seconds_remaining": 12.342,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 7.60639831610024,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 1.1
                  },
                  "note": "Move just in front of the drawer face, above the handle, ready to drop fingers behind the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.64605,
      -0.14597,
      -0.42007,
      -1.68685,
      -0.15586,
      1.8495,
      0.10482
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57809,
      0.08744,
      1.10173
    ],
    "tcp_roll_pitch_yaw": [
      -0.00146,
      -0.14668,
      0.00462
    ],
    "tcp_rotation_matrix": [
      [
        0.94392,
        0.12617,
        0.30511
      ],
      [
        0.14007,
        -0.98985,
        -0.02403
      ],
      [
        0.29899,
        0.06542,
        -0.95201
      ]
    ],
    "simulated_seconds_remaining": 11.22,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 5.605075949802995,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.0
                  },
                  "note": "Lower closed fingers down alongside the handle to hook behind it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 31,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.63922,
      -0.24792,
      -0.41894,
      -1.96026,
      -0.18469,
      2.22964,
      0.14378
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59803,
      0.09591,
      1.06941
    ],
    "tcp_roll_pitch_yaw": [
      0.0776,
      -0.33697,
      0.00182
    ],
    "tcp_rotation_matrix": [
      [
        0.86735,
        0.13473,
        0.47911
      ],
      [
        0.1244,
        -0.99079,
        0.05341
      ],
      [
        0.4819,
        0.01327,
        -0.87613
      ]
    ],
    "simulated_seconds_remaining": 10.23,
    "calls_remaining_including_this": 27
  },
  "api_seconds": 5.004834099672735,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Attempt to pull back; if fingers are behind the handle, drawer should open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 32,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.57602,
      -0.69464,
      -0.24678,
      -2.32754,
      -0.31818,
      2.12709,
      0.30988
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.45137,
      0.09593,
      1.0695
    ],
    "tcp_roll_pitch_yaw": [
      0.07771,
      -0.3371,
      0.00185
    ],
    "tcp_rotation_matrix": [
      [
        0.86728,
        0.1348,
        0.47923
      ],
      [
        0.12441,
        -0.99078,
        0.05354
      ],
      [
        0.48203,
        0.01319,
        -0.87606
      ]
    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 26
  },
  "api_seconds": 27.42215565778315,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7,
                    "z": 0.98,
                    "x": 0.48
                  },
                  "note": "Reorient forward and drop just below handle height to slide fingers under the bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 33,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.31484,
      -0.69384,
      -0.16358,
      -2.7555,
      -0.66135,
      2.88274,
      0.56386
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47984,
      0.09571,
      0.98053
    ],
    "tcp_roll_pitch_yaw": [
      0.07678,
      -0.69619,
      0.00161
    ],
    "tcp_rotation_matrix": [
      [
        0.64265,
        0.12085,
        0.75657
      ],
      [
        0.124,
        -0.99087,
        0.05295
      ],
      [
        0.75606,
        0.05978,
        -0.65177
      ]
    ],
    "simulated_seconds_remaining": 8.052,
    "calls_remaining_including_this": 25
  },
  "api_seconds": 4.604295370168984,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Point gripper forward, just below the drawer handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 34,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.69384,
      -0.16358,
      -2.7555,
      -0.66135,
      2.88274,
      0.56386
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.47984,
      0.09571,
      0.98053
    ],
    "tcp_roll_pitch_yaw": [
      0.07678,
      -0.69619,
      0.00161
    ],
    "tcp_rotation_matrix": [
      [
        0.64265,
        0.12085,
        0.75657
      ],
      [
        0.124,
        -0.99087,
        0.05295
      ],
      [
        0.75606,
        0.05978,
        -0.65177
      ]
    ],
    "simulated_seconds_remaining": 8.052,
    "calls_remaining_including_this": 24
  },
  "api_seconds": 7.607693366706371,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9,
                    "gripper": 1.0
                  },
                  "note": "Point more forward and open gripper to grasp the vertical handle bar seen ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 35,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.13756,
      -0.68642,
      0.16148,
      -2.85532,
      -0.83651,
      3.29415,
      0.79007
    ],
    "gripper_open": 0.9965,
    "tcp_xyz": [
      0.47984,
      0.09567,
      0.98054
    ],
    "tcp_roll_pitch_yaw": [
      0.07648,
      -0.89786,
      0.00164
    ],
    "tcp_rotation_matrix": [
      [
        0.47821,
        0.10625,
        0.87179
      ],
      [
        0.1238,
        -0.9909,
        0.05286
      ],
      [
        0.86948,
        0.08265,
        -0.48701
      ]
    ],
    "simulated_seconds_remaining": 7.128,
    "calls_remaining_including_this": 23
  },
  "api_seconds": 9.40828409139067,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0,
                    "x": 0.58
                  },
                  "note": "Close fingers and slide forward just below the drawer handle bar, in front of the drawer face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 36,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.53069,
      -0.37549,
      0.52802,
      -2.59771,
      -0.73157,
      3.40125,
      0.73417
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.57633,
      0.09558,
      0.97314
    ],
    "tcp_roll_pitch_yaw": [
      0.07227,
      -0.88432,
      0.00516
    ],
    "tcp_rotation_matrix": [
      [
        0.48989,
        0.10763,
        0.86511
      ],
      [
        0.12625,
        -0.99065,
        0.05175
      ],
      [
        0.86259,
        0.08386,
        -0.4989
      ]
    ],
    "simulated_seconds_remaining": 6.138,
    "calls_remaining_including_this": 22
  },
  "api_seconds": 2.802763638086617,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.02
                  },
                  "note": "Raise closed fingers so they come up behind the handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 37,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.09088,
      -0.37989,
      0.14446,
      -2.55984,
      -0.81973,
      3.11135,
      0.69377
    ],
    "gripper_open": 0.0518,
    "tcp_xyz": [
      0.5668,
      0.08648,
      0.97318
    ],
    "tcp_roll_pitch_yaw": [
      -0.06199,
      -0.77359,
      0.08239
    ],
    "tcp_rotation_matrix": [
      [
        0.58153,
        0.09935,
        0.80744
      ],
      [
        0.19351,
        -0.98092,
        -0.01867
      ],
      [
        0.79018,
        0.16711,
        -0.58966
      ]
    ],
    "simulated_seconds_remaining": 5.544,
    "calls_remaining_including_this": 21
  },
  "api_seconds": 4.6046055080369115,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42
                  },
                  "note": "Pull backward with fingers engaged under/behind the handle to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 38,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.94846,
      -0.01558,
      -2.9521,
      -0.70382,
      2.87429,
      0.58852
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    "gripper_open": 0.0,
    "tcp_xyz": [
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      0.97327
    ],
    "tcp_roll_pitch_yaw": [
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      -0.77377,
      0.08249
    ],
    "tcp_rotation_matrix": [
      [
        0.58137,
        0.09937,
        0.80755
      ],
      [
        0.19357,
        -0.98091,
        -0.01865
      ],
      [
        0.79028,
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        -0.58951
      ]
    ],
    "simulated_seconds_remaining": 4.29,
    "calls_remaining_including_this": 20
  },
  "api_seconds": 10.809236038476229,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.94,
                    "x": 0.55,
                    "gripper": 1.0
                  },
                  "note": "Switch to the vertical handle bar (graspable with horizontal finger opening); approach its height."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 39,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.87526,
      3.2321,
      0.7881
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    "tcp_xyz": [
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      0.08648,
      0.94032
    ],
    "tcp_roll_pitch_yaw": [
      -0.06232,
      -0.77368,
      0.08256
    ],
    "tcp_rotation_matrix": [
      [
        0.58145,
        0.09927,
        0.8075
      ],
      [
        0.19366,
        -0.98089,
        -0.01886
      ],
      [
        0.7902,
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        -0.58956
      ]
    ],
    "simulated_seconds_remaining": 3.102,
    "calls_remaining_including_this": 19
  },
  "api_seconds": 5.8051677560433745,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63
                  },
                  "note": "Advance so the open fingers straddle the vertical handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 40,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
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      -0.19676,
      0.726,
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      -1.09279,
      3.26571,
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    "gripper_open": 1.0,
    "tcp_xyz": [
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    ],
    "tcp_roll_pitch_yaw": [
      -0.14023,
      -0.77718,
      0.20634
    ],
    "tcp_rotation_matrix": [
      [
        0.55616,
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        0.81468
      ],
      [
        0.27602,
        -0.96114,
        0.00539
      ],
      [
        0.7839,
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        -0.57989
      ]
    ],
    "simulated_seconds_remaining": 2.244,
    "calls_remaining_including_this": 18
  },
  "api_seconds": 10.408949378877878,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close on the vertical handle bar."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 41,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.75179,
      -0.19419,
      0.7278,
      -2.39265,
      -1.09452,
      3.26414,
      0.89545
    ],
    "gripper_open": 0.0023,
    "tcp_xyz": [
      0.61889,
      0.08913,
      0.93451
    ],
    "tcp_roll_pitch_yaw": [
      -0.13862,
      -0.76914,
      0.20706
    ],
    "tcp_rotation_matrix": [
      [
        0.56198,
        0.16785,
        0.80994
      ],
      [
        0.27746,
        -0.96072,
        0.00657
      ],
      [
        0.77922,
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        -0.58648
      ]
    ],
    "simulated_seconds_remaining": 1.32,
    "calls_remaining_including_this": 17
  },
  "api_seconds": 3.4038029750809073,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.5
                  },
                  "note": "Final pull attempt with remaining time."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 42,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.16819,
      -0.53491,
      0.18155,
      -2.76592,
      -1.00976,
      3.22404,
      0.79497
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50128,
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      0.93455
    ],
    "tcp_roll_pitch_yaw": [
      -0.13889,
      -0.76918,
      0.20722
    ],
    "tcp_rotation_matrix": [
      [
        0.56193,
        0.16781,
        0.80999
      ],
      [
        0.27758,
        -0.96068,
        0.00646
      ],
      [
        0.77922,
        0.22121,
        -0.58641
      ]
    ],
    "simulated_seconds_remaining": 0.198,
    "calls_remaining_including_this": 16
  },
  "api_seconds": 4.40441532433033,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Out of simulated motion time. I located the cabinet's drawer handles and repeatedly approached them, but joint-limit constraints prevented rolling the gripper to align its fingers across the horizontal handle bar, and hook/pull attempts slipped off without opening the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 238,
  "house_index": 21,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 18,
  "api_calls": 19,
  "wall_seconds": 258.0151720046997,
  "usage": {
    "input_tokens": 38,
    "cache_creation_input_tokens": 19884,
    "cache_read_input_tokens": 172395,
    "output_tokens": 10369
  },
  "estimated_cost_usd": 0.4698875
}


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.



MODEL RESPONSES


{
  "api_call": 1,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmRzfbekMtn18uBBEQo",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_011LMtFdydjMGmsbvXpt3LsC",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_creation_input_tokens": 1779,
      "cache_read_input_tokens": 0,
      "cache_creation": {
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      "output_tokens": 64,
      "output_tokens_details": {
        "thinking_tokens": 40
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      "service_tier": "standard",
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  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmSQmSMZntN6Svw1qex",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01MtbE1xLcXZLj4hVbwFXNNS",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.4,
            "z": 0.8
          },
          "note": "Move forward and down to get wrist view of drawer fronts."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmStCgYNZsuhTBUDFiX",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.55,
            "y": 0.1,
            "z": 0.75
          },
          "note": "Approach the drawer cabinet to see fronts and handles."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 4,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmTPgUGZeyCMaBwkuvY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.45,
            "y": 0.3,
            "z": 0.85
          },
          "note": "Shift left toward where the cabinet seems to be, and raise slightly for a wider wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 5,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmUGdr9HoXstAGpjwcs",
    "type": "message",
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    "content": [
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        "thinking": ""
      },
      {
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            "pitch": -1.57
          },
          "note": "Gripper currently points down; pitch -90 deg so it points forward (+x) for horizontal drawer handle grasp and forward-facing wrist view."
        },
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        }
      }
    ],
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}

{
  "api_call": 6,
  "response": {
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    "id": "msg_011CezmVMM8fMWZteWTbeW8i",
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    "role": "assistant",
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.6
          },
          "note": "Advance forward to see the cabinet front in the wrist camera."
        },
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      }
    ],
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{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmVmj6AV1Ti9fCyZqdW",
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        "thinking": ""
      },
      {
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        "input": {
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          },
          "note": "Continue slowly forward to identify the object in front of wrist camera."
        },
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      }
    ],
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{
  "api_call": 8,
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    "id": "msg_011CezmWkB6meAVXYcKdVw1v",
    "type": "message",
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    "content": [
      {
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        "thinking": ""
      },
      {
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        "id": "toolu_01D2D7Bz7fzp54FnAU3oJPSR",
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        "input": {
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            "y": 0.35
          },
          "note": "Lower to typical drawer height and scan left for the drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmXFbfiPg3c1nBDKobt",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "yaw": -0.8
          },
          "note": "Rotate the wrist camera to the right (-yaw) to scan for the drawer front which may face the robot."
        },
        "caller": {
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        }
      }
    ],
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}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmYcPr5naxHDPzzF1gC",
    "type": "message",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.55
          },
          "note": "Scan further left at drawer height to find the drawer front."
        },
        "caller": {
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        }
      }
    ],
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}

