======================================================================== Opus 5 / Pick / Episode 000 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 0, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "api_calls": 31, "wall_seconds": 377.7905218601227, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 36851, "cache_read_input_tokens": 532037, "output_tokens": 20427 }, "estimated_cost_usd": 1.00732225 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezcMA7h18Kuodp6HCHim", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TQ3rcZc3hkW95KY1tCwHMD", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 135, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezcMTbQznHpaVYVFmJKy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SQYRZuG3fDmLCUUEgvt2jU", "name": "move_to", "input": { "targets": { "z": 1.25 }, "note": "Raise to get a wider wrist view of the table to locate the kettle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 570, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 570, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 222 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezcN7ookhdT8TdqCKwaP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K8TomhxiPoZWYDqmwBYW7S", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.1, "z": 1.05 }, "note": "Move forward-left over the table to bring the kettle into 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": 808, "cache_read_input_tokens": 2329, "cache_creation": { "ephemeral_5m_input_tokens": 808, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 357, "output_tokens_details": { "thinking_tokens": 244 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezcNfhhjoMXFZX7zZvTA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T4sfkWn2aQp7ApM9sgPyGu", "name": "move_to", "input": { "targets": { "x": 0.39, "y": 0.21, "z": 1.05 }, "note": "Center the white kettle-like object under the wrist camera." }, "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": 3137, "cache_creation": { "ephemeral_5m_input_tokens": 852, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 661, "output_tokens_details": { "thinking_tokens": 552 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezcPXYLxyZGs5ZwxDGVR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WbHjpsVWg6NfnHfaAh1BcV", "name": "move_to", "input": { "targets": { "x": 0.46, "y": 0.02, "z": 1.05 }, "note": "Corrected sign: move right/forward to center the white kettle under the wrist camera." }, "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": 3989, "cache_creation": { "ephemeral_5m_input_tokens": 1155, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 728, "output_tokens_details": { "thinking_tokens": 610 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezcQPatmBd2ZYdN5YW3T", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RDBaUCCReQRmzvMKkW5moR", "name": "move_to", "input": { "targets": { "x": 0.485, "z": 0.98 }, "note": "Kettle nearly centered; nudge forward and descend to inspect grasp point." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1229, "cache_read_input_tokens": 5144, "cache_creation": { "ephemeral_5m_input_tokens": 1229, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 270, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezcQovN7JYMSLSVTAoPM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PDGUoLwTkgYULmSyYTg7qH", "name": "move_to", "input": { "targets": { "x": 0.505, "z": 0.94 }, "note": "Descend further toward the kettle for a closer look at 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": 766, "cache_read_input_tokens": 6373, "cache_creation": { "ephemeral_5m_input_tokens": 766, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 273, "output_tokens_details": { "thinking_tokens": 170 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezcRDddvwRUJsy3RVLtY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HcL4j2EBrJdV8Xsobg8pLk", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Descend closer to the kettle to judge height and alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 773, "cache_read_input_tokens": 7139, "cache_creation": { "ephemeral_5m_input_tokens": 773, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 371, "output_tokens_details": { "thinking_tokens": 277 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezcRmZku5twNayKmSYHH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SViYrbHYDCKEmaa9Cmms1r", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Continue descending toward the table to reach kettle height." }, "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": 7912, "cache_creation": { "ephemeral_5m_input_tokens": 872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 186, "output_tokens_details": { "thinking_tokens": 94 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezcSBCpM6uTVjVjkRxgw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VJA4Eo3ksxbQP9AT2sGfrL", "name": "move_to", "input": { "targets": { "x": 0.555 }, "note": "Move forward 5 cm to test how the kettle shifts in the wrist view and approach it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 682, "cache_read_input_tokens": 8784, "cache_creation": { "ephemeral_5m_input_tokens": 682, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 679, "output_tokens_details": { "thinking_tokens": 574 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezcT75Hi9JdvKd34EMza", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018zDCJ1PXei2DG9YwyNuwpM", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.01 }, "note": "Approach further forward; kettle grows in wrist view, slight right correction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1174, "cache_read_input_tokens": 9466, "cache_creation": { "ephemeral_5m_input_tokens": 1174, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 393, "output_tokens_details": { "thinking_tokens": 286 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezcTicTPq31YpzAKYHcW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E2ibTXYHwtgM9nnQE8Xp5k", "name": "move_to", "input": { "targets": { "x": 0.63, "z": 0.9 }, "note": "Rise slightly and move forward to get directly above the kettle handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 892, "cache_read_input_tokens": 10640, "cache_creation": { "ephemeral_5m_input_tokens": 892, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 488, "output_tokens_details": { "thinking_tokens": 383 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezcUR82P914QMrdvZbnJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011UwTXWe8d991XHs27wsUNW", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower to see how kettle shifts relative to fingers." }, "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": 11532, "cache_creation": { "ephemeral_5m_input_tokens": 988, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 698, "output_tokens_details": { "thinking_tokens": 604 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezcVKcuqHKFEz3y3ksFX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R2AcxmQiQ9mytg6NcEPDaP", "name": "move_to", "input": { "targets": { "x": 0.58 }, "note": "Test move backward 5 cm to disambiguate wrist camera orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1198, "cache_read_input_tokens": 12520, "cache_creation": { "ephemeral_5m_input_tokens": 1198, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1756, "output_tokens_details": { "thinking_tokens": 1656 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezcXTPXrs7xxZuouFBuR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016zQeeVSQtrnPMmcov8HPV5", "name": "move_to", "input": { "targets": { "x": 0.7, "z": 0.92 }, "note": "Move well forward and slightly up to close distance to the kettle ahead." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2256, "cache_read_input_tokens": 13718, "cache_creation": { "ephemeral_5m_input_tokens": 2256, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 518, "output_tokens_details": { "thinking_tokens": 412 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezcYBoC6GJ5nqMernG1d", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hr1RVqcqsht7zgCaGrQRP1", "name": "move_to", "input": { "targets": { "x": 0.62, "z": 0.87 }, "note": "Move back/down to bring the kettle toward the finger region of 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": 1018, "cache_read_input_tokens": 15974, "cache_creation": { "ephemeral_5m_input_tokens": 1018, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2134, "output_tokens_details": { "thinking_tokens": 2026 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezcasUCm1Rt63Jv1PJ8P", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TA3nkNpCcmypsDSyavioWH", "name": "move_to", "input": { "targets": { "y": 0.31, "z": 1.0 }, "note": "Calibration move: large +y shift while high, to learn exterior-camera mapping of gripper position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2629, "cache_read_input_tokens": 16992, "cache_creation": { "ephemeral_5m_input_tokens": 2629, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 730, "output_tokens_details": { "thinking_tokens": 615 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezcbtgArYkU45nLi1MN3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HeJXGTDc88bmc9yx2X6ia9", "name": "move_to", "input": { "targets": { "y": 0.06, "z": 0.72 }, "note": "Hypothesis: camera looks down and kettle is ~0.45 m below; descending to test if it grows." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1224, "cache_read_input_tokens": 19621, "cache_creation": { "ephemeral_5m_input_tokens": 1224, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1971, "output_tokens_details": { "thinking_tokens": 1853 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezce9aRW1MdpY3vGkrgL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01He7k7zQDHc6WgFku9DsY52", "name": "move_to", "input": { "targets": { "y": 0.2 }, "note": "Object is far left in wrist view; shift +y to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2467, "cache_read_input_tokens": 20845, "cache_creation": { "ephemeral_5m_input_tokens": 2467, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 481, "output_tokens_details": { "thinking_tokens": 387 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezcep5vyeL3F2beskrGp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RNUpmF8EbwNoprF6SaAzLx", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.02, "z": 0.8 }, "note": "Return to the pose where the kettle was centered in the wrist view, but lower." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 974, "cache_read_input_tokens": 23312, "cache_creation": { "ephemeral_5m_input_tokens": 974, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 863, "output_tokens_details": { "thinking_tokens": 747 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezcfuozcqc1vX8KpCJ5T", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AZMWZ5mY77wdshrqPP4G64", "name": "move_to", "input": { "targets": { "z": 0.75 }, "note": "Kettle sits right at the fingers; descend 5 cm 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": 1356, "cache_read_input_tokens": 24286, "cache_creation": { "ephemeral_5m_input_tokens": 1356, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 442, "output_tokens_details": { "thinking_tokens": 339 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezcgZ8KVeTkQY7mYemNP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YWZjCoejEmsHm1edCyimgf", "name": "move_to", "input": { "targets": { "x": 0.54, "y": -0.03 }, "note": "Shift right and forward to center the kettle 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": 932, "cache_read_input_tokens": 25642, "cache_creation": { "ephemeral_5m_input_tokens": 932, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 608, "output_tokens_details": { "thinking_tokens": 506 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezchPm2QDarE1sk3SRyQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017bVZMw7iXW4XNzWkCnrLLh", "name": "move_to", "input": { "targets": { "z": 0.68 }, "note": "Descend further; testing whether the kettle grows (i.e., it is below us) and to reach 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": 1100, "cache_read_input_tokens": 26574, "cache_creation": { "ephemeral_5m_input_tokens": 1100, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 333, "output_tokens_details": { "thinking_tokens": 224 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezchxwZHKs5GFrYZ2p19", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WGmRkGgsx585d2pAj562NT", "name": "move_to", "input": { "targets": { "z": 0.92, "pitch": 0 }, "note": "Table top is ~0.77 (z blocked). Rise above table to look down and locate kettle precisely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 826, "cache_read_input_tokens": 27674, "cache_creation": { "ephemeral_5m_input_tokens": 826, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 512, "output_tokens_details": { "thinking_tokens": 395 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezcijELapjyJEvDZBc7n", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Vb4ubawoQPmvUcSMWAH23G", "name": "move_to", "input": { "targets": { "z": 0.855 }, "note": "Kettle is directly below; descend to handle height for grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1007, "cache_read_input_tokens": 28500, "cache_creation": { "ephemeral_5m_input_tokens": 1007, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 611, "output_tokens_details": { "thinking_tokens": 516 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezcjqSg7uKiMise4v7iA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UbfQMRVxLZYMGvmbyjFxVL", "name": "move_to", "input": { "targets": { "y": -0.09, "z": 0.95 }, "note": "Calibrate exterior view: move -y and up, then compare gripper position vs kettle in exterior image." }, "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": 29507, "cache_creation": { "ephemeral_5m_input_tokens": 1106, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1584, "output_tokens_details": { "thinking_tokens": 1467 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezcmhrpLkDVXhZonPEic", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NU8kCdwvugjDcqrun1JgS2", "name": "move_to", "input": { "targets": { "x": 0.585, "y": -0.037, "z": 0.86 }, "note": "Estimated kettle at y=-0.037, x~0.585; descend to handle height for grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2079, "cache_read_input_tokens": 30613, "cache_creation": { "ephemeral_5m_input_tokens": 2079, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1120, "output_tokens_details": { "thinking_tokens": 997 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezcnwxvWC2F7cAd7MuyT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PwTze9AazeG24hGvz4MxAw", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on kettle handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1614, "cache_read_input_tokens": 32692, "cache_creation": { "ephemeral_5m_input_tokens": 1614, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 272, "output_tokens_details": { "thinking_tokens": 185 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezcoPDCsbDxcdURZhni4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N76xAoN2LnPQcMmZwmFbC3", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.62, "y": -0.02 }, "note": "Empty closure; reopen and shift slightly forward/left toward where kettle 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": 766, "cache_read_input_tokens": 34306, "cache_creation": { "ephemeral_5m_input_tokens": 766, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 418, "output_tokens_details": { "thinking_tokens": 294 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezcoxmKUvWpWoWTHxXuG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X4Z4MhMVHwwS6JVGSMQmFx", "name": "move_to", "input": { "targets": { "y": 0.015, "gripper": 0 }, "note": "Last attempt: shift left onto handle and close gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 913, "cache_read_input_tokens": 35072, "cache_creation": { "ephemeral_5m_input_tokens": 913, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 373, "output_tokens_details": { "thinking_tokens": 271 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011Cezcpp2yJxD5atNLSt9mt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01StV9KcqyNXbS3UBe6itwrb", "name": "give_up", "input": { "note": "Could not reliably localize the kettle from the ambiguous wrist/exterior views; two grasp attempts closed on empty air 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": 866, "cache_read_input_tokens": 35985, "cache_creation": { "ephemeral_5m_input_tokens": 866, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 142, "output_tokens_details": { "thinking_tokens": 45 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.02023, -0.83426, -0.00674, -2.39741, -0.02353, 1.54333, 0.03756 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28754, -0.00218, 1.00816 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99957, -0.02202, -0.01954 ], [ -0.02239, -0.99957, -0.01884 ], [ -0.01911, 0.01927, -0.99963 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.2108343122527, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.25 }, "note": "Raise to get a wider wrist view of the table to locate the kettle." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 2, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.02023, -0.83426, -0.00674, -2.39741, -0.02353, 1.54333, 0.03756 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28754, -0.00218, 1.00816 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99957, -0.02202, -0.01954 ], [ -0.02239, -0.99957, -0.01884 ], [ -0.01911, 0.01927, -0.99963 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 56 }, "api_seconds": 6.4100750451907516, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.1, "z": 1.05 }, "note": "Move forward-left over the table to bring the kettle into wrist view." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.05976, -0.37224, 0.14328, -1.95489, 0.03718, 1.56323, 0.21473 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41898, 0.09923, 1.04964 ], "tcp_roll_pitch_yaw": [ -4e-05, 9e-05, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99957, -0.02194, -0.01962 ], [ -0.02231, -0.99957, -0.01888 ], [ -0.0192, 0.01931, -0.99963 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 55 }, "api_seconds": 10.809455059468746, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "y": 0.21, "z": 1.05 }, "note": "Center the white kettle-like object under the wrist camera." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.13199, -0.34631, 0.29248, -1.91658, 0.08841, 1.55835, 0.42858 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39031, 0.2088, 1.05 ], "tcp_roll_pitch_yaw": [ -7e-05, 7e-05, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99957, -0.02167, -0.0196 ], [ -0.02204, -0.99958, -0.01892 ], [ -0.01918, 0.01934, -0.99963 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 10.609774004667997, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "y": 0.02, "z": 1.05 }, "note": "Corrected sign: move right/forward to center the white kettle under the wrist camera." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00195, -0.28096, 0.04842, -1.87294, -0.00457, 1.57181, 0.06662 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45956, 0.02115, 1.04997 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00013, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99957, -0.02194, -0.01966 ], [ -0.02231, -0.99957, -0.01888 ], [ -0.01924, 0.01931, -0.99963 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 53 }, "api_seconds": 5.00489971973002, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.485, "z": 0.98 }, "note": "Kettle nearly centered; nudge forward and descend to inspect grasp point." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00252, -0.22579, 0.04935, -1.99421, -0.00703, 1.74783, 0.06891 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48453, 0.02115, 0.98109 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00048, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99956, -0.02194, -0.02002 ], [ -0.02232, -0.99957, -0.01889 ], [ -0.01959, 0.01933, -0.99962 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 52 }, "api_seconds": 5.20543912332505, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.505, "z": 0.94 }, "note": "Descend further toward the kettle for a closer look at the handle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00329, -0.16029, 0.05005, -2.0275, -0.01036, 1.8462, 0.0711 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5044, 0.02114, 0.941 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00081, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99955, -0.02195, -0.02034 ], [ -0.02233, -0.99957, -0.01891 ], [ -0.01992, 0.01935, -0.99961 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 51 }, "api_seconds": 7.006497607566416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Descend closer to the kettle to judge height and alignment." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00318, -0.14364, 0.05056, -2.11214, -0.0115, 1.94717, 0.07328 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50436, 0.02113, 0.90102 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00109, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99955, -0.02194, -0.02063 ], [ -0.02233, -0.99957, -0.01892 ], [ -0.0202, 0.01937, -0.99961 ] ], "simulated_seconds_remaining": 23.892, "calls_remaining_including_this": 50 }, "api_seconds": 5.004610511474311, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Continue descending toward the table to reach kettle height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00325, -0.09553, 0.05148, -2.21654, -0.01506, 2.09925, 0.07782 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50429, 0.02113, 0.8411 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00142, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99954, -0.02194, -0.02095 ], [ -0.02234, -0.99957, -0.01893 ], [ -0.02053, 0.01939, -0.9996 ] ], "simulated_seconds_remaining": 23.166, "calls_remaining_including_this": 49 }, "api_seconds": 12.010160090401769, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.555 }, "note": "Move forward 5 cm to test how the kettle shifts in the wrist view and approach it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00476, 0.04911, 0.05049, -2.043, -0.02327, 2.07007, 0.07923 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55383, 0.02112, 0.84107 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00148, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99954, -0.02196, -0.02101 ], [ -0.02236, -0.99957, -0.01893 ], [ -0.02059, 0.01939, -0.9996 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 48 }, "api_seconds": 7.806760627776384, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.01 }, "note": "Approach further forward; kettle grows in wrist view, slight right correction." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.01321, 0.15487, 0.04269, -1.85805, -0.02962, 2.02623, 0.06269 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60405, 0.01203, 0.86207 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.03369, 0.00164 ], "tcp_rotation_matrix": [ [ 0.99968, -0.02104, 0.01418 ], [ -0.02076, -0.99959, -0.0196 ], [ 0.01459, 0.0193, -0.99971 ] ], "simulated_seconds_remaining": 21.912, "calls_remaining_including_this": 47 }, "api_seconds": 9.207576558925211, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "z": 0.9 }, "note": "Rise slightly and move forward to get directly above the kettle handle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.01209, 0.21374, 0.04262, -1.68257, -0.0308, 1.9098, 0.06046 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62935, 0.01202, 0.89903 ], "tcp_roll_pitch_yaw": [ -0.00078, -0.03392, 0.00163 ], "tcp_rotation_matrix": [ [ 0.99967, -0.02106, 0.01441 ], [ -0.02077, -0.99959, -0.01959 ], [ 0.01482, 0.01929, -0.9997 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 46 }, "api_seconds": 11.80958649981767, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower to see how kettle shifts relative to fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.01219, 0.23995, 0.04194, -1.76976, -0.03331, 2.02277, 0.06376 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62928, 0.01202, 0.85118 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.03355, 0.00163 ], "tcp_rotation_matrix": [ [ 0.99968, -0.02105, 0.01403 ], [ -0.02077, -0.99959, -0.01961 ], [ 0.01444, 0.01931, -0.99971 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 45 }, "api_seconds": 28.624157216399908, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58 }, "note": "Test move backward 5 cm to disambiguate wrist camera orientation." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.01379, 0.09548, 0.04311, -1.96478, -0.02753, 2.07355, 0.06309 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58137, 0.01203, 0.85126 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.03362, 0.00166 ], "tcp_rotation_matrix": [ [ 0.99968, -0.02103, 0.0141 ], [ -0.02075, -0.99959, -0.01961 ], [ 0.01451, 0.01931, -0.99971 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 44 }, "api_seconds": 9.00913591682911, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "z": 0.92 }, "note": "Move well forward and slightly up to close distance to the kettle ahead." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00548, 0.46433, 0.04065, -1.26387, -0.0388, 1.74129, 0.05797 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.69886, 0.01203, 0.91929 ], "tcp_roll_pitch_yaw": [ -0.00079, -0.03367, 0.00165 ], "tcp_rotation_matrix": [ [ 0.99968, -0.02103, 0.01415 ], [ -0.02075, -0.99959, -0.01961 ], [ 0.01456, 0.01931, -0.99971 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 43 }, "api_seconds": 35.829068982973695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "z": 0.87 }, "note": "Move back/down to bring the kettle toward the finger region of the wrist view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.0128, 0.20162, 0.04271, -1.77222, -0.03123, 1.98695, 0.06231 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6211, 0.01204, 0.87069 ], "tcp_roll_pitch_yaw": [ -0.0008, -0.03355, 0.00167 ], "tcp_rotation_matrix": [ [ 0.99968, -0.02101, 0.01404 ], [ -0.02073, -0.99959, -0.01961 ], [ 0.01445, 0.01932, -0.99971 ] ], "simulated_seconds_remaining": 18.018, "calls_remaining_including_this": 42 }, "api_seconds": 12.410115713253617, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.31, "z": 1.0 }, "note": "Calibration move: large +y shift while high, to learn exterior-camera mapping of gripper position." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.3489, 0.52928, 0.20088, -0.96006, -0.12533, 1.48365, 0.53223 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62106, 0.30891, 0.99944 ], "tcp_roll_pitch_yaw": [ -0.00071, -0.03356, 0.00197 ], "tcp_rotation_matrix": [ [ 0.99969, -0.02071, 0.01405 ], [ -0.02043, -0.9996, -0.01953 ], [ 0.01445, 0.01923, -0.99971 ] ], "simulated_seconds_remaining": 15.576, "calls_remaining_including_this": 41 }, "api_seconds": 28.82665645238012, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06, "z": 0.72 }, "note": "Hypothesis: camera looks down and kettle is ~0.45 m below; descending to test if it grows." } } } ] } } ] }, "execution": { "steps": 42, "motion_seconds": 2.7720000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.039, 0.35324, 0.09078, -1.91525, -0.06452, 2.31595, 0.17007 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63023, 0.07549, 0.74079 ], "tcp_roll_pitch_yaw": [ 0.00811, -0.0707, 0.01846 ], "tcp_rotation_matrix": [ [ 0.99867, -0.0043, 0.05133 ], [ -0.00381, -0.99994, -0.00979 ], [ 0.05137, 0.00958, -0.99863 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 40 }, "api_seconds": 8.407082012854517, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Object is far left in wrist view; shift +y to center it." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.19104, 0.43042, 0.13537, -1.79687, -0.10614, 2.26701, 0.38297 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63018, 0.19885, 0.74078 ], "tcp_roll_pitch_yaw": [ 0.00817, -0.07068, 0.01879 ], "tcp_rotation_matrix": [ [ 0.99867, -0.00396, 0.05131 ], [ -0.00347, -0.99995, -0.00971 ], [ 0.05135, 0.00952, -0.99864 ] ], "simulated_seconds_remaining": 11.682, "calls_remaining_including_this": 39 }, "api_seconds": 13.814161752350628, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.02, "z": 0.8 }, "note": "Return to the pose where the kettle was centered in the wrist view, but lower." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.00759, -0.10083, 0.03825, -2.35585, -0.01108, 2.30599, 0.0569 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50079, 0.02095, 0.79971 ], "tcp_roll_pitch_yaw": [ 0.00816, -0.07078, 0.01858 ], "tcp_rotation_matrix": [ [ 0.99867, -0.00417, 0.0514 ], [ -0.00368, -0.99995, -0.00973 ], [ 0.05144, 0.00953, -0.99863 ] ], "simulated_seconds_remaining": 9.834, "calls_remaining_including_this": 38 }, "api_seconds": 8.207425664179027, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Kettle sits right at the fingers; descend 5 cm to straddle its handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01104, -0.04747, 0.0439, -2.39244, -0.01748, 2.43423, 0.06546 ], "gripper_open": 1.0, "tcp_xyz": [ 0.51, 0.02591, 0.76996 ], "tcp_roll_pitch_yaw": [ 0.00808, -0.10916, 0.02503 ], "tcp_rotation_matrix": [ [ 0.99596, 0.00191, 0.08974 ], [ 0.00269, -0.99996, -0.00852 ], [ 0.08972, 0.00873, -0.99593 ] ], "simulated_seconds_remaining": 9.174, "calls_remaining_including_this": 37 }, "api_seconds": 10.60856679175049, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54, "y": -0.03 }, "note": "Shift right and forward to center the kettle between the fingers." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.04052, 0.02901, -0.00871, -2.29173, -0.00486, 2.41546, -0.05019 ], "gripper_open": 1.0, "tcp_xyz": [ 0.54055, -0.02719, 0.77261 ], "tcp_roll_pitch_yaw": [ 0.00815, -0.11374, 0.02718 ], "tcp_rotation_matrix": [ [ 0.99553, 0.00404, 0.09431 ], [ 0.00483, -0.99996, -0.00813 ], [ 0.09427, 0.00855, -0.99551 ] ], "simulated_seconds_remaining": 8.448, "calls_remaining_including_this": 36 }, "api_seconds": 7.005953244864941, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.68 }, "note": "Descend further; testing whether the kettle grows (i.e., it is below us) and to reach grasp height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.04171, 0.06182, -0.00976, -2.32927, -0.00511, 2.64621, -0.04867 ], "gripper_open": 1.0, "tcp_xyz": [ 0.57459, -0.02992, 0.76742 ], "tcp_roll_pitch_yaw": [ -0.00391, -0.2737, 0.02685 ], "tcp_rotation_matrix": [ [ 0.96776, -0.00063, 0.25188 ], [ 0.00352, -0.99987, -0.01599 ], [ 0.25186, 0.01636, -0.96763 ] ], "simulated_seconds_remaining": 7.524, "calls_remaining_including_this": 35 }, "api_seconds": 9.611113925464451, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "pitch": 0 }, "note": "Table top is ~0.77 (z blocked). Rise above table to look down and locate kettle precisely." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.03624, 0.05899, -0.00619, -1.82847, -0.02465, 1.87174, -0.03952 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57473, -0.02992, 0.91911 ], "tcp_roll_pitch_yaw": [ -0.00393, -0.00233, 0.02686 ], "tcp_rotation_matrix": [ [ 0.99985, 0.00478, -0.01659 ], [ 0.00439, -0.99972, -0.02322 ], [ -0.0167, 0.02315, -0.99959 ] ], "simulated_seconds_remaining": 6.204, "calls_remaining_including_this": 34 }, "api_seconds": 14.611371954903007, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.855 }, "note": "Kettle is directly below; descend to handle height for grasp." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.03659, 0.09433, -0.00652, -1.94655, -0.02594, 2.02481, -0.03612 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57467, -0.02992, 0.85613 ], "tcp_roll_pitch_yaw": [ -0.00391, -0.00197, 0.02686 ], "tcp_rotation_matrix": [ [ 0.99984, 0.00479, -0.01695 ], [ 0.00439, -0.99972, -0.02322 ], [ -0.01706, 0.02314, -0.99959 ] ], "simulated_seconds_remaining": 5.478, "calls_remaining_including_this": 33 }, "api_seconds": 24.620769596658647, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.09, "z": 0.95 }, "note": "Calibrate exterior view: move -y and up, then compare gripper position vs kettle in exterior image." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.09172, 0.07016, -0.05396, -1.73874, -0.02221, 1.79563, -0.1449 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57471, -0.08939, 0.94902 ], "tcp_roll_pitch_yaw": [ -0.00396, -0.00226, 0.0267 ], "tcp_rotation_matrix": [ [ 0.99985, 0.00462, -0.01667 ], [ 0.00423, -0.99972, -0.02326 ], [ -0.01677, 0.02318, -0.99959 ] ], "simulated_seconds_remaining": 4.422, "calls_remaining_including_this": 32 }, "api_seconds": 16.213331657461822, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.585, "y": -0.037, "z": 0.86 }, "note": "Estimated kettle at y=-0.037, x~0.585; descend to handle height for grasp." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.04276, 0.1221, -0.01283, -1.8976, -0.02488, 2.00391, -0.04947 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58482, -0.03758, 0.861 ], "tcp_roll_pitch_yaw": [ -0.00394, -0.00194, 0.02686 ], "tcp_rotation_matrix": [ [ 0.99984, 0.00478, -0.01698 ], [ 0.00439, -0.99972, -0.02324 ], [ -0.01709, 0.02316, -0.99959 ] ], "simulated_seconds_remaining": 3.432, "calls_remaining_including_this": 31 }, "api_seconds": 5.204918660223484, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on kettle handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.04276, 0.1221, -0.01283, -1.8976, -0.02488, 2.00391, -0.04947 ], "gripper_open": 0.0, "tcp_xyz": [ 0.58483, -0.03758, 0.86099 ], "tcp_roll_pitch_yaw": [ -0.00394, -0.00194, 0.02686 ], "tcp_rotation_matrix": [ [ 0.99984, 0.00478, -0.01698 ], [ 0.00439, -0.99972, -0.02324 ], [ -0.01708, 0.02316, -0.99959 ] ], "simulated_seconds_remaining": 2.508, "calls_remaining_including_this": 30 }, "api_seconds": 7.407405844889581, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.62, "y": -0.02 }, "note": "Empty closure; reopen and shift slightly forward/left toward where kettle appears in wrist view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.02441, 0.22525, 0.00018, -1.7578, -0.02566, 1.96648, -0.01879 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.61924, -0.02035, 0.86096 ], "tcp_roll_pitch_yaw": [ -0.00393, -0.00191, 0.02692 ], "tcp_rotation_matrix": [ [ 0.99984, 0.00484, -0.01701 ], [ 0.00445, -0.99972, -0.02323 ], [ -0.01712, 0.02315, -0.99959 ] ], "simulated_seconds_remaining": 1.584, "calls_remaining_including_this": 29 }, "api_seconds": 10.81498434394598, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.015, "gripper": 0 }, "note": "Last attempt: shift left onto handle and close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01105, 0.22575, 0.02226, -1.75686, -0.02992, 1.96463, 0.03975 ], "gripper_open": 0.0, "tcp_xyz": [ 0.61924, 0.01431, 0.86096 ], "tcp_roll_pitch_yaw": [ -0.00391, -0.00191, 0.02704 ], "tcp_rotation_matrix": [ [ 0.99984, 0.00496, -0.01701 ], [ 0.00456, -0.99972, -0.02322 ], [ -0.01712, 0.02314, -0.99959 ] ], "simulated_seconds_remaining": 0.66, "calls_remaining_including_this": 28 }, "api_seconds": 2.8031206699088216, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably localize the kettle from the ambiguous wrist/exterior views; two grasp attempts closed on empty air and simulated time is exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 001 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 1, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 19, "api_calls": 20, "wall_seconds": 212.2086365222931, "usage": { "input_tokens": 40, "cache_creation_input_tokens": 22432, "cache_read_input_tokens": 224352, "output_tokens": 11517 }, "estimated_cost_usd": 0.540501 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezcM1ZVbAzccMFykLZEX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CYJz87W53MiLrR5v7KANiq", "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": 1756, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1756, "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_011CezcMBv61d7zszyenhVvd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LMSLdGXRrQsiWjguLJN6Xa", "name": "move_to", "input": { "targets": { "z": 1.2 }, "note": "Lift up to get a wider top-down view to locate the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 518, "cache_read_input_tokens": 1756, "cache_creation": { "ephemeral_5m_input_tokens": 518, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 381, "output_tokens_details": { "thinking_tokens": 286 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezcMqSKErJMomeukPeAu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TEiB5Zc29rCTXPG7PAWcdz", "name": "move_to", "input": { "targets": { "x": 0.35, "y": -0.25, "z": 1.15 }, "note": "Move right to inspect the dark object on the table to the right of the laptop." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 2274, "cache_creation": { "ephemeral_5m_input_tokens": 871, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 259, "output_tokens_details": { "thinking_tokens": 145 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezcNFLjcfTtjzr3FGUR3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011uzBfuD8xbNeeC7jbSB2xy", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 1.15 }, "note": "Move above the laptop area to look down at the object with button rows (likely the remote)." }, "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": 3145, "cache_creation": { "ephemeral_5m_input_tokens": 756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 565, "output_tokens_details": { "thinking_tokens": 449 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezcP5ZtbTSZ7uXAnuXAA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G4F951nAykqSCmkDPXUykf", "name": "move_to", "input": { "targets": { "z": 0.98 }, "note": "Lower toward table surface to see what's directly beneath 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": 1056, "cache_read_input_tokens": 3901, "cache_creation": { "ephemeral_5m_input_tokens": 1056, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 496, "output_tokens_details": { "thinking_tokens": 399 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezcPpTqGKMoJysSTvZEm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012ra3N4h5YHYxUKXPAGAeVz", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.35 }, "note": "Raise high for a wide downward view