{
  "api_call": 11,
  "response": {
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    "id": "msg_011Cezmawh16weYcqqAzhQnJ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
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            "y": 0.15,
            "z": 0.65
          },
          "note": "Return to the right side at low height to look for the drawer front directly ahead of the robot."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmcApKgHvDCzQHgLpMc",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JniMCJzVzXjuFJ5kKFWvbW",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.63
          },
          "note": "A large gray surface is directly ahead; approach to resolve whether it's the drawer front and find the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmceVDBgVF4PojgVi57",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.58,
            "y": 0.24,
            "z": 0.62
          },
          "note": "Handle appears just left and below the gripper in exterior view; shift there while backing off slightly."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmdkfozoKXMGKZckNo2",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.85
          },
          "note": "Tilt wrist camera downward to look for the handle below the current forward view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmen4w6kYgeAJR6XeoH",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.35,
            "z": 0.62,
            "pitch": -1.57
          },
          "note": "Image-geometry estimate puts the dark handle ~0.11 m to the left at similar height; move there with camera level forward."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 16,
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    "id": "msg_011CezmgMwuYTUnYTsyn6pFX",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.75,
            "y": 0.3
          },
          "note": "Arm appears to occlude the cabinet, so cabinet is farther; extend forward to x=0.75 to approach its front face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmiCSUVk8mWyrq2jGw5",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "y": 0.2,
            "z": 0.45
          },
          "note": "Nothing within reach at 0.6-0.85 m height; scan lower (z=0.45) for the drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmjjTZ3y6cSLBgqfNi3",
    "type": "message",
    "role": "assistant",
    "content": [
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "y": 0.45,
            "z": 0.6
          },
          "note": "Last-resort scan: check left region (y=0.45) at drawer height for the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmkdYe1x2TX9GuwfF5n",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NdnxD2ajrurMtK6jFp2mtg",
        "name": "give_up",
        "input": {
          "note": "Could not localize the drawer handle: wrist views showed only distant shelving/wall and no reachable cabinet front within the explored workspace (x 0.45-0.75, y 0.15-0.55, z 0.45-0.85). Simulated motion budget is nearly exhausted, so no grasp attempt is feasible."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1072,
      "cache_read_input_tokens": 19684,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1072,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 206,
      "output_tokens_details": {
        "thinking_tokens": 56
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 11.00934349372983,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.4,
                    "z": 0.8
                  },
                  "note": "Move forward and down to get wrist view of drawer fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.00893,
      -0.26436,
      0.06241,
      -2.48326,
      -0.03077,
      2.06314,
      -0.05919
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.39915,
      0.01284,
      0.80105
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      0.00032,
      -2e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.97991,
        0.128,
        -0.15295
      ],
      [
        0.1215,
        -0.99127,
        -0.05111
      ],
      [
        -0.15815,
        0.0315,
        -0.98691
      ]
    ],
    "simulated_seconds_remaining": 28.38,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 5.8052170453593135,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.1,
                    "z": 0.75
                  },
                  "note": "Approach the drawer cabinet to see fronts and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.06083,
      0.24971,
      0.12871,
      -1.99329,
      -0.05911,
      2.07835,
      0.1005
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54583,
      0.09646,
      0.75244
    ],
    "tcp_roll_pitch_yaw": [
      0.00057,
      0.00161,
      -0.00539
    ],
    "tcp_rotation_matrix": [
      [
        0.98035,
        0.12271,
        -0.15448
      ],
      [
        0.11633,
        -0.99197,
        -0.0497
      ],
      [
        -0.15934,
        0.03075,
        -0.98674
      ]
    ],
    "simulated_seconds_remaining": 26.862,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 11.40896740090102,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.3,
                    "z": 0.85
                  },
                  "note": "Shift left toward where the cabinet seems to be, and raise slightly for a wider wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 29,
    "motion_seconds": 1.9140000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.27303,
      0.10664,
      0.30605,
      -1.93041,
      0.01151,
      1.87502,
      0.45475
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45049,
      0.299,
      0.84951
    ],
    "tcp_roll_pitch_yaw": [
      0.00066,
      0.00149,
      -0.00509
    ],
    "tcp_rotation_matrix": [
      [
        0.98033,
        0.12301,
        -0.15435
      ],
      [
        0.11664,
        -0.99193,
        -0.04966
      ],
      [
        -0.15921,
        0.03068,
        -0.98677
      ]
    ],
    "simulated_seconds_remaining": 24.948,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 13.810945828445256,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Gripper currently points down; pitch -90 deg so it points forward (+x) for horizontal drawer handle grasp and forward-facing wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 36,
    "motion_seconds": 2.3760000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.0663,
      -0.17738,
      0.97979,
      -2.63313,
      -1.94471,
      2.15133,
      2.51167
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45043,
      0.29889,
      0.84912
    ],
    "tcp_roll_pitch_yaw": [
      -0.10852,
      -1.5645,
      0.10377
    ],
    "tcp_rotation_matrix": [
      [
        0.16455,
        -0.03543,
        0.98573
      ],
      [
        0.12141,
        -0.99103,
        -0.05589
      ],
      [
        0.97887,
        0.12888,
        -0.15877
      ]
    ],
    "simulated_seconds_remaining": 22.572,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 5.404741775244474,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Advance forward to see the cabinet front in the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.17908,
      0.24491,
      0.85652,
      -2.31009,
      -2.26771,
      2.0826,
      2.37625
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59876,
      0.29879,
      0.84913
    ],
    "tcp_roll_pitch_yaw": [
      -0.0957,
      -1.56448,
      0.09072
    ],
    "tcp_rotation_matrix": [
      [
        0.16461,
        -0.03566,
        0.98571
      ],
      [
        0.1213,
        -0.99103,
        -0.05611
      ],
      [
        0.97887,
        0.1288,
        -0.1588
      ]
    ],
    "simulated_seconds_remaining": 21.252,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 12.609690582379699,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68
                  },
                  "note": "Continue slowly forward to identify the object in front of wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.17127,
      0.44041,
      0.78404,
      -2.08409,
      -2.36905,
      2.12172,
      2.27574
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6788,
      0.29869,
      0.84912
    ],
    "tcp_roll_pitch_yaw": [
      -0.08714,
      -1.56447,
      0.08195
    ],
    "tcp_rotation_matrix": [
      [
        0.16464,
        -0.03586,
        0.9857
      ],
      [
        0.12121,
        -0.99103,
        -0.0563
      ],
      [
        0.97888,
        0.12875,
        -0.15882
      ]
    ],
    "simulated_seconds_remaining": 20.394,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.605198270641267,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.7,
                    "y": 0.35
                  },
                  "note": "Lower to typical drawer height and scan left for the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.03525,
      0.84202,
      0.67155,
      -1.92815,
      -2.52525,
      1.86997,
      2.33009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67873,
      0.34957,
      0.70115
    ],
    "tcp_roll_pitch_yaw": [
      -0.08851,
      -1.56417,
      0.0834
    ],
    "tcp_rotation_matrix": [
      [
        0.16492,
        -0.03575,
        0.98566
      ],
      [
        0.12126,
        -0.99103,
        -0.05623
      ],
      [
        0.97882,
        0.12879,
        -0.15911
      ]
    ],
    "simulated_seconds_remaining": 19.074,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 18.21272050961852,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": -0.8
                  },
                  "note": "Rotate the wrist camera to the right (-yaw) to scan for the drawer front which may face the robot."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.03525,
      0.84202,
      0.67155,
      -1.92815,
      -2.52525,
      1.86997,
      2.33009
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67873,
      0.34957,
      0.70115
    ],
    "tcp_roll_pitch_yaw": [
      -0.08851,
      -1.56417,
      0.0834
    ],
    "tcp_rotation_matrix": [
      [
        0.16492,
        -0.03575,
        0.98566
      ],
      [
        0.12126,
        -0.99103,
        -0.05623
      ],
      [
        0.97882,
        0.12879,
        -0.15911
      ]
    ],
    "simulated_seconds_remaining": 19.074,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.006152404472232,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.55
                  },
                  "note": "Scan further left at drawer height to find the drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.40163,
      1.2077,
      0.72771,
      -1.29271,
      -2.42365,
      1.83894,
      2.03243
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67858,
      0.54885,
      0.70111
    ],
    "tcp_roll_pitch_yaw": [
      -0.07365,
      -1.56407,
      0.06882
    ],
    "tcp_rotation_matrix": [
      [
        0.165,
        -0.03546,
        0.98566
      ],
      [
        0.12122,
        -0.99105,
        -0.05594
      ],
      [
        0.97882,
        0.12871,
        -0.15922
      ]
    ],
    "simulated_seconds_remaining": 17.424,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 38.83116855379194,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.15,
                    "z": 0.65
                  },
                  "note": "Return to the right side at low height to look for the drawer front directly ahead of the robot."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 47,
    "motion_seconds": 3.1020000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.16194,
      0.5843,
      0.5458,
      -2.56864,
      -2.74702,
      1.67683,
      2.71695
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55043,
      0.15117,
      0.65012
    ],
    "tcp_roll_pitch_yaw": [
      -0.09167,
      -1.56399,
      0.08663
    ],
    "tcp_rotation_matrix": [
      [
        0.16509,
        -0.03565,
        0.98563
      ],
      [
        0.12131,
        -0.99102,
        -0.05616
      ],
      [
        0.97879,
        0.12884,
        -0.15928
      ]
    ],
    "simulated_seconds_remaining": 14.322,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 6.005341465584934,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.63
                  },
                  "note": "A large gray surface is directly ahead; approach to resolve whether it's the drawer front and find the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.16954,
      0.66129,
      0.49594,
      -2.34205,
      -2.80614,
      1.82895,
      2.66109
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.62938,
      0.15093,
      0.6501
    ],
    "tcp_roll_pitch_yaw": [
      -0.0689,
      -1.56386,
      0.06286
    ],
    "tcp_rotation_matrix": [
      [
        0.16535,
        -0.03663,
        0.98556
      ],
      [
        0.121,
        -0.99101,
        -0.05713
      ],
      [
        0.97879,
        0.1287,
        -0.15943
      ]
    ],
    "simulated_seconds_remaining": 13.464,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 14.811597228981555,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.58,
                    "y": 0.24,
                    "z": 0.62
                  },
                  "note": "Handle appears just left and below the gripper in exterior view; shift there while backing off slightly."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      -0.02892,
      0.7933,
      0.57585,
      -2.32605,
      -2.65916,
      1.6465,
      2.60409
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58054,
      0.23904,
      0.62033
    ],
    "tcp_roll_pitch_yaw": [
      -0.05239,
      -1.56371,
      0.04665
    ],
    "tcp_rotation_matrix": [
      [
        0.16546,
        -0.03631,
        0.98555
      ],
      [
        0.12094,
        -0.99103,
        -0.05681
      ],
      [
        0.97877,
        0.1286,
        -0.15958
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 13.61125474050641,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.85
                  },
                  "note": "Tilt wrist camera downward to look for the handle below the current forward view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.09369,
      0.95988,
      0.46665,
      -2.25105,
      -2.77666,
      1.27169,
      2.69655
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.58777,
      0.23818,
      0.62939
    ],
    "tcp_roll_pitch_yaw": [
      3.07487,
      -1.2797,
      -3.08686
    ],
    "tcp_rotation_matrix": [
      [
        -0.1285,
        -0.076,
        0.98879
      ],
      [
        0.10386,
        -0.99261,
        -0.06279
      ],
      [
        0.98626,
        0.09463,
        0.13545
      ]
    ],
    "simulated_seconds_remaining": 11.814,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 21.21707400586456,
  "response": {
    "candidates": [
      {
        "content": {
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            {
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                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.35,
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                    "pitch": -1.57
                  },
                  "note": "Image-geometry estimate puts the dark handle ~0.11 m to the left at similar height; move there with camera level forward."
                }
              }
            }
          ]
        }
      }
    ]
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{
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    "instruction": "open the drawer.",
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                    "x": 0.75,
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                  },
                  "note": "Arm appears to occlude the cabinet, so cabinet is farther; extend forward to x=0.75 to approach its front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 16,
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                    "y": 0.2,
                    "z": 0.45
                  },
                  "note": "Nothing within reach at 0.6-0.85 m height; scan lower (z=0.45) for the drawer front."
                }
              }
            }
          ]
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      }
    ]
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{
  "call": 17,
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                    "x": 0.6,
                    "y": 0.45,
                    "z": 0.6
                  },
                  "note": "Last-resort scan: check left region (y=0.45) at drawer height for the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 18,
  "state": {
    "instruction": "open the drawer.",
    "joint_positions": [
      0.34069,
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      ],
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    ],
    "simulated_seconds_remaining": 5.148,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.404563608579338,
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    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the drawer handle: wrist views showed only distant shelving/wall and no reachable cabinet front within the explored workspace (x 0.45-0.75, y 0.15-0.55, z 0.45-0.85). Simulated motion budget is nearly exhausted, so no grasp attempt is feasible."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 561,
  "house_index": 315,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 25,
  "api_calls": 26,
  "wall_seconds": 171.5803985595703,
  "usage": {
    "input_tokens": 52,
    "cache_creation_input_tokens": 21560,
    "cache_read_input_tokens": 278966,
    "output_tokens": 7641
  },
  "estimated_cost_usd": 0.465518
}


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.



MODEL RESPONSES


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        "thinking": ""
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        "id": "toolu_01LMdDjpdRz9CxuUBMNk9mN8",
        "name": "observe",
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{
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    "model": "claude-opus-5",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
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          },
          "note": "Lower the arm to see the dresser front face and handles."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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{
  "api_call": 3,
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    "model": "claude-opus-5",
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        "thinking": ""
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          "note": "Retreat and raise to get a wider wrist view of the dresser."
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        "caller": {
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      }
    ],
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{
  "api_call": 4,
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    "model": "claude-opus-5",
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        "input": {
          "targets": {
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          },
          "note": "Move left toward the wooden furniture seen on left of exterior view to inspect it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 5,
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    "model": "claude-opus-5",
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          "note": "Continue left and forward toward the furniture to inspect its front face with wrist cam."
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{
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          "note": "Smaller step forward-left to approach furniture."
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{
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{
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{
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{
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  }
}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmhUVLxpsvNQN8PdMeE",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01R1ZqCEx1gUXwCyhVAgw2CM",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.2
          },
          "note": "Pull back to test whether a drawer was grasped."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1029,
      "cache_read_input_tokens": 9447,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1029,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 91,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmhjEbq7E9hxp6Unrd1",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NdR4TvcDRdsPpyu4e1gcPc",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 1.2,
            "gripper": 1,
            "x": 0.15,
            "y": 0.25,
            "z": 0.95
          },
          "note": "Rotate to look toward +y to scan for the dresser's drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "cache_read_input_tokens": 10476,
      "cache_creation": {
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 572,
      "output_tokens_details": {
        "thinking_tokens": 439
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmiVz9nyT1NknnHRgMA",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01ECh493XS2A91xuAB8YQu5n",
        "name": "move_to",
        "input": {
          "targets": {
            "yaw": 0.7,
            "gripper": 1
          },
          "note": "Smaller yaw rotation to scan leftward for drawer fronts."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1062,
      "cache_read_input_tokens": 11057,
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      },
      "output_tokens": 108,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmijLqaQiSEUJe9i5C3",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01SyqfhXrcZzWDqW3RMzAZAD",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 1.15,
            "x": 0.2,
            "gripper": 1
          },
          "note": "Raise while looking forward to see the full front panel and any handles above."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
      "cache_creation_input_tokens": 598,
      "cache_read_input_tokens": 12119,
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      },
      "output_tokens": 475,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmjUSRcoZn2aBo2wjcG",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01KgJ68VBKXVXtupHNx3bRkn",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.15,
            "z": 1.0
          },
          "note": "Scan rightward along the front panel at mid height to find a handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 972,
      "cache_read_input_tokens": 12717,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 426,
      "output_tokens_details": {
        "thinking_tokens": 322
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmk6jE1VmQPr1F8d2nk",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "id": "toolu_01BNP868Gz41cX9MuY9JJnhz",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.3,
            "z": 1.05
          },
          "note": "Smaller step right/down to keep IK feasible while scanning the panel."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 918,
      "cache_read_input_tokens": 13689,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 918,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 106,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 18,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmkMroyC7563iXvr3nQ",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NEXvL3h8PVwUZBatmPVooc",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.38,
            "y": 0.35,
            "z": 1.02
          },
          "note": "Approach the light-colored horizontal bar (possible drawer handle) at the panel boundary."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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    "usage": {
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      "cache_creation_input_tokens": 597,
      "cache_read_input_tokens": 14607,
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      },
      "output_tokens": 714,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmmSA4DH69f8t7Rk2mS",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Pu3v28GYcoteh3Q2rDVXBL",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Close gripper on the edge/handle candidate at this location."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
      "cache_creation_input_tokens": 1206,
      "cache_read_input_tokens": 15204,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 217,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmmqs53KCm34Rxa3WN3",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_019TzvWxcPuPzhSgypvfRWvC",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.25
          },
          "note": "Pull back to test if the drawer opens."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
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      "cache_creation_input_tokens": 708,
      "cache_read_input_tokens": 16410,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 88,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmn5TPFPLNW8XGRYkRV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019k2uxUejSYB2DvskKH5yg5",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.36,
            "y": 0.42,
            "z": 1.07,
            "gripper": 1
          },
          "note": "Reposition to the dark knob-like feature seen up-left in wrist view, gripper open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
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      "input_tokens": 2,
      "cache_creation_input_tokens": 585,
      "cache_read_input_tokens": 17118,
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      },
      "output_tokens": 511,
      "output_tokens_details": {
        "thinking_tokens": 382
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmnohPNgER5x36zBDHK",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01XKTWY9PQzdyRHXSkRWuM5Z",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.5
          },
          "note": "Shift left toward the dark knob visible left of the gripper in exterior view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1004,
      "cache_read_input_tokens": 17703,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 269,
      "output_tokens_details": {
        "thinking_tokens": 169
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmoEmWVgR6h5bMVWVvB",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012KC2ts5LXA69WKoHiC4pAe",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.58,
            "x": 0.4
          },
          "note": "Continue left and forward to reach the knob."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 767,
      "cache_read_input_tokens": 18707,
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        "ephemeral_5m_input_tokens": 767,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 213,
      "output_tokens_details": {
        "thinking_tokens": 116
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmobqmmq3yc2mMLPNYY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018NiVukBnhvgmmeGko5xD9L",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "z": 1.03
          },
          "note": "Drop slightly onto the feature between the fingers and close the gripper."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 706,
      "cache_read_input_tokens": 19474,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 302,
      "output_tokens_details": {
        "thinking_tokens": 196
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmpFWvcE2qB1oehYQ5x",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01UqCffNE4S6YFU9o6pmvoZC",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.27
          },
          "note": "Pull back to test whether the drawer comes out."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 794,
      "cache_read_input_tokens": 20180,
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        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 90,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmpUQ5JLmug4XqNEziU",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01YP56BQgFd6ffjEP2J9M4rA",
        "name": "give_up",
        "input": {
          "note": "Could not localize the dresser's drawer handle in the dim, cluttered views; grasp attempts on the front panel edges failed and simulated motion time is exhausted."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      },
      "output_tokens": 125,
      "output_tokens_details": {
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      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 7.206790459342301,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.75
                  },
                  "note": "Lower the arm to see the dresser front face and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00112,
      -0.67321,
      0.06709,
      -2.97381,
      -0.14907,
      2.22685,
      0.20883
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.27928,
      -0.01471,
      0.75127
    ],
    "tcp_roll_pitch_yaw": [
      -6e-05,
      0.00039,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9966,
        -0.05615,
        -0.0603
      ],
      [
        -0.0653,
        -0.98455,
        -0.16245
      ],
      [
        -0.05024,
        0.16584,
        -0.98487
      ]
    ],
    "simulated_seconds_remaining": 27.786,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 4.003763848915696,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.15,
                    "z": 0.9
                  },
                  "note": "Retreat and raise to get a wider wrist view of the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.06812,
      -1.38847,
      0.06535,
      -2.88058,
      -0.09477,
      1.42006,
      0.12801
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.151,
      -0.0147,
      0.89904
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      1e-05,
      0.0
    ],
    "tcp_rotation_matrix": [
      [
        0.99662,
        -0.05617,
        -0.05992
      ],
      [
        -0.06526,
        -0.98456,
        -0.16244
      ],
      [
        -0.04987,
        0.1658,
        -0.9849
      ]
    ],
    "simulated_seconds_remaining": 26.202,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.805672677233815,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3,
                    "z": 1.0
                  },
                  "note": "Move left toward the wooden furniture seen on left of exterior view to inspect it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 38,
    "motion_seconds": 2.508,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.05139,
      -0.82973,
      0.70649,
      -2.18954,
      0.39938,
      1.36287,
      0.65723
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15101,
      0.29872,
      0.99959
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -3e-05,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99663,
        -0.0561,
        -0.05987
      ],
      [
        -0.06518,
        -0.98456,
        -0.16247
      ],
      [
        -0.04983,
        0.16583,
        -0.9849
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.606516598723829,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.5,
                    "x": 0.3
                  },
                  "note": "Continue left and forward toward the furniture to inspect its front face with wrist cam."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.05139,
      -0.82973,
      0.70649,
      -2.18954,
      0.39938,
      1.36287,
      0.65723
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.15101,
      0.29872,
      0.99959
    ],
    "tcp_roll_pitch_yaw": [
      -7e-05,
      -3e-05,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.99663,
        -0.0561,
        -0.05987
      ],
      [
        -0.06518,
        -0.98456,
        -0.16247
      ],
      [
        -0.04983,
        0.16583,
        -0.9849
      ]
    ],
    "simulated_seconds_remaining": 23.694,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 2.8027899358421564,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "y": 0.4
                  },
                  "note": "Smaller step forward-left to approach furniture."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.34605,
      -0.17352,
      1.19835,
      -1.73695,
      0.09698,
      1.51038,
      0.8932
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29897,
      0.39919,
      0.9995
    ],
    "tcp_roll_pitch_yaw": [
      -0.00019,
      0.00027,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.9966,
        -0.05619,
        -0.06019
      ],
      [
        -0.06532,
        -0.98453,
        -0.16258
      ],
      [
        -0.05012,
        0.16596,
        -0.98486
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 13.01206760853529,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.5,
                    "x": 0.2,
                    "z": 0.9
                  },
                  "note": "Pitch gripper to look forward horizontally to spot the dresser front and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.09293,
      -1.50963,
      1.53479,
      -2.56581,
      0.08841,
      2.3053,
      1.53571
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20018,
      0.39926,
      0.90021
    ],
    "tcp_roll_pitch_yaw": [
      -0.00634,
      -1.49569,
      0.00618
    ],
    "tcp_rotation_matrix": [
      [
        0.1245,
        -0.16965,
        0.97761
      ],
      [
        -0.06481,
        -0.98456,
        -0.1626
      ],
      [
        0.9901,
        -0.04311,
        -0.13357
      ]
    ],
    "simulated_seconds_remaining": 19.866,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 4.804802623577416,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.35
                  },
                  "note": "Move forward toward the wooden front panel to see drawer handles/knobs."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.32056,
      -1.47015,
      1.54926,
      -2.56115,
      0.09116,
      2.71291,
      1.4945
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.34876,
      0.39915,
      0.90021
    ],
    "tcp_roll_pitch_yaw": [
      -0.00634,
      -1.49566,
      0.00585
    ],
    "tcp_rotation_matrix": [
      [
        0.1245,
        -0.16997,
        0.97755
      ],
      [
        -0.06485,
        -0.98451,
        -0.16292
      ],
      [
        0.9901,
        -0.04311,
        -0.13359
      ]
    ],
    "simulated_seconds_remaining": 18.546,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.205501631833613,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.22,
                    "z": 0.98
                  },
                  "note": "Back off and raise to view the upper drawer front and its knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.0315,
      -1.50251,
      1.35381,
      -2.54054,
      0.03287,
      2.3356,
      1.3921
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.22105,
      0.39927,
      0.97935
    ],
    "tcp_roll_pitch_yaw": [
      -0.00534,
      -1.49574,
      0.00517
    ],
    "tcp_rotation_matrix": [
      [
        0.12445,
        -0.16966,
        0.97761
      ],
      [
        -0.06488,
        -0.98456,
        -0.1626
      ],
      [
        0.9901,
        -0.0432,
        -0.13353
      ]
    ],
    "simulated_seconds_remaining": 17.226,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 8.407817471772432,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.3,
                    "z": 0.94
                  },
                  "note": "Approach the gold-colored knob seen at lower-center of wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.16481,
      -1.4707,
      1.44807,
      -2.57251,
      0.06178,
      2.56715,
      1.43966
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.29885,
      0.39916,
      0.94058
    ],
    "tcp_roll_pitch_yaw": [
      -0.00649,
      -1.49571,
      0.00598
    ],
    "tcp_rotation_matrix": [
      [
        0.12445,
        -0.16999,
        0.97756
      ],
      [
        -0.06484,
        -0.9845,
        -0.16294
      ],
      [
        0.99011,
        -0.04311,
        -0.13354
      ]
    ],
    "simulated_seconds_remaining": 16.368,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 10.60937867499888,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.34,
                    "gripper": 0
                  },
                  "note": "Advance slightly and close gripper to attempt grasping the knob."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.28505,
      -1.44983,
      1.45516,
      -2.5555,
      0.06052,
      2.67108,
      1.43107
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.33915,
      0.39911,
      0.94058
    ],
    "tcp_roll_pitch_yaw": [
      -0.00642,
      -1.49569,
      0.00578
    ],
    "tcp_rotation_matrix": [
      [
        0.12446,
        -0.17012,
        0.97753
      ],
      [
        -0.06486,
        -0.98448,
        -0.16307
      ],
      [
        0.9901,
        -0.04311,
        -0.13356
      ]
    ],
    "simulated_seconds_remaining": 15.444,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 3.0030623506754637,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2
                  },
                  "note": "Pull back to test whether a drawer was grasped."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.0873,
      -1.51424,
      1.44135,
      -2.55323,
      0.062,
      2.29365,
      1.46192
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.20121,
      0.39924,
      0.9406
    ],
    "tcp_roll_pitch_yaw": [
      -0.00637,
      -1.49574,
      0.00609
    ],
    "tcp_rotation_matrix": [
      [
        0.12444,
        -0.16976,
        0.9776
      ],
      [
        -0.06482,
        -0.98454,
        -0.16272
      ],
      [
        0.99011,
        -0.04312,
        -0.13352
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 10.40906981844455,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 1.2,
                    "gripper": 1,
                    "x": 0.15,
                    "y": 0.25,
                    "z": 0.95
                  },
                  "note": "Rotate to look toward +y to scan for the dresser's drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.0873,
      -1.51424,
      1.44135,
      -2.55323,
      0.062,
      2.29365,
      1.46192
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.20121,
      0.39924,
      0.9406
    ],
    "tcp_roll_pitch_yaw": [
      -0.00637,
      -1.49574,
      0.00609
    ],
    "tcp_rotation_matrix": [
      [
        0.12444,
        -0.16976,
        0.9776
      ],
      [
        -0.06482,
        -0.98454,
        -0.16272
      ],
      [
        0.99011,
        -0.04312,
        -0.13352
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 3.0030466811731458,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.7,
                    "gripper": 1
                  },
                  "note": "Smaller yaw rotation to scan leftward for drawer fronts."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.0873,
      -1.51424,
      1.44135,
      -2.55323,
      0.062,
      2.29365,
      1.46192
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.20121,
      0.39924,
      0.9406
    ],
    "tcp_roll_pitch_yaw": [
      -0.00637,
      -1.49574,
      0.00609
    ],
    "tcp_rotation_matrix": [
      [
        0.12444,
        -0.16976,
        0.9776
      ],
      [
        -0.06482,
        -0.98454,
        -0.16272
      ],
      [
        0.99011,
        -0.04312,
        -0.13352
      ]
    ],
    "simulated_seconds_remaining": 14.19,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 9.60823558177799,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 1.15,
                    "x": 0.2,
                    "gripper": 1
                  },
                  "note": "Raise while looking forward to see the full front panel and any handles above."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.029,
      -1.41817,
      1.03157,
      -2.30758,
      -0.10362,
      2.19812,
      1.16013
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20001,
      0.39925,
      1.14871
    ],
    "tcp_roll_pitch_yaw": [
      -0.0043,
      -1.49571,
      0.00407
    ],
    "tcp_rotation_matrix": [
      [
        0.12447,
        -0.16972,
        0.9776
      ],
      [
        -0.06497,
        -0.98454,
        -0.16265
      ],
      [
        0.99009,
        -0.04327,
        -0.13357
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 8.40710904635489,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15,
                    "z": 1.0
                  },
                  "note": "Scan rightward along the front panel at mid height to find a handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.029,
      -1.41817,
      1.03157,
      -2.30758,
      -0.10362,
      2.19812,
      1.16013
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20001,
      0.39925,
      1.14871
    ],
    "tcp_roll_pitch_yaw": [
      -0.0043,
      -1.49571,
      0.00407
    ],
    "tcp_rotation_matrix": [
      [
        0.12447,
        -0.16972,
        0.9776
      ],
      [
        -0.06497,
        -0.98454,
        -0.16265
      ],
      [
        0.99009,
        -0.04327,
        -0.13357
      ]
    ],
    "simulated_seconds_remaining": 12.474,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 3.0028492026031017,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3,
                    "z": 1.05
                  },
                  "note": "Smaller step right/down to keep IK feasible while scanning the panel."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 19,
    "motion_seconds": 1.254,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.28212,
      -1.5946,
      1.09837,
      -2.74274,
      -0.07477,
      2.27161,
      1.22902
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.2,
      0.30092,
      1.05089
    ],
    "tcp_roll_pitch_yaw": [
      -0.00524,
      -1.49569,
      0.00498
    ],
    "tcp_rotation_matrix": [
      [
        0.12449,
        -0.16975,
        0.97759
      ],
      [
        -0.0649,
        -0.98454,
        -0.16269
      ],
      [
        0.9901,
        -0.04319,
        -0.13358
      ]
    ],
    "simulated_seconds_remaining": 11.22,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 14.411538077518344,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38,
                    "y": 0.35,
                    "z": 1.02
                  },
                  "note": "Approach the light-colored horizontal bar (possible drawer handle) at the panel boundary."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 24,
    "motion_seconds": 1.584,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
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    "instruction": "open the dresser.",
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      -0.32795,
      -1.35253,
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    "gripper_open": 0.9966,
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    "tcp_roll_pitch_yaw": [
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    "tcp_rotation_matrix": [
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      [
        -0.06489,
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        -0.16294
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      [
        0.99009,
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    ],
    "simulated_seconds_remaining": 9.636,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 5.206751313991845,
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    "candidates": [
      {
        "content": {
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                  "targets": {
                    "gripper": 0
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                  "note": "Close gripper on the edge/handle candidate at this location."
                }
              }
            }
          ]
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      }
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{
  "call": 19,
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                  "note": "Pull back to test if the drawer opens."
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{
  "call": 20,
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    "instruction": "open the dresser.",
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                  "note": "Reposition to the dark knob-like feature seen up-left in wrist view, gripper open."
                }
              }
            }
          ]
        }
      }
    ]
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{
  "call": 21,
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                  "note": "Shift left toward the dark knob visible left of the gripper in exterior view."
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              }
            }
          ]
        }
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    ]
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{
  "call": 22,
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    "instruction": "open the dresser.",
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  },
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      {
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                    "y": 0.58,
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                  },
                  "note": "Continue left and forward to reach the knob."
                }
              }
            }
          ]
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    ]
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{
  "call": 23,
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    "instruction": "open the dresser.",
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    ],
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        -0.0648,
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  },
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                  },
                  "note": "Drop slightly onto the feature between the fingers and close the gripper."
                }
              }
            }
          ]
        }
      }
    ]
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}

{
  "call": 24,
  "state": {
    "instruction": "open the dresser.",
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    ],
    "simulated_seconds_remaining": 3.564,
    "calls_remaining_including_this": 34
  },
  "api_seconds": 2.602782345376909,
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      {
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              "functionCall": {
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                    "x": 0.27
                  },
                  "note": "Pull back to test whether the drawer comes out."
                }
              }
            }
          ]
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      }
    ]
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  "execution": {
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{
  "call": 25,
  "state": {
    "instruction": "open the dresser.",
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      1.41323,
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    "gripper_open": 0.0,
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    ],
    "tcp_rotation_matrix": [
      [
        0.1244,
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      ],
      [
        -0.06464,
        -0.98461,
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      ],
      [
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    ],
    "simulated_seconds_remaining": 2.376,
    "calls_remaining_including_this": 33
  },
  "api_seconds": 3.40350937563926,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the dresser's drawer handle in the dim, cluttered views; grasp attempts on the front panel edges failed and simulated motion time is exhausted."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 986,
  "house_index": 424,
  "status": "completed",
  "success": true,
  "oracle_success": true,
  "action_decisions": 32,
  "api_calls": 33,
  "wall_seconds": 244.57709217071533,
  "usage": {
    "input_tokens": 66,
    "cache_creation_input_tokens": 29090,
    "cache_read_input_tokens": 462433,
    "output_tokens": 11790
  },
  "estimated_cost_usd": 0.708109
}


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.



MODEL RESPONSES


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{
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    "model": "claude-opus-5",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.57
          },
          "note": "Gripper currently points down; rotate to point forward (+x) to see the cabinet ahead."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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{
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        "input": {
          "targets": {
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          },
          "note": "Full -90° pitch unreachable; try partial rotation to tilt gripper forward."
        },
        "caller": {
          "type": "direct"
        }
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    ],
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{
  "api_call": 4,
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    "model": "claude-opus-5",
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        "thinking": ""
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        "input": {
          "targets": {
            "pitch": -0.3
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          "note": "Testing a small pitch change to see what orientation deltas are feasible."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 5,
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    "model": "claude-opus-5",
    "id": "msg_011CezmpUdDvHN8gkxsUmoYj",
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          "note": "Small pitch worked; continue rotating gripper forward incrementally."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 6,
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    "id": "msg_011CezmpkSj1eFWwPjyYxG9Y",
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          "note": "Continue pitching to face forward toward the cabinet."
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{
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          "note": "Lower and move forward while increasing pitch, which may be more IK-feasible."
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        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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      "cache_read_input_tokens": 5205,
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      "output_tokens": 216,
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        "thinking_tokens": 97
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      "service_tier": "standard",
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}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmqVBUtg5RCDR1G2h9S",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019UGAmogixB4uZ15z9DqqcK",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.38
          },
          "note": "Take a small forward step only, to probe reachable directions."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmqn1m7PqvXUfV81L7f",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01NUJZ7JFPfD8otJihjxCtDJ",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.1
          },
          "note": "Probe leftward motion toward the cabinet handles seen at left in exterior view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmrLnyuXswjTh3wUGQX",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01E3a96AFqrdSAw9TgttkmX2",
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        "input": {
          "targets": {
            "y": 0.22
          },
          "note": "Continue left toward the cabinet handles."
        },
        "caller": {
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        }
      }
    ],
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezms3fsbzYKU4Le7xrP3",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.3
          },
          "note": "Handles appear left of wrist center; nudge further left."
        },
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    ],
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{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01CzE33FCtKQ5CwsWsYgVdEv",
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        "input": {
          "targets": {
            "pitch": -1.1
          },
          "note": "Try pitching further so gripper points more horizontally toward the cabinet face."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmtWzxHo8RpRxRBcWby",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.45,
            "pitch": -1.3
          },
          "note": "Handles visible left in wrist view; shift left and pitch more to face the cabinet door."
        },
        "caller": {
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      }
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{
  "api_call": 14,
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    "model": "claude-opus-5",
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      {
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      },
      {
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          "targets": {
            "pitch": -1.1
          },
          "note": "Isolate the pitch change to re-locate the handles in wrist view."
        },
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{
  "api_call": 15,
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    "model": "claude-opus-5",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.14
          },
          "note": "Wrist image appears mirrored: increasing y pushed handles further left, so move back right to center them."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 16,
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      {
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        "input": {
          "targets": {
            "y": 0.3
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          "note": "Large step rejected; move in smaller increments back to the right."
        },
        "caller": {
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        }
      }
    ],
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{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
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        "thinking": ""
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      {
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          "targets": {
            "y": 0.2
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          "note": "Shift right ~0.1 m to bring the right-hand handle toward the gripper center."
        },
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          "type": "direct"
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      }
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{
  "api_call": 18,
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    "model": "claude-opus-5",
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        "thinking": ""
      },
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        "input": {
          "targets": {
            "y": 0.13
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          "note": "Fine-tune lateral alignment to put the right handle in front of the fingers."
        },
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    ],
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{
  "api_call": 19,
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    "type": "message",
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.46
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          "note": "Handle roughly centered; advance forward toward the cabinet face to straddle the handle."
        },
        "caller": {
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        }
      }
    ],
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmxeuKsJYM1XkfCbHsv",
    "type": "message",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "x": 0.55
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          "note": "Continue approaching the cabinet face; watching handle size to judge distance."
        },
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      }
    ],
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{
  "api_call": 21,
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    "id": "msg_011CezmyCDjehzM9FGe2u5DJ",
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.15
          },
          "note": "Handles sit left in wrist view meaning lower y; shift right slightly to align with the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 22,
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    "model": "claude-opus-5",
    "id": "msg_011CezmzDBJu3BCqPsnhPNhM",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.1
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          "note": "Continue small rightward shift to center the nearer handle between the fingers."
        },
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          "type": "direct"
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      }
    ],
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{
  "api_call": 23,
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    "model": "claude-opus-5",
    "id": "msg_011CezmzaDM4GwP8Y2TbbLB9",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.6
          },
          "note": "Handle nearly centered; advance 5 cm to bring the handle between the fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn11h38J3EiWXQ7VjkD",
    "type": "message",
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        "thinking": ""
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      {
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.45
          },
          "note": "Pitch to horizontal so wrist camera looks straight ahead for reliable handle centering."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn1t5ftT2sLZ9eFi9m8",
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    "content": [
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        "thinking": ""
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      {
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        "id": "toolu_016CSW8p1Dv9x5Bo5WsfY7Gw",
        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.08,
            "x": 0.64
          },
          "note": "Align slightly right and push forward along the now-horizontal approach axis toward the handle."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "input_tokens": 2,
      "cache_creation_input_tokens": 1158,
      "cache_read_input_tokens": 20941,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1158,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 651,
      "output_tokens_details": {
        "thinking_tokens": 540
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn2kEQn3XusRy5CTN9y",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018fjACdkYMNnRyeFJvGPotb",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "A handle appears centered between the fingers; close gripper to attempt grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1149,
      "cache_read_input_tokens": 22099,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1149,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 337,
      "output_tokens_details": {
        "thinking_tokens": 235
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn3FvbGqvvpBGqCYLqd",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015C57GGwu5xS69PbrkpRDm9",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Gripper still reads open; command close again."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 831,
      "cache_read_input_tokens": 23248,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 831,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 130,
      "output_tokens_details": {
        "thinking_tokens": 40
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn3WsGFHhkEfy4JNezV",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Avxyyocdcz5jqoisxvfemj",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Continue closing to complete the grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 623,
      "cache_read_input_tokens": 24079,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 623,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 123,
      "output_tokens_details": {
        "thinking_tokens": 33
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn3mwt9GdZzNCTHsTUP",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01KQj5ZpuivYqzuFPqsN266b",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "gripper": 0.0
          },
          "note": "Attempt to pull back while keeping gripper closing, to see if the door follows."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 616,
      "cache_read_input_tokens": 24702,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 616,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 282,
      "output_tokens_details": {
        "thinking_tokens": 171
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn4Br44cuTtdXpu62Vf",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019rjLUL5HmbD2qo4sej9gUp",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 1.0,
            "y": 0.06
          },
          "note": "Grasp missed; reopen gripper and shift to the estimated handle lateral position (y≈0.06)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 775,
      "cache_read_input_tokens": 25318,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 775,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1209,
      "output_tokens_details": {
        "thinking_tokens": 1089
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn5iJu8tXBHV5jqeHhN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01LL3aSjPKPXMHUzBvLPTSXH",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.615
          },
          "note": "Handle near wrist center; advance to place the handle between the open fingers."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1703,
      "cache_read_input_tokens": 26093,
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        "ephemeral_5m_input_tokens": 1703,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 145,
      "output_tokens_details": {
        "thinking_tokens": 47
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 32,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn5zXyawbFavwdW8pwH",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_019j9CKuZMVu6SopsAsPfK6k",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close on the handle at this depth."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 639,
      "cache_read_input_tokens": 27796,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 639,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 162,
      "output_tokens_details": {
        "thinking_tokens": 74
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 33,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn6HdNbYryCzNdi797N",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01Q3X1hTLdaEgjm1TrqiPB1A",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.5,
            "gripper": 0.0
          },
          "note": "Pull back to swing the cabinet door open."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 655,
      "cache_read_input_tokens": 28435,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 655,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 207,
      "output_tokens_details": {
        "thinking_tokens": 107
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 14.612253887578845,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Gripper currently points down; rotate to point forward (+x) to see the cabinet ahead."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": 6.205361094325781,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Full -90° pitch unreachable; try partial rotation to tilt gripper forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": 4.404159319587052,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.3
                  },
                  "note": "Testing a small pitch change to see what orientation deltas are feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.00372,
      -1.07899,
      0.00721,
      -2.65954,
      -0.09027,
      1.94297,
      -0.14429
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32037,
      -0.01866,
      1.00089
    ],
    "tcp_roll_pitch_yaw": [
      -2e-05,
      -0.29609,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.92527,
        0.13501,
        0.35448
      ],
      [
        0.17748,
        -0.98,
        -0.09001
      ],
      [
        0.33523,
        0.1462,
        -0.93072
      ]
    ],
    "simulated_seconds_remaining": 29.304,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 3.4032285595312715,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.7
                  },
                  "note": "Small pitch worked; continue rotating gripper forward incrementally."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.01177,
      -1.45511,
      0.00088,
      -2.98661,
      -0.10866,
      2.29292,
      -0.11501
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32033,
      -0.01867,
      1.00084
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.69579,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72189,
        0.06744,
        0.68872
      ],
      [
        0.17747,
        -0.98,
        -0.09005
      ],
      [
        0.66887,
        0.18723,
        -0.71942
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 4.603923306800425,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Continue pitching to face forward toward the 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 cabinet.",
    "joint_positions": [
      -0.01177,
      -1.45511,
      0.00088,
      -2.98661,
      -0.10866,
      2.29292,
      -0.11501
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32033,
      -0.01867,
      1.00084
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.69579,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72189,
        0.06744,
        0.68872
      ],
      [
        0.17747,
        -0.98,
        -0.09005
      ],
      [
        0.66887,
        0.18723,
        -0.71942
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 5.204658052884042,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.42,
                    "z": 0.9,
                    "pitch": -1.0
                  },
                  "note": "Lower and move forward while increasing pitch, which may be more IK-feasible."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.01177,
      -1.45511,
      0.00088,
      -2.98661,
      -0.10866,
      2.29292,
      -0.11501
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.32033,
      -0.01867,
      1.00084
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.69579,
      -3e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72189,
        0.06744,
        0.68872
      ],
      [
        0.17747,
        -0.98,
        -0.09005
      ],
      [
        0.66887,
        0.18723,
        -0.71942
      ]
    ],
    "simulated_seconds_remaining": 28.446,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 3.603311221115291,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.38
                  },
                  "note": "Take a small forward step only, to probe reachable directions."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 11,
    "motion_seconds": 0.726,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.02613,
      -1.16542,
      0.00541,
      -2.90784,
      -0.11772,
      2.50367,
      -0.09834
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37879,
      -0.01868,
      1.00079
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.69557,
      -6e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.72204,
        0.06746,
        0.68855
      ],
      [
        0.17745,
        -0.98,
        -0.09007
      ],
      [
        0.66871,
        0.18722,
        -0.71957
      ]
    ],
    "simulated_seconds_remaining": 27.72,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 7.405839029699564,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1
                  },
                  "note": "Probe leftward motion toward the cabinet handles seen at left in exterior view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.05529,
      -1.10236,
      0.3104,
      -2.84208,
      -0.03229,
      2.47669,
      0.17815
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3788,
      0.09863,
      1.00082
    ],
    "tcp_roll_pitch_yaw": [
      -0.00024,
      -0.6956,
      0.00017
    ],
    "tcp_rotation_matrix": [
      [
        0.722,
        0.06756,
        0.68858
      ],
      [
        0.17763,
        -0.97996,
        -0.0901
      ],
      [
        0.6687,
        0.18736,
        -0.71954
      ]
    ],
    "simulated_seconds_remaining": 26.664,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 9.008055046200752,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.22
                  },
                  "note": "Continue left toward the cabinet handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 17,
    "motion_seconds": 1.122,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      0.0355,
      -0.94748,
      0.60054,
      -2.66581,
      0.01518,
      2.44723,
      0.42341
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37881,
      0.21872,
      1.00084
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -0.69565,
      0.00037
    ],
    "tcp_rotation_matrix": [
      [
        0.72195,
        0.06766,
        0.68863
      ],
      [
        0.17778,
        -0.97994,
        -0.0901
      ],
      [
        0.66872,
        0.18747,
        -0.71949
      ]
    ],
    "simulated_seconds_remaining": 25.542,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 8.407123260200024,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3
                  },
                  "note": "Handles appear left of wrist center; nudge further left."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.0473,
      -0.83522,
      0.79299,
      -2.50013,
      0.01326,
      2.41066,
      0.56691
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.3788,
      0.29877,
      1.00086
    ],
    "tcp_roll_pitch_yaw": [
      -0.00049,
      -0.6957,
      0.00056
    ],
    "tcp_rotation_matrix": [
      [
        0.72189,
        0.06776,
        0.68868
      ],
      [
        0.17792,
        -0.97991,
        -0.09008
      ],
      [
        0.66874,
        0.18756,
        -0.71945
      ]
    ],
    "simulated_seconds_remaining": 24.684,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 11.209838411770761,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Try pitching further so gripper points more horizontally toward the cabinet face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.14883,
      -1.11778,
      1.00528,
      -2.72915,
      -0.04423,
      2.79342,
      0.80689
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37877,
      0.29877,
      1.00081
    ],
    "tcp_roll_pitch_yaw": [
      -0.00106,
      -1.09595,
      0.00089
    ],
    "tcp_rotation_matrix": [
      [
        0.40429,
        -0.01081,
        0.91457
      ],
      [
        0.1779,
        -0.9799,
        -0.09022
      ],
      [
        0.89716,
        0.19918,
        -0.39424
      ]
    ],
    "simulated_seconds_remaining": 23.826,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.205326835624874,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.45,
                    "pitch": -1.3
                  },
                  "note": "Handles visible left in wrist view; shift left and pitch more to face the cabinet door."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.44107,
      -1.26594,
      1.34815,
      -2.37055,
      -0.0187,
      2.72284,
      1.07699
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37873,
      0.44907,
      1.00085
    ],
    "tcp_roll_pitch_yaw": [
      -0.00145,
      -1.29875,
      0.0014
    ],
    "tcp_rotation_matrix": [
      [
        0.21528,
        -0.05056,
        0.97524
      ],
      [
        0.17787,
        -0.97992,
        -0.09006
      ],
      [
        0.96022,
        0.19285,
        -0.20196
      ]
    ],
    "simulated_seconds_remaining": 22.506,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 13.011153530329466,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.1
                  },
                  "note": "Isolate the pitch change to re-locate the handles in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 9,
    "motion_seconds": 0.5940000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.41254,
      -1.0674,
      1.29878,
      -2.30434,
      -0.00764,
      2.60618,
      0.94913
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37876,
      0.44907,
      1.00095
    ],
    "tcp_roll_pitch_yaw": [
      -0.00073,
      -1.10357,
      0.00064
    ],
    "tcp_rotation_matrix": [
      [
        0.39743,
        -0.01228,
        0.91755
      ],
      [
        0.17778,
        -0.97993,
        -0.09012
      ],
      [
        0.90024,
        0.19894,
        -0.38728
      ]
    ],
    "simulated_seconds_remaining": 21.912,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 11.41039791610092,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.14
                  },
                  "note": "Wrist image appears mirrored: increasing y pushed handles further left, so move back right to center them."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.41254,
      -1.0674,
      1.29878,
      -2.30434,
      -0.00764,
      2.60618,
      0.94913
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37876,
      0.44907,
      1.00095
    ],
    "tcp_roll_pitch_yaw": [
      -0.00073,
      -1.10357,
      0.00064
    ],
    "tcp_rotation_matrix": [
      [
        0.39743,
        -0.01228,
        0.91755
      ],
      [
        0.17778,
        -0.97993,
        -0.09012
      ],
      [
        0.90024,
        0.19894,
        -0.38728
      ]
    ],
    "simulated_seconds_remaining": 21.912,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 3.0027793757617474,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3
                  },
                  "note": "Large step rejected; move in smaller increments back to the right."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.15766,
      -1.12594,
      1.01886,
      -2.72619,
      -0.03176,
      2.79721,
      0.80652
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37879,
      0.30124,
      1.00095
    ],
    "tcp_roll_pitch_yaw": [
      -0.00068,
      -1.10353,
      0.00044
    ],
    "tcp_rotation_matrix": [
      [
        0.39749,
        -0.01242,
        0.91752
      ],
      [
        0.1777,
        -0.97994,
        -0.09025
      ],
      [
        0.90023,
        0.19892,
        -0.38731
      ]
    ],
    "simulated_seconds_remaining": 20.592,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 6.204946732148528,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.2
                  },
                  "note": "Shift right ~0.1 m to bring the right-hand handle toward the gripper center."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.04274,
      -1.20249,
      0.78524,
      -2.95971,
      -0.06298,
      2.90192,
      0.65017
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37881,
      0.20123,
      1.00094
    ],
    "tcp_roll_pitch_yaw": [
      -0.00055,
      -1.10349,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.39755,
        -0.01256,
        0.91749
      ],
      [
        0.17759,
        -0.97995,
        -0.09036
      ],
      [
        0.90023,
        0.19886,
        -0.38735
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 8.00666712038219,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.13
                  },
                  "note": "Fine-tune lateral alignment to put the right handle in front of the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.04274,
      -1.20249,
      0.78524,
      -2.95971,
      -0.06298,
      2.90192,
      0.65017
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.37881,
      0.20123,
      1.00094
    ],
    "tcp_roll_pitch_yaw": [
      -0.00055,
      -1.10349,
      0.00018
    ],
    "tcp_rotation_matrix": [
      [
        0.39755,
        -0.01256,
        0.91749
      ],
      [
        0.17759,
        -0.97995,
        -0.09036
      ],
      [
        0.90023,
        0.19886,
        -0.38735
      ]
    ],
    "simulated_seconds_remaining": 19.602,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 6.4054088313132524,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.46
                  },
                  "note": "Handle roughly centered; advance forward toward the cabinet face to straddle the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.35181,
      -0.95797,
      0.87203,
      -2.81821,
      -0.10733,
      3.12627,
      0.63773
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45875,
      0.20118,
      1.00091
    ],
    "tcp_roll_pitch_yaw": [
      -0.00061,
      -1.10337,
      5e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.3977,
        -0.01271,
        0.91743
      ],
      [
        0.17754,
        -0.97994,
        -0.09054
      ],
      [
        0.90017,
        0.19889,
        -0.38746
      ]
    ],
    "simulated_seconds_remaining": 18.744,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 6.805973066017032,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55
                  },
                  "note": "Continue approaching the cabinet face; watching handle size to judge distance."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.7214,
      -0.75856,
      1.06628,
      -2.60713,
      -0.1521,
      3.25789,
      0.63586
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54873,
      0.20113,
      1.0009
    ],
    "tcp_roll_pitch_yaw": [
      -0.00061,
      -1.10331,
      -8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.39777,
        -0.01283,
        0.91739
      ],
      [
        0.17749,
        -0.97994,
        -0.09066
      ],
      [
        0.90015,
        0.19889,
        -0.38752
      ]
    ],
    "simulated_seconds_remaining": 17.82,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 13.810260661877692,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.15
                  },
                  "note": "Handles sit left in wrist view meaning lower y; shift right slightly to align with the handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.699,
      -0.70823,
      0.95027,
      -2.67568,
      -0.19368,
      3.33971,
      0.56528
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54876,
      0.15107,
      1.00089
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -1.10325,
      -0.00051
    ],
    "tcp_rotation_matrix": [
      [
        0.39786,
        -0.01304,
        0.91735
      ],
      [
        0.17731,
        -0.97996,
        -0.09083
      ],
      [
        0.90015,
        0.19879,
        -0.38758
      ]
    ],
    "simulated_seconds_remaining": 17.16,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 4.6044557224959135,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.1
                  },
                  "note": "Continue small rightward shift to center the nearer handle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.67682,
      -0.64875,
      0.8177,
      -2.72567,
      -0.24905,
      3.41448,
      0.49113
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54877,
      0.10107,
      1.00089
    ],
    "tcp_roll_pitch_yaw": [
      -0.00012,
      -1.1032,
      -0.00096
    ],
    "tcp_rotation_matrix": [
      [
        0.39795,
        -0.01324,
        0.91731
      ],
      [
        0.17711,
        -0.97998,
        -0.09098
      ],
      [
        0.90015,
        0.19867,
        -0.38763
      ]
    ],
    "simulated_seconds_remaining": 16.5,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.805071888491511,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6
                  },
                  "note": "Handle nearly centered; advance 5 cm to bring the handle between the fingers."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 10,
    "motion_seconds": 0.66,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the cabinet.",
    "joint_positions": [
      -0.91492,
      -0.54853,
      1.01558,
      -2.58296,
      -0.23377,
      3.43866,
      0.47647
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59853,
      0.10131,
      1.00078
    ],
    "tcp_roll_pitch_yaw": [
      -0.00121,
      -1.10334,
      0.00032
    ],
    "tcp_rotation_matrix": [
      [
        0.39777,
        -0.01297,
        0.91739
      ],
      [
        0.17768,
        -0.97988,
        -0.09089
      ],
      [
        0.90012,
        0.19916,
        -0.38746
      ]
    ],
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{
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{
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{
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{
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{
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              }
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{
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{
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                  "note": "Close on the handle at this depth."
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{
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    "instruction": "open the cabinet.",
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                  "note": "Pull back to swing the cabinet door open."
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              }
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}

========================================================================
Opus 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,
  "source_episode_index": 866,
  "house_index": 420,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 30,
  "api_calls": 31,
  "wall_seconds": 328.6688072681427,
  "usage": {
    "input_tokens": 62,
    "cache_creation_input_tokens": 33296,
    "cache_read_input_tokens": 527025,
    "output_tokens": 17005
  },
  "estimated_cost_usd": 0.8970475
}


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.



MODEL RESPONSES


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        "name": "observe",
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        "thinking": ""
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          },
          "note": "Moving forward-left toward the table to get a better view of its drawer front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
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          "note": "Advancing closer to the table to see the drawer front and handle in the wrist camera."
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{
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    "model": "claude-opus-5",
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          },
          "note": "Raising and pitching camera down to survey the table top and locate the drawer handle."
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      }
    ],
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{
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            "pitch": -1.4
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          "note": "Gripper was pointing mostly downward; pitching to look nearly horizontally forward to find the drawer face and handle."
        },
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          "type": "direct"
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      }
    ],
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{
  "api_call": 6,
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    "model": "claude-opus-5",
    "id": "msg_011CezmvWtpCP2kCHn7w65QC",
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    "role": "assistant",
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      {
        "type": "tool_use",
        "id": "toolu_01GJPbYUo9U25DKzqZRNpKnF",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.9
          },
          "note": "Incremental pitch step toward horizontal to view the table's front face."
        },
        "caller": {
          "type": "direct"
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      }
    ],
    "container": null,
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{
  "api_call": 7,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmvmYNRHVUzNP87hPW3",
    "type": "message",
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    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "pitch": -1.3
          },
          "note": "Continuing to pitch toward horizontal view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmw9XhyrZAs13ot1QJB",
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      {
        "type": "thinking",
        "thinking": ""
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      {
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        "input": {
          "targets": {
            "pitch": -0.65,
            "z": 1.3
          },
          "note": "Dark images near horizontal; returning toward downward view and rising for a top-down survey of the table."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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        "thinking_tokens": 1080
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{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmxefviFdUUcyNCybcL",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
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        "input": {
          "targets": {
            "pitch": -0.65,
            "z": 1.18
          },
          "note": "Returning to a downward-tilted view at max safe height for a survey."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezmy94FFa1zBZtrkWuW2",
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      {
        "type": "thinking",
        "thinking": ""
      },
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        "name": "move_to",
        "input": {
          "targets": {
            "y": 0.38
          },
          "note": "Small +y test move to calibrate which way the bright knob dot shifts in the wrist image."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CezmzqgH85gkLJA6vqrzn",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_015jNW1mGMc3TktvLQQFkbbs",
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        "input": {
          "targets": {
            "y": 0.3,
            "x": 0.62
          },
          "note": "Returning right and advancing 7 cm to re-acquire the bright knob and gauge its depth via parallax."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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}

{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn1v6xcmvptkpT9mk3s",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01HyQuzMzS1jD5JB3568x7Ln",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "y": 0.42,
            "z": 0.98
          },
          "note": "Lowering to estimated drawer-knob height in front of the table to inspect the drawer face up close."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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{
  "api_call": 13,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn3mBz54buLFqn8pMFd",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01A1TwWQBbrtsoEMtPoctVP6",
        "name": "move_to",
        "input": {
          "targets": {
            "roll": 0,
            "pitch": -0.9,
            "yaw": 0,
            "x": 0.55,
            "y": 0.3,
            "z": 1.15
          },
          "note": "Orientation flipped unexpectedly; retreating to a clean known pose with gripper tilted forward-down."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn4RCyzaijvxYEyXb6f",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_012pHTJ9ttgrfLeqUuU8VNGW",
        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.3
          },
          "note": "Estimated knob at ~(0.72,0.32,0.95); rotating gripper to point forward (+x) for a horizontal knob grasp."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn5j7GrMhqR9N6HRU2b",
    "type": "message",
    "role": "assistant",
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      {
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            "x": 0.6,
            "y": 0.32,
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          },
          "note": "Descending to knob height just in front of the drawer face for a close look before grasping."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 16,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn654a3mZQuSvwJNgqR",
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    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.68
          },
          "note": "Advancing forward toward the estimated knob depth; watching for contact/visual cue."
        },
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{
  "api_call": 17,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn6UvX7FVvryL1sdyN3",
    "type": "message",
    "role": "assistant",
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      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_011iz7gr17mhJkiLhgPidaPB",
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          "targets": {
            "x": 0.54,
            "z": 1.06,
            "y": 0.31,
            "roll": 0,
            "yaw": 0,
            "pitch": -1.3
          },
          "note": "Contact stopped forward motion at x~0.61, so the drawer face is near x=0.63. Backing off and rising to the estimated knob height (~1.06)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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{
  "api_call": 18,
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    "model": "claude-opus-5",
    "id": "msg_011Cezn8AjwaPjn87miFAKLw",
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        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01MwYSrjDWQG5EFdWRuDvvUp",
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        "input": {
          "targets": {
            "y": 0.325,
            "z": 1.045,
            "x": 0.56
          },
          "note": "Knob dot visible slightly left of center; adjusting y/z to center it before pushing in."
        },
        "caller": {
          "type": "direct"
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{
  "api_call": 19,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn8rzNfed12TRzi9H6N",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01UF2vd2qbE52CBkqJ77pzEj",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.6,
            "y": 0.323,
            "z": 0.975
          },
          "note": "Positioning fingers around the likely knob (just below the table top, drawer face at x~0.63)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 20,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn9rvvhCfN9miDrQ5aX",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_011YTpkLmaJTvfoLND8n45J6",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing gripper at the estimated knob location to attempt a grasp."
        },
        "caller": {
          "type": "direct"
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      }
    ],
    "container": null,
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{
  "api_call": 21,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznABfK7c5ebT1qcL2eM",
    "type": "message",
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        "type": "thinking",
        "thinking": ""
      },
      {
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        "id": "toolu_01Xnod59Px7ructHDrEhSrTo",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.45
          },
          "note": "Gripper closed onto an object (stopped at 0.83) — pulling backward to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznAY7saFAjjM7VZ1KA2",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018uGXuRgT3e5JFcE2sWMscN",
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        "input": {
          "targets": {
            "x": 0.6,
            "y": 0.322,
            "z": 0.98,
            "gripper": 1
          },
          "note": "Gripper reopened because I omitted it; returning to the knob position with gripper open."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 23,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznB1EH8Ui3yBzKtFMBq",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01PB4RiTqBQyFKFd9Q4eFCRv",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing on the knob again."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 768,
      "cache_read_input_tokens": 25159,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 768,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 83,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznBQKM4thpAe9V5fZ9p",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01GMe3iMFT9xHVUYtXrtjpr6",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.48,
            "gripper": 0
          },
          "note": "Holding (gripper stalled at 0.80); pulling back along -x with gripper commanded closed to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 572,
      "cache_read_input_tokens": 25927,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 572,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 121,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 25,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznBjnNSi8Vww29iKvmy",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_018ybZYs6E2NQs495g3nhdTD",
        "name": "move_to",
        "input": {
          "targets": {
            "z": 0.93,
            "gripper": 1
          },
          "note": "Grasp was empty. Lowering 5 cm to calibrate the vertical image direction using the bright knob dot."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 609,
      "cache_read_input_tokens": 26499,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 609,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 617,
      "output_tokens_details": {
        "thinking_tokens": 496
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 26,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznCY3xhsBjWMdLRBVMy",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FdBs8n92t9b7wQYKj79MbQ",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.595,
            "y": 0.29,
            "z": 0.968,
            "gripper": 1
          },
          "note": "Refined knob estimate (0.63,0.29,0.97) from wrist-ray calibration; positioning fingers around it."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 1106,
      "cache_read_input_tokens": 27108,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 1106,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 1679,
      "output_tokens_details": {
        "thinking_tokens": 1539
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 27,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznEZTbMmriYbEkC7GTK",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01FKGMLLmCui5a6xnftpTVSZ",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0
          },
          "note": "Closing on the knob at the refined position."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 2167,
      "cache_read_input_tokens": 28214,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 2167,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 114,
      "output_tokens_details": {
        "thinking_tokens": 26
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 28,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznEoooerb8m5hJTmytY",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01JJGDGumhdukGgxZzkAVRUc",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.42,
            "gripper": 0
          },
          "note": "Gripper blocked at 0.97 (something between fingers); pulling -x to open the drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 602,
      "cache_read_input_tokens": 30381,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 602,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 236,
      "output_tokens_details": {
        "thinking_tokens": 121
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 29,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznFBy4dFvQgbrmV4dYR",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_0172VYfcYPUmZVCA5MMurGZv",
        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.585,
            "y": 0.277,
            "z": 0.94,
            "gripper": 1
          },
          "note": "Last attempt: aiming at newest knob estimate (0.62,0.277,0.94)."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 730,
      "cache_read_input_tokens": 30983,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 730,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 492,
      "output_tokens_details": {
        "thinking_tokens": 363
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 30,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznFvLyx45Hux6mTMnUL",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "tool_use",
        "id": "toolu_01HLg6M4PkGaQpxbUCLM32N8",
        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0,
            "x": 0.5
          },
          "note": "Closing while retracting in one motion to try pulling the drawer with remaining time."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 986,
      "cache_read_input_tokens": 31713,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 986,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 108,
      "output_tokens_details": {
        "thinking_tokens": 0
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}

{
  "api_call": 31,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznGHNmRCCKMMRofsLgN",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01B5xzywR2xwR1RBkmHKN9GW",
        "name": "give_up",
        "input": {
          "note": "Could not localize the drawer knob reliably in the very dark wrist views; grasp attempts closed on empty air and simulated motion time is exhausted. Drawer remains closed."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 597,
      "cache_read_input_tokens": 32699,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 597,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 128,
      "output_tokens_details": {
        "thinking_tokens": 25
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 10.609510158188641,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "y": 0.2,
                    "z": 0.95
                  },
                  "note": "Moving forward-left toward the table to get a better view of its drawer front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 28,
    "motion_seconds": 1.848,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 2,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.09165,
      -0.28531,
      0.27967,
      -2.14109,
      0.11576,
      1.93223,
      0.30653
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44921,
      0.19896,
      0.95032
    ],
    "tcp_roll_pitch_yaw": [
      -8e-05,
      0.00016,
      0.00012
    ],
    "tcp_rotation_matrix": [
      [
        0.99841,
        0.02062,
        0.05252
      ],
      [
        0.01785,
        -0.99846,
        0.05256
      ],
      [
        0.05352,
        -0.05154,
        -0.99724
      ]
    ],
    "simulated_seconds_remaining": 28.182,
    "calls_remaining_including_this": 56
  },
  "api_seconds": 7.206492688506842,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.55,
                    "y": 0.3,
                    "z": 1.05
                  },
                  "note": "Advancing closer to the table to see the drawer front and handle in the wrist camera."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 22,
    "motion_seconds": 1.452,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.16603,
      0.19251,
      0.37599,
      -1.35637,
      -0.05173,
      1.60784,
      0.51383
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54923,
      0.29927,
      1.0492
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      0.00017,
      0.00024
    ],
    "tcp_rotation_matrix": [
      [
        0.99841,
        0.02074,
        0.05251
      ],
      [
        0.01797,
        -0.99845,
        0.0526
      ],
      [
        0.05352,
        -0.05157,
        -0.99723
      ]
    ],
    "simulated_seconds_remaining": 26.73,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 12.210502630099654,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.5,
                    "z": 1.15
                  },
                  "note": "Raising and pitching camera down to survey the table top and locate the drawer handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.16631,
      -0.13463,
      0.38055,
      -1.6612,
      -0.20403,
      2.02969,
      0.56804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54917,
      0.29933,
      1.1493
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.49604,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.85251,
        0.04285,
        0.52095
      ],
      [
        0.01796,
        -0.99845,
        0.05274
      ],
      [
        0.5224,
        -0.0356,
        -0.85196
      ]
    ],
    "simulated_seconds_remaining": 25.74,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 25.221381071023643,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.4
                  },
                  "note": "Gripper was pointing mostly downward; pitching to look nearly horizontally forward to find the drawer face and handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK requires a large joint jump; split the motion or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.16631,
      -0.13463,
      0.38055,
      -1.6612,
      -0.20403,
      2.02969,
      0.56804
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54917,
      0.29933,
      1.1493
    ],
    "tcp_roll_pitch_yaw": [
      -4e-05,
      -0.49604,
      0.00027
    ],
    "tcp_rotation_matrix": [
      [
        0.85251,
        0.04285,
        0.52095
      ],
      [
        0.01796,
        -0.99845,
        0.05274
      ],
      [
        0.5224,
        -0.0356,
        -0.85196
      ]
    ],
    "simulated_seconds_remaining": 25.74,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 3.2032313933596015,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.9
                  },
                  "note": "Incremental pitch step toward horizontal to view the table's front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 6,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.09286,
      -0.3433,
      0.42882,
      -2.05652,
      -0.48501,
      2.55555,
      0.81149
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54921,
      0.29924,
      1.14925
    ],
    "tcp_roll_pitch_yaw": [
      -0.00038,
      -0.89579,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.582,
        0.0529,
        0.81147
      ],
      [
        0.01779,
        -0.99847,
        0.05233
      ],
      [
        0.81299,
        -0.01602,
        -0.58205
      ]
    ],
    "simulated_seconds_remaining": 24.882,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 4.80460034776479,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Continuing to pitch toward horizontal view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.44317,
      -0.5662,
      0.77729,
      -2.22862,
      -1.11214,
      3.03622,
      1.52455
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54914,
      0.29923,
      1.14981
    ],
    "tcp_roll_pitch_yaw": [
      -0.00103,
      -1.29717,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.21811,
        0.05455,
        0.9744
      ],
      [
        0.01785,
        -0.99849,
        0.0519
      ],
      [
        0.97576,
        0.00607,
        -0.21876
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 20.41731053031981,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.65,
                    "z": 1.3
                  },
                  "note": "Dark images near horizontal; returning toward downward view and rising for a top-down survey of the table."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "Target outside robot workspace bounds (+/-1.2 m)",
    "movement_executed": false
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.44317,
      -0.5662,
      0.77729,
      -2.22862,
      -1.11214,
      3.03622,
      1.52455
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54914,
      0.29923,
      1.14981
    ],
    "tcp_roll_pitch_yaw": [
      -0.00103,
      -1.29717,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.21811,
        0.05455,
        0.9744
      ],
      [
        0.01785,
        -0.99849,
        0.0519
      ],
      [
        0.97576,
        0.00607,
        -0.21876
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.6060964316129684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.65,
                    "z": 1.18
                  },
                  "note": "Returning to a downward-tilted view at max safe height for a survey."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      -0.44317,
      -0.5662,
      0.77729,
      -2.22862,
      -1.11214,
      3.03622,
      1.52455
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54914,
      0.29923,
      1.14981
    ],
    "tcp_roll_pitch_yaw": [
      -0.00103,
      -1.29717,
      0.0003
    ],
    "tcp_rotation_matrix": [
      [
        0.21811,
        0.05455,
        0.9744
      ],
      [
        0.01785,
        -0.99849,
        0.0519
      ],
      [
        0.97576,
        0.00607,
        -0.21876
      ]
    ],
    "simulated_seconds_remaining": 24.024,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 22.819601779803634,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.38
                  },
                  "note": "Small +y test move to calibrate which way the bright knob dot shifts in the wrist image."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.51903,
      -0.48155,
      1.01066,
      -2.07113,
      -1.09268,
      2.85711,
      1.56201
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54909,
      0.37887,
      1.14981
    ],
    "tcp_roll_pitch_yaw": [
      -0.0013,
      -1.2972,
      0.00079
    ],
    "tcp_rotation_matrix": [
      [
        0.21808,
        0.05478,
        0.97439
      ],
      [
        0.01797,
        -0.99848,
        0.05212
      ],
      [
        0.97577,
        0.00614,
        -0.21873
      ]
    ],
    "simulated_seconds_remaining": 23.166,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 14.212658916600049,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3,
                    "x": 0.62
                  },
                  "note": "Returning right and advancing 7 cm to re-acquire the bright knob and gauge its depth via parallax."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.73573,
      -0.38647,
      1.0214,
      -2.01866,
      -1.26429,
      3.02459,
      1.62079
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.6192,
      0.3008,
      1.1498
    ],
    "tcp_roll_pitch_yaw": [
      -0.00084,
      -1.29713,
      -1e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.21816,
        0.05443,
        0.97439
      ],
      [
        0.01777,
        -0.9985,
        0.0518
      ],
      [
        0.97575,
        0.00601,
        -0.2188
      ]
    ],
    "simulated_seconds_remaining": 22.176,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 24.420499456115067,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.42,
                    "z": 0.98
                  },
                  "note": "Lowering to estimated drawer-knob height in front of the table to inspect the drawer face up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 26,
    "motion_seconds": 1.7160000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 12,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.13622,
      -0.69834,
      1.57999,
      -1.9172,
      -1.5666,
      2.41763,
      2.26887
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.63063,
      0.3324,
      1.11306
    ],
    "tcp_roll_pitch_yaw": [
      -3.08735,
      -1.39572,
      2.71183
    ],
    "tcp_rotation_matrix": [
      [
        -0.20078,
        -0.32288,
        0.9249
      ],
      [
        0.10829,
        -0.94565,
        -0.30661
      ],
      [
        0.97363,
        0.0386,
        0.22483
      ]
    ],
    "simulated_seconds_remaining": 20.46,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 8.408675390295684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": -0.9,
                    "yaw": 0,
                    "x": 0.55,
                    "y": 0.3,
                    "z": 1.15
                  },
                  "note": "Orientation flipped unexpectedly; retreating to a clean known pose with gripper tilted forward-down."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      0.00255,
      -0.35687,
      0.5049,
      -2.05959,
      -0.44504,
      2.57479,
      0.78975
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55048,
      0.29997,
      1.15012
    ],
    "tcp_roll_pitch_yaw": [
      -0.00137,
      -0.90471,
      -0.00163
    ],
    "tcp_rotation_matrix": [
      [
        0.57477,
        0.05055,
        0.81675
      ],
      [
        0.01686,
        -0.99861,
        0.04994
      ],
      [
        0.81814,
        -0.01493,
        -0.57482
      ]
    ],
    "simulated_seconds_remaining": 18.942,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 17.414918264374137,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.3
                  },
                  "note": "Estimated knob at ~(0.72,0.32,0.95); rotating gripper to point forward (+x) for a horizontal knob grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.53062,
      -0.62113,
      0.84095,
      -2.2513,
      -0.9302,
      3.08884,
      1.39478
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55037,
      0.29992,
      1.15072
    ],
    "tcp_roll_pitch_yaw": [
      -0.00198,
      -1.29683,
      -0.00161
    ],
    "tcp_rotation_matrix": [
      [
        0.2185,
        0.05173,
        0.97446
      ],
      [
        0.01748,
        -0.99864,
        0.0491
      ],
      [
        0.97568,
        0.00631,
        -0.21911
      ]
    ],
    "simulated_seconds_remaining": 18.15,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 4.204021980985999,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.32,
                    "z": 0.98
                  },
                  "note": "Descending to knob height just in front of the drawer face for a close look before grasping."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.16372,
      -1.12308,
      1.33053,
      -2.3066,
      -0.72711,
      3.54866,
      1.73432
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59922,
      0.32163,
      0.98499
    ],
    "tcp_roll_pitch_yaw": [
      0.00615,
      -1.30226,
      -0.00627
    ],
    "tcp_rotation_matrix": [
      [
        0.21314,
        0.05488,
        0.97548
      ],
      [
        0.01606,
        -0.99848,
        0.05266
      ],
      [
        0.97689,
        0.00444,
        -0.21369
      ]
    ],
    "simulated_seconds_remaining": 16.632,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 5.204960068687797,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68
                  },
                  "note": "Advancing forward toward the estimated knob depth; watching for contact/visual cue."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.19394,
      -1.08296,
      1.35387,
      -2.27567,
      -0.71103,
      3.54102,
      1.72243
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.6098,
      0.32311,
      0.98606
    ],
    "tcp_roll_pitch_yaw": [
      0.11238,
      -1.28848,
      -0.1084
    ],
    "tcp_rotation_matrix": [
      [
        0.22493,
        0.05484,
        0.97283
      ],
      [
        -0.01282,
        -0.99816,
        0.05924
      ],
      [
        0.97429,
        -0.02579,
        -0.22381
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 22.420439910143614,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.54,
                    "z": 1.06,
                    "y": 0.31,
                    "roll": 0,
                    "yaw": 0,
                    "pitch": -1.3
                  },
                  "note": "Contact stopped forward motion at x~0.61, so the drawer face is near x=0.63. Backing off and rising to the estimated knob height (~1.06)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.81319,
      -0.90185,
      1.07165,
      -2.39201,
      -0.90129,
      3.34872,
      1.6311
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.54086,
      0.31023,
      1.05919
    ],
    "tcp_roll_pitch_yaw": [
      0.00205,
      -1.30005,
      -0.00187
    ],
    "tcp_rotation_matrix": [
      [
        0.21529,
        0.05533,
        0.97498
      ],
      [
        0.01721,
        -0.99845,
        0.05286
      ],
      [
        0.9764,
        0.0054,
        -0.21591
      ]
    ],
    "simulated_seconds_remaining": 14.784,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 9.20834025554359,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.325,
                    "z": 1.045,
                    "x": 0.56
                  },
                  "note": "Knob dot visible slightly left of center; adjusting y/z to center it before pushing in."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 7,
    "motion_seconds": 0.462,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.91449,
      -0.92537,
      1.16319,
      -2.33898,
      -0.86573,
      3.36928,
      1.65657
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55916,
      0.32438,
      1.0456
    ],
    "tcp_roll_pitch_yaw": [
      0.00168,
      -1.30005,
      -0.00151
    ],
    "tcp_rotation_matrix": [
      [
        0.21529,
        0.05534,
        0.97498
      ],
      [
        0.01731,
        -0.99845,
        0.05285
      ],
      [
        0.9764,
        0.0055,
        -0.21592
      ]
    ],
    "simulated_seconds_remaining": 14.322,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 13.21139104757458,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.323,
                    "z": 0.975
                  },
                  "note": "Positioning fingers around the likely knob (just below the table top, drawer face at x~0.63)."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 13,
    "motion_seconds": 0.8580000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.16747,
      -1.14234,
      1.34225,
      -2.31002,
      -0.70278,
      3.55774,
      1.73253
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59885,
      0.32508,
      0.97972
    ],
    "tcp_roll_pitch_yaw": [
      0.01002,
      -1.3053,
      -0.0058
    ],
    "tcp_rotation_matrix": [
      [
        0.21009,
        0.05905,
        0.9759
      ],
      [
        0.01597,
        -0.99825,
        0.05696
      ],
      [
        0.97755,
        0.00362,
        -0.21066
      ]
    ],
    "simulated_seconds_remaining": 13.464,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 4.004204203374684,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Closing gripper at the estimated knob location to attempt a grasp."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 20,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.16544,
      -1.14246,
      1.33792,
      -2.31566,
      -0.70349,
      3.55641,
      1.73281
    ],
    "gripper_open": 0.8336,
    "tcp_xyz": [
      0.59862,
      0.32161,
      0.98063
    ],
    "tcp_roll_pitch_yaw": [
      0.01419,
      -1.30632,
      -0.01585
    ],
    "tcp_rotation_matrix": [
      [
        0.20917,
        0.05304,
        0.97644
      ],
      [
        0.01365,
        -0.99859,
        0.05132
      ],
      [
        0.97778,
        0.00259,
        -0.2096
      ]
    ],
    "simulated_seconds_remaining": 12.54,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 4.404262565076351,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Gripper closed onto an object (stopped at 0.83) — pulling backward to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.58671,
      -1.16488,
      1.11573,
      -2.66751,
      -0.80499,
      3.35277,
      1.75431
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.45126,
      0.32171,
      0.98066
    ],
    "tcp_roll_pitch_yaw": [
      0.01416,
      -1.30637,
      -0.01562
    ],
    "tcp_rotation_matrix": [
      [
        0.20912,
        0.05323,
        0.97644
      ],
      [
        0.0137,
        -0.99858,
        0.0515
      ],
      [
        0.97779,
        0.0026,
        -0.20956
      ]
    ],
    "simulated_seconds_remaining": 11.22,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 5.805493970401585,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.322,
                    "z": 0.98,
                    "gripper": 1
                  },
                  "note": "Gripper reopened because I omitted it; returning to the knob position with gripper open."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.16497,
      -1.14455,
      1.33683,
      -2.31475,
      -0.70232,
      3.55711,
      1.7343
    ],
    "gripper_open": 1.0,
    "tcp_xyz": [
      0.59846,
      0.32245,
      0.98163
    ],
    "tcp_roll_pitch_yaw": [
      0.01851,
      -1.30866,
      -0.01897
    ],
    "tcp_rotation_matrix": [
      [
        0.20685,
        0.05408,
        0.97688
      ],
      [
        0.01281,
        -0.99854,
        0.05256
      ],
      [
        0.97829,
        0.00164,
        -0.20724
      ]
    ],
    "simulated_seconds_remaining": 9.9,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 5.004793740808964,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0
                  },
                  "note": "Closing on the knob again."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -1.16265,
      -1.14473,
      1.33263,
      -2.32042,
      -0.70311,
      3.55598,
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    "gripper_open": 0.8046,
    "tcp_xyz": [
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      0.98245
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    "tcp_roll_pitch_yaw": [
      0.02249,
      -1.30952,
      -0.0283
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    "tcp_rotation_matrix": [
      [
        0.20605,
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      [
        0.01069,
        -0.99882,
        0.04741
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      [
        0.97848,
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    ],
    "simulated_seconds_remaining": 8.976,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 4.2041783928871155,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.48,
                    "gripper": 0
                  },
                  "note": "Holding (gripper stalled at 0.80); pulling back along -x with gripper commanded closed to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
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    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 24,
  "state": {
    "instruction": "open the table.",
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      [
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    ],
    "simulated_seconds_remaining": 7.92,
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  },
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      {
        "content": {
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            {
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                "args": {
                  "targets": {
                    "z": 0.93,
                    "gripper": 1
                  },
                  "note": "Grasp was empty. Lowering 5 cm to calibrate the vertical image direction using the bright knob dot."
                }
              }
            }
          ]
        }
      }
    ]
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    "status": "executing; next observation shows actual arrival"
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}

{
  "call": 25,
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    "instruction": "open the table.",
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      [
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  },
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                    "z": 0.968,
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                  },
                  "note": "Refined knob estimate (0.63,0.29,0.97) from wrist-ray calibration; positioning fingers around it."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 26,
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      [
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      [
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                    "gripper": 0
                  },
                  "note": "Closing on the knob at the refined position."
                }
              }
            }
          ]
        }
      }
    ]
  },
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{
  "call": 27,
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      -1.228,
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    "tcp_rotation_matrix": [
      [
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      [
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      ],
      [
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    ],
    "simulated_seconds_remaining": 4.95,
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  },
  "api_seconds": 4.604280703701079,
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      {
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              "functionCall": {
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                  "targets": {
                    "x": 0.42,
                    "gripper": 0
                  },
                  "note": "Gripper blocked at 0.97 (something between fingers); pulling -x to open the drawer."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
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}

{
  "call": 28,
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    "instruction": "open the table.",
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    "gripper_open": 0.0,
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    ],
    "tcp_rotation_matrix": [
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      [
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      ],
      [
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    ],
    "simulated_seconds_remaining": 3.564,
    "calls_remaining_including_this": 30
  },
  "api_seconds": 9.008491668850183,
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      {
        "content": {
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                "args": {
                  "targets": {
                    "x": 0.585,
                    "y": 0.277,
                    "z": 0.94,
                    "gripper": 1
                  },
                  "note": "Last attempt: aiming at newest knob estimate (0.62,0.277,0.94)."
                }
              }
            }
          ]
        }
      }
    ]
  },
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}

{
  "call": 29,
  "state": {
    "instruction": "open the table.",
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      -1.3111,
      1.32846,
      -2.48049,
      -0.6353,
      3.8271,
      1.75088
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      0.57606,
      0.27898,
      0.94326
    ],
    "tcp_roll_pitch_yaw": [
      -0.00271,
      -1.29026,
      0.05213
    ],
    "tcp_rotation_matrix": [
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        0.96903
      ],
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        0.10057
      ],
      [
        0.97422,
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    ],
    "simulated_seconds_remaining": 2.178,
    "calls_remaining_including_this": 29
  },
  "api_seconds": 5.004943457432091,
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      {
        "content": {
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              "functionCall": {
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                "args": {
                  "targets": {
                    "gripper": 0,
                    "x": 0.5
                  },
                  "note": "Closing while retracting in one motion to try pulling the drawer with remaining time."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
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  }
}

{
  "call": 30,
  "state": {
    "instruction": "open the table.",
    "joint_positions": [
      -0.9473,
      -1.34086,
      1.23383,
      -2.67968,
      -0.70575,
      3.77257,
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    "gripper_open": 0.0,
    "tcp_xyz": [
      0.50104,
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    "tcp_roll_pitch_yaw": [
      -0.00278,
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      0.05231
    ],
    "tcp_rotation_matrix": [
      [
        0.22364,
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        0.96903
      ],
      [
        0.02961,
        -0.99448,
        0.10067
      ],
      [
        0.97422,
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        -0.22551
      ]
    ],
    "simulated_seconds_remaining": 1.254,
    "calls_remaining_including_this": 28
  },
  "api_seconds": 4.4041773630306125,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the drawer knob reliably in the very dark wrist views; grasp attempts closed on empty air and simulated motion time is exhausted. Drawer remains closed."
                }
              }
            }
          ]
        }
      }
    ]
  }
}

========================================================================
Opus 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,
  "source_episode_index": 481,
  "house_index": 224,
  "status": "completed",
  "success": false,
  "oracle_success": false,
  "action_decisions": 23,
  "api_calls": 25,
  "wall_seconds": 203.69742631912231,
  "usage": {
    "input_tokens": 50,
    "cache_creation_input_tokens": 22394,
    "cache_read_input_tokens": 282340,
    "output_tokens": 9087
  },
  "estimated_cost_usd": 0.5085575
}


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.



MODEL RESPONSES


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        "thinking": ""
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      {
        "type": "tool_use",
        "id": "toolu_01Sef8ZT23iGEEfaou8zNUjp",
        "name": "observe",
        "input": {},
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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      },
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      "inference_geo": "global"
    }
  }
}

{
  "api_call": 2,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn8LJfkVmiQJpfjNWD8",
    "type": "message",
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        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -1.57
          },
          "note": "Rotate gripper to point forward to view the dresser front with wrist camera."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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  }
}

{
  "api_call": 3,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011Cezn9DDoCZS4n9Q7VauTm",
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      {
        "type": "thinking",
        "thinking": ""
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      {
        "type": "tool_use",
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        "name": "move_to",
        "input": {
          "targets": {
            "pitch": -0.8
          },
          "note": "Trying smaller forward tilt since full 90° was unreachable."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
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}

{
  "api_call": 4,
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    "model": "claude-opus-5",
    "id": "msg_011Cezn9Wrwh741ZJi1a3hYs",
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        "thinking": ""
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        "name": "move_to",
        "input": {
          "targets": {
            "x": 0.2,
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            "pitch": -0.6
          },
          "note": "Back off and raise to get a wider wrist view of the dresser front."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 5,
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    "model": "claude-opus-5",
    "id": "msg_011Cezn9zrBsyhxkNnEaGpBw",
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        "thinking": ""
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        "input": {
          "targets": {
            "yaw": 0.5
          },
          "note": "Yaw left to scan for the dresser front face and handles."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 6,
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    "id": "msg_011CeznAXhL3FKz1KD44jFZm",
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        "thinking": ""
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        "type": "tool_use",
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          "targets": {
            "yaw": 0.0,
            "pitch": -1.2
          },
          "note": "Pitch closer to horizontal to look straight ahead at the dresser."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
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{
  "api_call": 7,
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          "targets": {
            "x": 0.45,
            "z": 1.0,
            "pitch": -0.9,
            "yaw": 0.0
          },
          "note": "Move forward toward the dark furniture to inspect its front face."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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      "service_tier": "standard",
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  }
}

{
  "api_call": 8,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznCMxzGufN4aNivfPwp",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
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      {
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        "input": {
          "targets": {
            "y": 0.3
          },
          "note": "Shift left toward the dark furniture seen on the left side of the wrist view."
        },
        "caller": {
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        }
      }
    ],
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      "output_tokens": 320,
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      "service_tier": "standard",
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    }
  }
}

{
  "api_call": 9,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznCuAxJ2V6gC5URGDda",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "y": 0.0,
            "z": 1.05,
            "pitch": -1.1
          },
          "note": "Return to center and tilt more horizontal for a forward-facing wrist view."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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      "service_tier": "standard",
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}

{
  "api_call": 10,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznDSufrWntzLKmagVYj",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
            "x": 0.6,
            "z": 0.95,
            "pitch": -0.9
          },
          "note": "Advance forward to get close to the furniture front and reveal handles in wrist view."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 11,
  "response": {
    "model": "claude-opus-5",
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    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "thinking": ""
      },
      {
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        "id": "toolu_01DbgfDGHvSf1KMdiGnequzp",
        "name": "observe",
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          "type": "direct"
        }
      }
    ],
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    "stop_reason": "tool_use",
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{
  "api_call": 12,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznEkba4qLxbhxnbwatM",
    "type": "message",
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      {
        "type": "thinking",
        "thinking": ""
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      {
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        "input": {
          "targets": {
            "y": 0.25
          },
          "note": "Keeping forward-facing orientation, shift left toward the dark body filling the left of the wrist view."
        },
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          "type": "direct"
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      }
    ],
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{
  "api_call": 13,
  "response": {
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    "id": "msg_011CeznFfPa9nJuy7XAATQun",
    "type": "message",
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        "thinking": ""
      },
      {
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            "x": 0.5,
            "y": 0.15,
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          },
          "note": "Go to a clean high pose looking mostly downward to map the cabinet top and locate its front edge/handles."
        },
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    ],
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{
  "api_call": 14,
  "response": {
    "model": "claude-opus-5",
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      {
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          "targets": {
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          "note": "Advance forward toward the panel with the visible handle to judge distance and scale."
        },
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    ],
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{
  "api_call": 15,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznH92zrnBVcuvFPjuGo",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
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          },
          "note": "Lower the forward-facing gripper to dresser-front height to see its face and handles."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 16,
  "response": {
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    "type": "message",
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        "thinking": ""
      },
      {
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        "input": {
          "targets": {
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          "note": "Continue shifting left since the dark cabinet mass remains on the left side of the wrist view."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
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{
  "api_call": 17,
  "response": {
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            "yaw": 3.7
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          "note": "Rotate camera/gripper toward the left where the dark cabinet mass is, to view it head-on."
        },
        "caller": {
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    ],
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{
  "api_call": 18,
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      },
      {
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            "yaw": 2.2,
            "y": 0.2,
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          "note": "Turn the gripper toward the right-front where the dark cabinet appears, and recenter."
        },
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      }
    ],
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{
  "api_call": 19,
  "response": {
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    "type": "message",
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        "thinking": ""
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          "note": "Small probe toward the dark cabinet surface to see its features up close."
        },
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      }
    ],
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  }
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{
  "api_call": 20,
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    "id": "msg_011CeznLjG8HScsQVykbHBwJ",
    "type": "message",
    "role": "assistant",
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        "thinking": ""
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      {
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          "targets": {
            "x": 0.52,
            "y": -0.12,
            "z": 1.02,
            "yaw": 3.0
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          "note": "Move to the likely handle location on the right portion of the cabinet face, gripper facing forward."
        },
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      }
    ],
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  }
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{
  "api_call": 21,
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    "type": "message",
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        "thinking": ""
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      {
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        "input": {
          "targets": {
            "y": 0.0,
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            "yaw": 2.6
          },
          "note": "Nearer intermediate pose shifting right and up toward the suspected handle."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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  }
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{
  "api_call": 22,
  "response": {
    "model": "claude-opus-5",
    "id": "msg_011CeznMmCF2UGjkCyQ8SQWM",
    "type": "message",
    "role": "assistant",
    "content": [
      {
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        "input": {
          "targets": {
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          },
          "note": "Small right shift only, to stay IK-feasible while moving toward the handle region."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 23,
  "response": {
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    "id": "msg_011CeznN1JJELG9vr2cJuoeR",
    "type": "message",
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        "thinking": ""
      },
      {
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        "name": "move_to",
        "input": {
          "targets": {
            "gripper": 0.0
          },
          "note": "Close gripper at the cabinet face in hope of catching the handle before pulling."
        },
        "caller": {
          "type": "direct"
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      }
    ],
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{
  "api_call": 24,
  "response": {
    "model": "claude-opus-5",
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      {
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        "name": "move_to",
        "input": {
          "targets": {
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          "note": "Pull back to test whether anything (a drawer/handle) was grasped and opens."
        },
        "caller": {
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      }
    ],
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{
  "api_call": 25,
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    "id": "msg_011CeznNsDfPLMepWvEufGP8",
    "type": "message",
    "role": "assistant",
    "content": [
      {
        "type": "thinking",
        "thinking": ""
      },
      {
        "type": "tool_use",
        "id": "toolu_01QyJUpe2p6cXa9MCvqjBxmq",
        "name": "give_up",
        "input": {
          "note": "Could not localize the dresser's drawer handle: wrist views were dominated by dark unlit surfaces, several IK targets were rejected, and remaining simulated motion time (~3 s) is insufficient to search and pull a drawer."
        },
        "caller": {
          "type": "direct"
        }
      }
    ],
    "container": null,
    "stop_reason": "tool_use",
    "stop_sequence": null,
    "stop_details": null,
    "usage": {
      "input_tokens": 2,
      "cache_creation_input_tokens": 591,
      "cache_read_input_tokens": 21803,
      "cache_creation": {
        "ephemeral_5m_input_tokens": 591,
        "ephemeral_1h_input_tokens": 0
      },
      "output_tokens": 151,
      "output_tokens_details": {
        "thinking_tokens": 30
      },
      "service_tier": "standard",
      "inference_geo": "global"
    }
  }
}


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": 14.812294122762978,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -1.57
                  },
                  "note": "Rotate gripper to point forward to view the dresser front 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": [
      0.0011,
      -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": 3.6035862220451236,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "pitch": -0.8
                  },
                  "note": "Trying smaller forward tilt since full 90° was unreachable."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 21,
    "motion_seconds": 1.3860000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 3,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.02314,
      -1.50825,
      0.0436,
      -2.99653,
      0.1611,
      2.2655,
      -0.15445
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.31118,
      0.03532,
      1.00465
    ],
    "tcp_roll_pitch_yaw": [
      -5e-05,
      -0.79559,
      0.0001
    ],
    "tcp_rotation_matrix": [
      [
        0.70078,
        0.14845,
        0.69776
      ],
      [
        0.09935,
        -0.98889,
        0.11061
      ],
      [
        0.70642,
        -0.00819,
        -0.70774
      ]
    ],
    "simulated_seconds_remaining": 28.644,
    "calls_remaining_including_this": 55
  },
  "api_seconds": 5.8052736055105925,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.2,
                    "z": 1.15,
                    "pitch": -0.6
                  },
                  "note": "Back off and raise to get a wider wrist view of the dresser front."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 4,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.00844,
      -1.41044,
      0.01351,
      -2.42543,
      0.11617,
      1.60099,
      -0.08735
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20084,
      0.03533,
      1.14902
    ],
    "tcp_roll_pitch_yaw": [
      -1e-05,
      -0.60173,
      8e-05
    ],
    "tcp_rotation_matrix": [
      [
        0.82375,
        0.1441,
        0.54834
      ],
      [
        0.09935,
        -0.98888,
        0.11063
      ],
      [
        0.55819,
        -0.03665,
        -0.8289
      ]
    ],
    "simulated_seconds_remaining": 27.126,
    "calls_remaining_including_this": 54
  },
  "api_seconds": 6.80587587878108,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.5
                  },
                  "note": "Yaw left to scan for the dresser front face and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 15,
    "motion_seconds": 0.99,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 5,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.25135,
      -1.35614,
      -0.17042,
      -2.38889,
      0.11788,
      1.55892,
      -0.42629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20084,
      0.03531,
      1.14902
    ],
    "tcp_roll_pitch_yaw": [
      0.0002,
      -0.60167,
      0.49571
    ],
    "tcp_rotation_matrix": [
      [
        0.67739,
        0.59715,
        0.42959
      ],
      [
        0.47917,
        -0.80128,
        0.35826
      ],
      [
        0.55816,
        -0.03683,
        -0.82892
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 53
  },
  "api_seconds": 7.606685241684318,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 0.0,
                    "pitch": -1.2
                  },
                  "note": "Pitch closer to horizontal to look straight ahead at the dresser."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.25135,
      -1.35614,
      -0.17042,
      -2.38889,
      0.11788,
      1.55892,
      -0.42629
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.20084,
      0.03531,
      1.14902
    ],
    "tcp_roll_pitch_yaw": [
      0.0002,
      -0.60167,
      0.49571
    ],
    "tcp_rotation_matrix": [
      [
        0.67739,
        0.59715,
        0.42959
      ],
      [
        0.47917,
        -0.80128,
        0.35826
      ],
      [
        0.55816,
        -0.03683,
        -0.82892
      ]
    ],
    "simulated_seconds_remaining": 26.136,
    "calls_remaining_including_this": 52
  },
  "api_seconds": 16.013012358918786,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45,
                    "z": 1.0,
                    "pitch": -0.9,
                    "yaw": 0.0
                  },
                  "note": "Move forward toward the dark furniture to inspect its front face."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 7,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.08965,
      -0.88626,
      -0.00867,
      -2.8675,
      0.15644,
      2.86305,
      -0.20357
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44911,
      0.03534,
      1.00035
    ],
    "tcp_roll_pitch_yaw": [
      -0.00034,
      -0.89841,
      0.0022
    ],
    "tcp_rotation_matrix": [
      [
        0.62439,
        0.15036,
        0.76651
      ],
      [
        0.10066,
        -0.9886,
        0.11194
      ],
      [
        0.7746,
        0.00726,
        -0.6324
      ]
    ],
    "simulated_seconds_remaining": 23.892,
    "calls_remaining_including_this": 51
  },
  "api_seconds": 6.4053548239171505,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.3
                  },
                  "note": "Shift left toward the dark furniture seen on the left side of the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 31,
    "motion_seconds": 2.0460000000000003,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 8,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      -0.1399,
      -0.70509,
      0.78035,
      -2.57876,
      0.15298,
      2.84325,
      0.42958
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.44909,
      0.29869,
      1.00039
    ],
    "tcp_roll_pitch_yaw": [
      -0.00054,
      -0.8985,
      0.00253
    ],
    "tcp_rotation_matrix": [
      [
        0.6243,
        0.15054,
        0.76654
      ],
      [
        0.10086,
        -0.98858,
        0.11199
      ],
      [
        0.77465,
        0.0074,
        -0.63235
      ]
    ],
    "simulated_seconds_remaining": 21.846,
    "calls_remaining_including_this": 50
  },
  "api_seconds": 6.407542709261179,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "z": 1.05,
                    "pitch": -1.1
                  },
                  "note": "Return to center and tilt more horizontal for a forward-facing wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 9,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.13351,
      -0.96386,
      -0.14271,
      -2.90571,
      0.10172,
      3.02592,
      -0.28115
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.4491,
      0.0013,
      1.04982
    ],
    "tcp_roll_pitch_yaw": [
      -0.00013,
      -1.09913,
      0.00202
    ],
    "tcp_rotation_matrix": [
      [
        0.45741,
        0.14594,
        0.8772
      ],
      [
        0.1002,
        -0.98862,
        0.11223
      ],
      [
        0.88359,
        0.03656,
        -0.46683
      ]
    ],
    "simulated_seconds_remaining": 19.536,
    "calls_remaining_including_this": 49
  },
  "api_seconds": 10.208145285956562,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "z": 0.95,
                    "pitch": -0.9
                  },
                  "note": "Advance forward to get close to the furniture front and reveal handles in wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 23,
    "motion_seconds": 1.518,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 10,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.50171,
      -0.29831,
      -0.44752,
      -2.60551,
      0.19135,
      4.10742,
      -0.36885
    ],
    "gripper_open": 0.9238,
    "tcp_xyz": [
      0.56955,
      -0.04198,
      1.16003
    ],
    "tcp_roll_pitch_yaw": [
      3.04515,
      -1.38494,
      3.01572
    ],
    "tcp_rotation_matrix": [
      [
        -0.1548,
        -0.12727,
        0.97971
      ],
      [
        0.1186,
        -0.98689,
        -0.10946
      ],
      [
        0.9808,
        0.09925,
        0.16786
      ]
    ],
    "simulated_seconds_remaining": 18.018,
    "calls_remaining_including_this": 48
  },
  "api_seconds": 18.213244093582034,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.25
                  },
                  "note": "Keeping forward-facing orientation, shift left toward the dark body filling the left of the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 34,
    "motion_seconds": 2.244,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 11,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.78241,
      0.1045,
      0.01139,
      -2.11531,
      0.99537,
      4.31905,
      -0.84685
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56953,
      0.24878,
      1.16001
    ],
    "tcp_roll_pitch_yaw": [
      3.04546,
      -1.38492,
      3.0157
    ],
    "tcp_rotation_matrix": [
      [
        -0.15484,
        -0.12699,
        0.97974
      ],
      [
        0.11861,
        -0.98692,
        -0.10918
      ],
      [
        0.98079,
        0.09931,
        0.16788
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 47
  },
  "api_seconds": 13.209942406974733,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "roll": 0,
                    "pitch": -0.3,
                    "yaw": 0,
                    "x": 0.5,
                    "y": 0.15,
                    "z": 1.2
                  },
                  "note": "Go to a clean high pose looking mostly downward to map the cabinet top and locate its front edge/handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      0.78241,
      0.1045,
      0.01139,
      -2.11531,
      0.99537,
      4.31905,
      -0.84685
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.56953,
      0.24878,
      1.16001
    ],
    "tcp_roll_pitch_yaw": [
      3.04546,
      -1.38492,
      3.0157
    ],
    "tcp_rotation_matrix": [
      [
        -0.15484,
        -0.12699,
        0.97974
      ],
      [
        0.11861,
        -0.98692,
        -0.10918
      ],
      [
        0.98079,
        0.09931,
        0.16788
      ]
    ],
    "simulated_seconds_remaining": 15.774,
    "calls_remaining_including_this": 46
  },
  "api_seconds": 6.405650380067527,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.68
                  },
                  "note": "Advance forward toward the panel with the visible handle to judge distance and scale."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 16,
    "motion_seconds": 1.056,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 13,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.70137,
      0.33921,
      -0.05704,
      -1.78415,
      0.93094,
      4.15624,
      -0.85042
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.67876,
      0.2487,
      1.15995
    ],
    "tcp_roll_pitch_yaw": [
      3.04583,
      -1.38499,
      3.01516
    ],
    "tcp_rotation_matrix": [
      [
        -0.15474,
        -0.12716,
        0.97974
      ],
      [
        0.1187,
        -0.98689,
        -0.10934
      ],
      [
        0.9808,
        0.09937,
        0.16781
      ]
    ],
    "simulated_seconds_remaining": 14.718,
    "calls_remaining_including_this": 45
  },
  "api_seconds": 12.212167541496456,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "z": 0.9,
                    "x": 0.6
                  },
                  "note": "Lower the forward-facing gripper to dresser-front height to see its face and handles."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 32,
    "motion_seconds": 2.112,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 14,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.00202,
      0.70484,
      -0.34069,
      -2.15955,
      0.88435,
      4.51688,
      -0.1932
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60031,
      0.24877,
      0.90018
    ],
    "tcp_roll_pitch_yaw": [
      3.04785,
      -1.38638,
      3.01332
    ],
    "tcp_rotation_matrix": [
      [
        -0.15336,
        -0.12688,
        0.97999
      ],
      [
        0.11886,
        -0.98689,
        -0.10917
      ],
      [
        0.981,
        0.09974,
        0.16643
      ]
    ],
    "simulated_seconds_remaining": 12.606,
    "calls_remaining_including_this": 44
  },
  "api_seconds": 6.205848683603108,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.45
                  },
                  "note": "Continue shifting left since the dark cabinet mass remains on the left side of the wrist view."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 25,
    "motion_seconds": 1.6500000000000001,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 15,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.12598,
      1.04365,
      -0.22741,
      -1.34556,
      1.24717,
      4.40383,
      -0.7316
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60025,
      0.44878,
      0.90016
    ],
    "tcp_roll_pitch_yaw": [
      3.04727,
      -1.38637,
      3.0141
    ],
    "tcp_rotation_matrix": [
      [
        -0.1534,
        -0.12666,
        0.98001
      ],
      [
        0.11873,
        -0.98693,
        -0.10897
      ],
      [
        0.98101,
        0.09964,
        0.16644
      ]
    ],
    "simulated_seconds_remaining": 10.956,
    "calls_remaining_including_this": 43
  },
  "api_seconds": 10.207767426036298,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 3.7
                  },
                  "note": "Rotate camera/gripper toward the left where the dark cabinet mass is, to view it head-on."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 18,
    "motion_seconds": 1.1880000000000002,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 16,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      0.96007,
      0.78314,
      -0.33836,
      -1.9808,
      0.18626,
      4.44128,
      0.06041
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.60059,
      0.44844,
      0.90029
    ],
    "tcp_roll_pitch_yaw": [
      3.04852,
      -1.38589,
      -2.5899
    ],
    "tcp_rotation_matrix": [
      [
        -0.19446,
        0.52238,
        0.83025
      ],
      [
        -0.00428,
        -0.84685,
        0.53182
      ],
      [
        0.9809,
        0.09987,
        0.16691
      ]
    ],
    "simulated_seconds_remaining": 9.768,
    "calls_remaining_including_this": 42
  },
  "api_seconds": 7.206232561729848,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "yaw": 2.2,
                    "y": 0.2,
                    "x": 0.55
                  },
                  "note": "Turn the gripper toward the right-front where the dark cabinet appears, and recenter."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 35,
    "motion_seconds": 2.31,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 17,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.28492,
      1.15705,
      -0.76561,
      -1.41312,
      2.11062,
      4.51689,
      -0.9749
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.55046,
      0.20042,
      0.9003
    ],
    "tcp_roll_pitch_yaw": [
      3.04965,
      -1.38571,
      2.20284
    ],
    "tcp_rotation_matrix": [
      [
        -0.02003,
        -0.80153,
        0.59762
      ],
      [
        0.19373,
        -0.58952,
        -0.78417
      ],
      [
        0.98085,
        0.10007,
        0.16709
      ]
    ],
    "simulated_seconds_remaining": 7.458,
    "calls_remaining_including_this": 41
  },
  "api_seconds": 10.008269565179944,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.6,
                    "y": 0.12
                  },
                  "note": "Small probe toward the dark cabinet surface to see its features up close."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 18,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.20819,
      1.15943,
      -0.82847,
      -1.51482,
      2.04889,
      4.35643,
      -0.88545
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59932,
      0.12098,
      0.90032
    ],
    "tcp_roll_pitch_yaw": [
      3.04973,
      -1.38561,
      2.20248
    ],
    "tcp_rotation_matrix": [
      [
        -0.02002,
        -0.8017,
        0.59739
      ],
      [
        0.19382,
        -0.58929,
        -0.78433
      ],
      [
        0.98083,
        0.10009,
        0.16718
      ]
    ],
    "simulated_seconds_remaining": 6.534,
    "calls_remaining_including_this": 40
  },
  "api_seconds": 10.207976246252656,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.52,
                    "y": -0.12,
                    "z": 1.02,
                    "yaw": 3.0
                  },
                  "note": "Move to the likely handle location on the right portion of the cabinet face, gripper facing forward."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "error": "IK could not reach this pose; choose a nearer target or adjust orientation.",
    "movement_executed": false
  }
}

{
  "call": 19,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.20819,
      1.15943,
      -0.82847,
      -1.51482,
      2.04889,
      4.35643,
      -0.88545
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59932,
      0.12098,
      0.90032
    ],
    "tcp_roll_pitch_yaw": [
      3.04973,
      -1.38561,
      2.20248
    ],
    "tcp_rotation_matrix": [
      [
        -0.02002,
        -0.8017,
        0.59739
      ],
      [
        0.19382,
        -0.58929,
        -0.78433
      ],
      [
        0.98083,
        0.10009,
        0.16718
      ]
    ],
    "simulated_seconds_remaining": 6.534,
    "calls_remaining_including_this": 39
  },
  "api_seconds": 3.6032805182039738,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.0,
                    "z": 0.95,
                    "yaw": 2.6
                  },
                  "note": "Nearer intermediate pose shifting right and up toward the suspected handle."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "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": [
      1.20819,
      1.15943,
      -0.82847,
      -1.51482,
      2.04889,
      4.35643,
      -0.88545
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59932,
      0.12098,
      0.90032
    ],
    "tcp_roll_pitch_yaw": [
      3.04973,
      -1.38561,
      2.20248
    ],
    "tcp_rotation_matrix": [
      [
        -0.02002,
        -0.8017,
        0.59739
      ],
      [
        0.19382,
        -0.58929,
        -0.78433
      ],
      [
        0.98083,
        0.10009,
        0.16718
      ]
    ],
    "simulated_seconds_remaining": 6.534,
    "calls_remaining_including_this": 38
  },
  "api_seconds": 3.003328981809318,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "y": 0.05
                  },
                  "note": "Small right shift only, to stay IK-feasible while moving toward the handle region."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 12,
    "motion_seconds": 0.792,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 21,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.2409,
      1.13763,
      -0.9074,
      -1.74725,
      1.9798,
      4.2131,
      -0.72264
    ],
    "gripper_open": 0.9966,
    "tcp_xyz": [
      0.59932,
      0.05113,
      0.90034
    ],
    "tcp_roll_pitch_yaw": [
      3.05019,
      -1.3855,
      2.20181
    ],
    "tcp_rotation_matrix": [
      [
        -0.01997,
        -0.80183,
        0.59722
      ],
      [
        0.19396,
        -0.5891,
        -0.78444
      ],
      [
        0.98081,
        0.10017,
        0.16729
      ]
    ],
    "simulated_seconds_remaining": 5.742,
    "calls_remaining_including_this": 37
  },
  "api_seconds": 7.807347398251295,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "gripper": 0.0
                  },
                  "note": "Close gripper at the cabinet face in hope of catching the handle before pulling."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 14,
    "motion_seconds": 0.924,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 22,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.2409,
      1.13763,
      -0.9074,
      -1.74725,
      1.9798,
      4.2131,
      -0.72264
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.59932,
      0.05112,
      0.90034
    ],
    "tcp_roll_pitch_yaw": [
      3.05018,
      -1.3855,
      2.20182
    ],
    "tcp_rotation_matrix": [
      [
        -0.01997,
        -0.80183,
        0.59722
      ],
      [
        0.19396,
        -0.5891,
        -0.78444
      ],
      [
        0.98081,
        0.10017,
        0.16729
      ]
    ],
    "simulated_seconds_remaining": 4.818,
    "calls_remaining_including_this": 36
  },
  "api_seconds": 3.0031451117247343,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "move_to",
                "args": {
                  "targets": {
                    "x": 0.45
                  },
                  "note": "Pull back to test whether anything (a drawer/handle) was grasped and opens."
                }
              }
            }
          ]
        }
      }
    ]
  },
  "execution": {
    "steps": 20,
    "motion_seconds": 1.32,
    "status": "executing; next observation shows actual arrival"
  }
}

{
  "call": 23,
  "state": {
    "instruction": "open the dresser.",
    "joint_positions": [
      1.6369,
      0.98365,
      -0.94907,
      -2.28153,
      2.02003,
      4.2357,
      -0.50536
    ],
    "gripper_open": 0.0,
    "tcp_xyz": [
      0.4513,
      0.0512,
      0.9003
    ],
    "tcp_roll_pitch_yaw": [
      3.05046,
      -1.38555,
      2.20165
    ],
    "tcp_rotation_matrix": [
      [
        -0.01993,
        -0.80176,
        0.59732
      ],
      [
        0.19395,
        -0.58919,
        -0.78437
      ],
      [
        0.98081,
        0.10022,
        0.16724
      ]
    ],
    "simulated_seconds_remaining": 3.498,
    "calls_remaining_including_this": 35
  },
  "api_seconds": 4.2039217026904225,
  "response": {
    "candidates": [
      {
        "content": {
          "role": "model",
          "parts": [
            {
              "functionCall": {
                "name": "give_up",
                "args": {
                  "note": "Could not localize the dresser's drawer handle: wrist views were dominated by dark unlit surfaces, several IK targets were rejected, and remaining simulated motion time (~3 s) is insufficient to search and pull a drawer."
                }
              }
            }
          ]
        }
      }
    ]
  }
}