of the table to locate the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 987, "cache_read_input_tokens": 4957, "cache_creation": { "ephemeral_5m_input_tokens": 987, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 695, "output_tokens_details": { "thinking_tokens": 583 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezcQjcQYEpa9ibVko7vQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EVpB9Twa3rXBsfuc64wY1F", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.25, "z": 1.15 }, "note": "Survey the left side of the table for the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1183, "cache_read_input_tokens": 5944, "cache_creation": { "ephemeral_5m_input_tokens": 1183, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 407, "output_tokens_details": { "thinking_tokens": 302 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezcRM6bd4VprxqcyY6hg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KoiC1RbscYbAe79b72WM8y", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.1, "z": 1.05 }, "note": "Move to mid-table at lower height for a closer look at candidate remote near the laptop." }, "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": 7127, "cache_creation": { "ephemeral_5m_input_tokens": 898, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 969, "output_tokens_details": { "thinking_tokens": 850 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezcSbeUYa87PDB3zx4mC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LDTRw6D1Gxksvj8B1F8wZJ", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.03, "z": 1.05 }, "note": "Based on wrist-camera geometry (image up=-x, right=+y), the striped object is near (0.23,0.03); centering over it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1459, "cache_read_input_tokens": 8025, "cache_creation": { "ephemeral_5m_input_tokens": 1459, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 3315, "output_tokens_details": { "thinking_tokens": 3180 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezcWKPo97LTEp7geN4J1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NA89zp95u45A3giLUgKSX1", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.3, "z": 1.2 }, "note": "Laptop identified at center; survey the right-forward region for the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 3811, "cache_read_input_tokens": 9484, "cache_creation": { "ephemeral_5m_input_tokens": 3811, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 610, "output_tokens_details": { "thinking_tokens": 497 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezcX7cPvKgoahCXDEaSi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DRi61HJnqri7X7vPXgHvWB", "name": "move_to", "input": { "targets": { "x": 0.22, "y": 0.03, "z": 0.98 }, "note": "Return over the striped object and descend for a close, high-resolution look to identify the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1101, "cache_read_input_tokens": 13295, "cache_creation": { "ephemeral_5m_input_tokens": 1101, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 610, "output_tokens_details": { "thinking_tokens": 492 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezcXwt2yscTaMai9ZjXD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XFSr2sPRDRcCLFTRzibLHo", "name": "move_to", "input": { "targets": { "yaw": 1.57, "z": 0.95 }, "note": "Align fingers across the elongated striped object (long axis along y) and descend toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1101, "cache_read_input_tokens": 14396, "cache_creation": { "ephemeral_5m_input_tokens": 1101, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 686, "output_tokens_details": { "thinking_tokens": 574 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezcYrqxTqcccZqrbJn6B", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YQZQq4W15RxkfDQTfk5umB", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Descend closer to the object surface before closing 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": 1181, "cache_read_input_tokens": 15497, "cache_creation": { "ephemeral_5m_input_tokens": 1181, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 276, "output_tokens_details": { "thinking_tokens": 183 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezcZDfq5dxzSKscvooHY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CZ9zXNz5epAWkarCtNPZNM", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasp of the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 16678, "cache_creation": { "ephemeral_5m_input_tokens": 768, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 150 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezcZadAMVoWutsWYnqCG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018Lcd95oT3j8qAxFjdWjNe6", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 1.02 }, "note": "Empty grasp; reopen and rise slightly to see the object relative to 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": 733, "cache_read_input_tokens": 17446, "cache_creation": { "ephemeral_5m_input_tokens": 733, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 265, "output_tokens_details": { "thinking_tokens": 154 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezcaBG1kv3Aq6gFMX2M2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hne3eUrsxMpLDhbYH6Rwp9", "name": "move_to", "input": { "targets": { "x": 0.19, "y": -0.02, "z": 0.93 }, "note": "Shift toward where the striped object appears relative to the fingers and descend to 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": 757, "cache_read_input_tokens": 18179, "cache_creation": { "ephemeral_5m_input_tokens": 757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 930, "output_tokens_details": { "thinking_tokens": 811 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezcbQK6kgHMw8RrBjrSY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LL4QeGVXGjWE26zcp29sud", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at adjusted position to grasp the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1421, "cache_read_input_tokens": 18936, "cache_creation": { "ephemeral_5m_input_tokens": 1421, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 261, "output_tokens_details": { "thinking_tokens": 167 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezcbpm2Va3Mpemc5RqEh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SDm1uigEqwNTCwcgqrSEGR", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.14 }, "note": "Empty again; object appears further in -x, so open and shift back while staying at 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": 751, "cache_read_input_tokens": 20357, "cache_creation": { "ephemeral_5m_input_tokens": 751, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 247, "output_tokens_details": { "thinking_tokens": 136 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezccEbEzFo6acZVAfmVA", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01RTj8mzVpZ9WASx3pKYCPLy", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at the shifted position for another 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": 739, "cache_read_input_tokens": 21108, "cache_creation": { "ephemeral_5m_input_tokens": 739, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 94, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezccSbJTJEdJ8d2AY3xH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JUhJ6S7p4BwYx3fY98gLwK", "name": "give_up", "input": { "note": "Could not reliably localize the remote; wrist view was obstructed by the arm and grasp attempts closed on empty space. Out of simulated motion time." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 585, "cache_read_input_tokens": 21847, "cache_creation": { "ephemeral_5m_input_tokens": 585, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 123, "output_tokens_details": { "thinking_tokens": 29 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.03825, -0.82381, 0.00166, -2.38942, -0.03907, 1.60395, 0.00277 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30589, 0.00205, 1.0145 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99854, 0.03637, 0.03987 ], [ 0.03791, -0.99853, -0.03871 ], [ 0.03841, 0.04017, -0.99845 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.010340090841055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.2 }, "note": "Lift up to get a wider top-down view to locate the remote." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.03443, -0.5885, 0.00611, -1.72884, -0.0399, 1.17916, -0.01355 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30592, 0.00205, 1.19868 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00019, 0.0 ], "tcp_rotation_matrix": [ [ 0.99854, 0.03636, 0.04006 ], [ 0.03791, -0.99853, -0.0387 ], [ 0.03859, 0.04016, -0.99845 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 56 }, "api_seconds": 5.005059721879661, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.25, "z": 1.15 }, "note": "Move right to inspect the dark object on the table to the right of the laptop." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.03307, -0.38427, -0.41494, -1.6754, -0.17374, 1.37688, -0.50009 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34976, -0.24875, 1.1502 ], "tcp_roll_pitch_yaw": [ 9e-05, -6e-05, -0.0002 ], "tcp_rotation_matrix": [ [ 0.99855, 0.03616, 0.03993 ], [ 0.03771, -0.99854, -0.03863 ], [ 0.03847, 0.04008, -0.99846 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 55 }, "api_seconds": 10.409652877599001, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 1.15 }, "note": "Move above the laptop area to look down at the object with button rows (likely the remote)." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.13775, -0.10859, -0.10618, -1.43689, -0.05247, 1.36777, -0.01684 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49933, -0.00106, 1.14993 ], "tcp_roll_pitch_yaw": [ 6e-05, 8e-05, 5e-05 ], "tcp_rotation_matrix": [ [ 0.99854, 0.03642, 0.03979 ], [ 0.03796, -0.99853, -0.03865 ], [ 0.03833, 0.0401, -0.99846 ] ], "simulated_seconds_remaining": 24.222, "calls_remaining_including_this": 54 }, "api_seconds": 9.207794058136642, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.98 }, "note": "Lower toward table surface to see what's directly beneath the gripper." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.13568, -0.23119, -0.10646, -2.01211, -0.06632, 1.81995, 0.00949 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4993, -0.00106, 0.98121 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00041, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99856, 0.03642, 0.03946 ], [ 0.03795, -0.99853, -0.03868 ], [ 0.03799, 0.04012, -0.99847 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 53 }, "api_seconds": 12.610245912335813, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.35 }, "note": "Raise high for a wide downward view of the table to locate the remote." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 6, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.13568, -0.23119, -0.10646, -2.01211, -0.06632, 1.81995, 0.00949 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4993, -0.00106, 0.98121 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00041, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99856, 0.03642, 0.03946 ], [ 0.03795, -0.99853, -0.03868 ], [ 0.03799, 0.04012, -0.99847 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 52 }, "api_seconds": 7.607328384183347, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.25, "z": 1.15 }, "note": "Survey the left side of the table for the remote." } } } ] } } ] }, "execution": { "steps": 37, "motion_seconds": 2.442, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.32171, -0.1784, 0.22644, -1.50426, -0.01408, 1.34419, 0.50423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40039, 0.24903, 1.14932 ], "tcp_roll_pitch_yaw": [ 8e-05, 0.0003, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99854, 0.03666, 0.03959 ], [ 0.03819, -0.99852, -0.03862 ], [ 0.03811, 0.04008, -0.99847 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 51 }, "api_seconds": 16.415651832707226, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.1, "z": 1.05 }, "note": "Move to mid-table at lower height for a closer look at candidate remote near the laptop." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.21676, -0.32021, 0.02488, -1.92124, -0.03918, 1.63017, 0.20502 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44966, 0.101, 1.05067 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00047, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99856, 0.03642, 0.03941 ], [ 0.03795, -0.99853, -0.03865 ], [ 0.03794, 0.04009, -0.99848 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 50 }, "api_seconds": 49.84343968424946, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.03, "z": 1.05 }, "note": "Based on wrist-camera geometry (image up=-x, right=+y), the striped object is near (0.23,0.03); centering over it." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.2034, -0.9493, -0.01765, -2.35397, -0.0604, 1.43651, 0.14666 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25126, 0.03044, 1.05008 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.00026, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99855, 0.0364, 0.03961 ], [ 0.03793, -0.99853, -0.03861 ], [ 0.03815, 0.04006, -0.99847 ] ], "simulated_seconds_remaining": 17.094, "calls_remaining_including_this": 49 }, "api_seconds": 9.608672631904483, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.3, "z": 1.2 }, "note": "Laptop identified at center; survey the right-forward region for the remote." } } } ] } } ] }, "execution": { "steps": 46, "motion_seconds": 3.036, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.0027, 0.19284, -0.73965, -0.95965, 0.13817, 1.16194, -0.70204 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44932, -0.29901, 1.19943 ], "tcp_roll_pitch_yaw": [ 0.00015, 0.00049, -0.00048 ], "tcp_rotation_matrix": [ [ 0.99858, 0.03591, 0.03937 ], [ 0.03743, -0.99855, -0.03857 ], [ 0.03793, 0.03999, -0.99848 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 48 }, "api_seconds": 10.409358584322035, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.03, "z": 0.98 }, "note": "Return over the striped object and descend for a close, high-resolution look to identify the remote." } } } ] } } ] }, "execution": { "steps": 51, "motion_seconds": 3.366, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.19307, -1.12415, -0.00427, -2.60786, -0.04936, 1.51514, 0.1508 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22067, 0.02905, 0.98066 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00048, -0.00035 ], "tcp_rotation_matrix": [ [ 0.99857, 0.03604, 0.03938 ], [ 0.03756, -0.99855, -0.03863 ], [ 0.03793, 0.04006, -0.99848 ] ], "simulated_seconds_remaining": 10.692, "calls_remaining_including_this": 47 }, "api_seconds": 11.610285802744329, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.57, "z": 0.95 }, "note": "Align fingers across the elongated striped object (long axis along y) and descend toward it." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.71913, -1.26921, -0.34928, -2.687, -0.32344, 1.49719, -1.03439 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22067, 0.02905, 0.95009 ], "tcp_roll_pitch_yaw": [ 0.00012, 0.00045, 1.5654 ], "tcp_rotation_matrix": [ [ -0.03252, 0.99872, 0.0388 ], [ 0.99875, 0.031, 0.03922 ], [ 0.03796, 0.04003, -0.99848 ] ], "simulated_seconds_remaining": 8.316, "calls_remaining_including_this": 46 }, "api_seconds": 4.604224539361894, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Descend closer to the object surface before closing the gripper." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.70191, -1.29947, -0.37606, -2.76924, -0.35053, 1.54807, -1.03448 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22065, 0.02904, 0.92098 ], "tcp_roll_pitch_yaw": [ 0.00023, 0.0005, 1.56541 ], "tcp_rotation_matrix": [ [ -0.03252, 0.99872, 0.03869 ], [ 0.99875, 0.03101, 0.03916 ], [ 0.03791, 0.03992, -0.99848 ] ], "simulated_seconds_remaining": 7.788, "calls_remaining_including_this": 45 }, "api_seconds": 4.604212369769812, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasp of the remote." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.70191, -1.29947, -0.37606, -2.76924, -0.35053, 1.54807, -1.03448 ], "gripper_open": 0.0, "tcp_xyz": [ 0.22065, 0.02904, 0.92097 ], "tcp_roll_pitch_yaw": [ 0.00023, 0.0005, 1.56541 ], "tcp_rotation_matrix": [ [ -0.03252, 0.99872, 0.03869 ], [ 0.99875, 0.03101, 0.03917 ], [ 0.03792, 0.03992, -0.99848 ] ], "simulated_seconds_remaining": 6.864, "calls_remaining_including_this": 44 }, "api_seconds": 7.607302744872868, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 1.02 }, "note": "Empty grasp; reopen and rise slightly to see the object relative to the fingers." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.75032, -1.18114, -0.30082, -2.48109, -0.27366, 1.38011, -1.03796 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22068, 0.02904, 1.01878 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00044, 1.56537 ], "tcp_rotation_matrix": [ [ -0.03249, 0.99872, 0.03883 ], [ 0.99875, 0.03097, 0.03922 ], [ 0.03797, 0.04006, -0.99848 ] ], "simulated_seconds_remaining": 5.874, "calls_remaining_including_this": 43 }, "api_seconds": 16.213330020196736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.19, "y": -0.02, "z": 0.93 }, "note": "Shift toward where the striped object appears relative to the fingers and descend to grasp height." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.63824, -1.461, -0.40259, -2.76036, -0.3958, 1.38263, -1.11134 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.19037, -0.01941, 0.93112 ], "tcp_roll_pitch_yaw": [ 0.00016, 0.0004, 1.56531 ], "tcp_rotation_matrix": [ [ -0.03242, 0.99872, 0.03877 ], [ 0.99875, 0.0309, 0.03926 ], [ 0.03802, 0.03999, -0.99848 ] ], "simulated_seconds_remaining": 4.884, "calls_remaining_including_this": 42 }, "api_seconds": 5.204692685045302, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at adjusted position to grasp the remote." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.63824, -1.461, -0.40259, -2.76036, -0.3958, 1.38263, -1.11134 ], "gripper_open": 0.0, "tcp_xyz": [ 0.19037, -0.01941, 0.93111 ], "tcp_roll_pitch_yaw": [ 0.00016, 0.0004, 1.56531 ], "tcp_rotation_matrix": [ [ -0.03243, 0.99872, 0.03877 ], [ 0.99875, 0.0309, 0.03926 ], [ 0.03802, 0.03999, -0.99848 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 41 }, "api_seconds": 5.407832407392561, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.14 }, "note": "Empty again; object appears further in -x, so open and shift back while staying at grasp height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.59673, -1.62241, -0.31322, -2.80101, -0.3195, 1.24889, -1.11059 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.1411, -0.01942, 0.93112 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00036, 1.56528 ], "tcp_rotation_matrix": [ [ -0.0324, 0.99872, 0.03886 ], [ 0.99875, 0.03088, 0.0393 ], [ 0.03805, 0.04009, -0.99847 ] ], "simulated_seconds_remaining": 3.036, "calls_remaining_including_this": 40 }, "api_seconds": 2.2022491339594126, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at the shifted position for another grasp attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.59673, -1.62241, -0.31322, -2.80101, -0.3195, 1.24889, -1.11059 ], "gripper_open": 0.0, "tcp_xyz": [ 0.14109, -0.01942, 0.93112 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00036, 1.56528 ], "tcp_rotation_matrix": [ [ -0.0324, 0.99872, 0.03886 ], [ 0.99875, 0.03088, 0.0393 ], [ 0.03805, 0.04009, -0.99847 ] ], "simulated_seconds_remaining": 2.112, "calls_remaining_including_this": 39 }, "api_seconds": 3.403170093894005, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably localize the remote; wrist view was obstructed by the arm and grasp attempts closed on empty space. Out of simulated motion time." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 002 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 2, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 13, "api_calls": 14, "wall_seconds": 154.54624247550964, "usage": { "input_tokens": 28, "cache_creation_input_tokens": 15901, "cache_read_input_tokens": 107133, "output_tokens": 7946 }, "estimated_cost_usd": 0.35173775 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezceZnwfBLHgoVXkNoM3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ENwqUCRdMhBEAHdX1SN5Qk", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 174, "output_tokens_details": { "thinking_tokens": 150 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezceu3pQiZSAjNUEzRjt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FNrQFv8A7AQAxLQDyjKuHn", "name": "move_to", "input": { "targets": { "x": 0.2, "y": 0.0, "z": 1.15 }, "note": "Raise to survey the table from above with the wrist camera to locate the ladle." }, "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": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 609, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 341, "output_tokens_details": { "thinking_tokens": 225 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezcfQTebvNRyzyp6jhDo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017gJvzMY93wSNvb2nYzcQQ4", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move forward over the table to see the tabletop objects in the wrist camera." }, "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": 2368, "cache_creation": { "ephemeral_5m_input_tokens": 831, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 372, "output_tokens_details": { "thinking_tokens": 257 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezcfvUvsH7LrXmqXg331", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012rmLXrevPT9nDc7UXv81ZZ", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.03, "z": 0.98 }, "note": "Ladle (yellow bowl with blue handle) spotted slightly right of center; approaching closer and lower." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 862, "cache_read_input_tokens": 3199, "cache_creation": { "ephemeral_5m_input_tokens": 862, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 425, "output_tokens_details": { "thinking_tokens": 298 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezcgYenVrPitEFDMgatq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LUF7E3aGq5xBRBvFbFL6vP", "name": "move_to", "input": { "targets": { "x": 0.61 }, "note": "Test move forward 0.06 m to calibrate how the ladle shifts in the wrist image." }, "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": 4061, "cache_creation": { "ephemeral_5m_input_tokens": 923, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1522, "output_tokens_details": { "thinking_tokens": 1416 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezciMSerLYpzLsyjYVUf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EouW5fSkidqacUmkWSWuXP", "name": "move_to", "input": { "targets": { "y": -0.09 }, "note": "Test move in -y to calibrate horizontal image axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2016, "cache_read_input_tokens": 4984, "cache_creation": { "ephemeral_5m_input_tokens": 2016, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 637, "output_tokens_details": { "thinking_tokens": 543 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezcjDJHcfBV3KQe5fZ3X", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JhLY7URqYTPLVtqzCSDuKR", "name": "move_to", "input": { "targets": { "y": 0.03 }, "note": "Calibration says image right = +y; ladle is far right in image, so move +y toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1132, "cache_read_input_tokens": 7000, "cache_creation": { "ephemeral_5m_input_tokens": 1132, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1102, "output_tokens_details": { "thinking_tokens": 999 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezckXGp7dg8Qc3fge5jf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LKHXYSUaBBvYqZSqCuAgnV", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Lower toward the table to judge alignment between the fingers and the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1595, "cache_read_input_tokens": 8132, "cache_creation": { "ephemeral_5m_input_tokens": 1595, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 703, "output_tokens_details": { "thinking_tokens": 604 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezcmV1ebnpiCmECHmWMR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018hpkrNCmAZYxLPgsH2Z5gk", "name": "move_to", "input": { "targets": { "x": 0.625, "y": 0.12 }, "note": "Perspective test confirms ladle offset in +y; moving +0.09 in y and slightly +x to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1195, "cache_read_input_tokens": 9727, "cache_creation": { "ephemeral_5m_input_tokens": 1195, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 598, "output_tokens_details": { "thinking_tokens": 479 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezcnGWrcqCoiE6sg12SW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PnhngR2KFUq4hjbmucW784", "name": "move_to", "input": { "targets": { "y": 0.17, "z": 0.84 }, "note": "Continuing to center the ladle bowl: move further +y and lower a bit." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1091, "cache_read_input_tokens": 10922, "cache_creation": { "ephemeral_5m_input_tokens": 1091, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 920, "output_tokens_details": { "thinking_tokens": 812 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezcoTBaHK6zBnihsuGMc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K7frsttxKUDx6fKtqpLeVx", "name": "move_to", "input": { "targets": { "x": 0.645, "y": 0.19, "z": 0.82 }, "note": "Small refinement to center over ladle bowl and descend closer to the table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1413, "cache_read_input_tokens": 12013, "cache_creation": { "ephemeral_5m_input_tokens": 1413, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 373, "output_tokens_details": { "thinking_tokens": 259 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezcozr5btytVDY3KtzfE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WJRCSWQ23giPhG5ww3DELU", "name": "move_to", "input": { "targets": { "z": 0.785 }, "note": "Descend to ladle height before closing gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 867, "cache_read_input_tokens": 13426, "cache_creation": { "ephemeral_5m_input_tokens": 867, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 462, "output_tokens_details": { "thinking_tokens": 372 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezcpxHKi8F8C5WeEcS2o", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016yxarjX5E8651B57beQzQ5", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Ladle bowl appears between the fingers; closing gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 956, "cache_read_input_tokens": 14293, "cache_creation": { "ephemeral_5m_input_tokens": 956, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 159, "output_tokens_details": { "thinking_tokens": 63 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezcqSK39WqriFJa2M2k2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GMHk2D6GQkorg6QjfbRpbV", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Gripper closed onto something (0.14 opening); lifting to check grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 15249, "cache_creation": { "ephemeral_5m_input_tokens": 652, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 158, "output_tokens_details": { "thinking_tokens": 57 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00966, -0.83213, -0.03534, -2.39672, 0.02672, 1.58698, -0.01563 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29924, -0.00563, 1.01183 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99956, -0.01762, 0.02382 ], [ -0.01885, -0.99847, 0.05204 ], [ 0.02287, -0.05247, -0.99836 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.209963272325695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.2, "y": 0.0, "z": 1.15 }, "note": "Raise to survey the table from above with the wrist camera to locate the ladle." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00811, -0.92948, -0.02594, -2.053, 0.03494, 1.1468, 0.00912 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.20079, -4e-05, 1.149 ], "tcp_roll_pitch_yaw": [ 0.0, -0.0003, -0.0 ], "tcp_rotation_matrix": [ [ 0.99955, -0.01761, 0.02413 ], [ -0.01885, -0.99847, 0.05205 ], [ 0.02317, -0.05248, -0.99835 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 6.205806952901185, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move forward over the table to see the tabletop objects in the wrist camera." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.00228, -0.31399, -0.02672, -1.78395, 0.0445, 1.49281, -0.00101 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44868, -0.0, 1.10016 ], "tcp_roll_pitch_yaw": [ 0.0, -3e-05, -0.0 ], "tcp_rotation_matrix": [ [ 0.99956, -0.01762, 0.02386 ], [ -0.01885, -0.99847, 0.05205 ], [ 0.0229, -0.05247, -0.99836 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 55 }, "api_seconds": 8.007056347094476, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.03, "z": 0.98 }, "note": "Ladle (yellow bowl with blue handle) spotted slightly right of center; approaching closer and lower." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.01638, -0.05809, -0.05966, -1.82134, 0.05141, 1.78261, -0.068 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54914, -0.02977, 0.98084 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00031, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99957, -0.01768, 0.02352 ], [ -0.01889, -0.99847, 0.05206 ], [ 0.02256, -0.05248, -0.99837 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 54 }, "api_seconds": 24.219883443787694, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.61 }, "note": "Test move forward 0.06 m to calibrate how the ladle shifts in the wrist image." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.01646, 0.13543, -0.0588, -1.5818, 0.06248, 1.73612, -0.06605 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60879, -0.02977, 0.98075 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00047, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99957, -0.01768, 0.02336 ], [ -0.01888, -0.99847, 0.05207 ], [ 0.0224, -0.05249, -0.99837 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 53 }, "api_seconds": 11.209228186868131, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.09 }, "note": "Test move in -y to calibrate horizontal image axis." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.07575, 0.16037, -0.1013, -1.54817, 0.0723, 1.72128, -0.16743 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60878, -0.08896, 0.98074 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00049, -0.00033 ], "tcp_rotation_matrix": [ [ 0.99957, -0.01798, 0.02335 ], [ -0.01917, -0.99846, 0.05203 ], [ 0.02238, -0.05245, -0.99837 ] ], "simulated_seconds_remaining": 23.76, "calls_remaining_including_this": 52 }, "api_seconds": 17.415191795676947, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03 }, "note": "Calibration says image right = +y; ladle is far right in image, so move +y toward it." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04123, 0.13044, -0.01581, -1.58933, 0.05435, 1.74419, 0.03513 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60878, 0.02889, 0.98074 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.0005, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99957, -0.01766, 0.02333 ], [ -0.01885, -0.99847, 0.05207 ], [ 0.02237, -0.05249, -0.99837 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 51 }, "api_seconds": 12.411040992476046, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Lower toward the table to judge alignment between the fingers and the ladle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04249, 0.15043, -0.0147, -1.81746, 0.05875, 1.99168, 0.02289 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60872, 0.02889, 0.88113 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00086, -0.0 ], "tcp_rotation_matrix": [ [ 0.99958, -0.01767, 0.02296 ], [ -0.01885, -0.99847, 0.05205 ], [ 0.02201, -0.05247, -0.99838 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 50 }, "api_seconds": 10.40859630331397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.625, "y": 0.12 }, "note": "Perspective test confirms ladle offset in +y; moving +0.09 in y and slightly +x to center it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.13164, 0.22847, 0.04386, -1.71309, 0.04066, 1.97268, 0.17685 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62475, 0.11889, 0.8811 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.0009, 0.00031 ], "tcp_rotation_matrix": [ [ 0.99959, -0.01736, 0.02291 ], [ -0.01853, -0.99847, 0.05209 ], [ 0.02197, -0.05249, -0.99838 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 49 }, "api_seconds": 15.810883209109306, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.17, "z": 0.84 }, "note": "Continuing to center the ladle bowl: move further +y and lower a bit." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.18495, 0.28755, 0.07201, -1.73586, 0.02753, 2.05758, 0.25892 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62467, 0.16911, 0.8407 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00114, 0.00056 ], "tcp_rotation_matrix": [ [ 0.9996, -0.01713, 0.02266 ], [ -0.01829, -0.99848, 0.05207 ], [ 0.02173, -0.05247, -0.99839 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 48 }, "api_seconds": 7.2062893230468035, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.645, "y": 0.19, "z": 0.82 }, "note": "Small refinement to center over ladle bowl and descend closer to the table." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.20492, 0.38002, 0.07765, -1.65286, 0.01726, 2.06762, 0.2862 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.64426, 0.18935, 0.82058 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00136, 0.00067 ], "tcp_rotation_matrix": [ [ 0.9996, -0.01703, 0.02243 ], [ -0.01818, -0.99848, 0.05204 ], [ 0.02151, -0.05243, -0.99839 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 47 }, "api_seconds": 12.610611057840288, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.785 }, "note": "Descend to ladle height before closing gripper." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.20562, 0.41209, 0.07675, -1.69566, 0.01579, 2.14206, 0.28475 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.64419, 0.18932, 0.78604 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00168, 0.00067 ], "tcp_rotation_matrix": [ [ 0.99961, -0.01705, 0.02212 ], [ -0.01818, -0.99848, 0.05196 ], [ 0.0212, -0.05234, -0.9984 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 46 }, "api_seconds": 5.805402971804142, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Ladle bowl appears between the fingers; closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.20609, 0.41139, 0.07729, -1.69506, 0.01598, 2.14207, 0.28506 ], "gripper_open": 0.1412, "tcp_xyz": [ 0.64431, 0.19007, 0.7868 ], "tcp_roll_pitch_yaw": [ 0.00058, 0.00051, 0.0012 ], "tcp_rotation_matrix": [ [ 0.99959, -0.01645, 0.02325 ], [ -0.01766, -0.99846, 0.05265 ], [ 0.02235, -0.05304, -0.99834 ] ], "simulated_seconds_remaining": 18.018, "calls_remaining_including_this": 45 }, "api_seconds": 7.4106889152899384, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Gripper closed onto something (0.14 opening); lifting to check grasp." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 003 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 3, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 35, "api_calls": 36, "wall_seconds": 235.500634431839, "usage": { "input_tokens": 72, "cache_creation_input_tokens": 29554, "cache_read_input_tokens": 533068, "output_tokens": 10697 }, "estimated_cost_usd": 0.7190315 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezcrw1UQvLJS21wvd66h", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RDncqEjaMWyuSzeRnKPzRX", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "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_011Cezcs9DCut1wFPmnif9uV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QtYjDZF2A6XC5VCQg7dMGw", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 0.92 }, "note": "Move forward and down toward the teal object seen ahead." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 541, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 541, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 244, "output_tokens_details": { "thinking_tokens": 143 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezcsY1QSLrVMxzuwCgY6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AttQB6WxnX1TF3vZK6Rahd", "name": "move_to", "input": { "targets": { "y": 0.03, "z": 0.87 }, "note": "Object appears slightly left of gripper; shift +y and lower." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 738, "cache_read_input_tokens": 2301, "cache_creation": { "ephemeral_5m_input_tokens": 738, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 316, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezct2zvWJN3X2cSDpqdE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E1C91QqFyMpc6NJUaBAeYU", "name": "move_to", "input": { "targets": { "y": -0.03 }, "note": "Object drifted further left in wrist view after +y; reverse direction to center it." }, "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": 3039, "cache_creation": { "ephemeral_5m_input_tokens": 811, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 405, "output_tokens_details": { "thinking_tokens": 305 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezctadgkZQv5kNSpfZFV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GkpPrXYpELLvukdPS1bn7D", "name": "move_to", "input": { "targets": { "x": 0.44 }, "note": "Object centered laterally but appears farther forward in wrist view; advance x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 901, "cache_read_input_tokens": 3850, "cache_creation": { "ephemeral_5m_input_tokens": 901, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 228, "output_tokens_details": { "thinking_tokens": 129 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezctxrfjeNcWzRyZY1gX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Xve9VWrJYLwPt5t12bCCvk", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Descend toward the object to judge alignment at closer range." }, "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": 4751, "cache_creation": { "ephemeral_5m_input_tokens": 728, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 259, "output_tokens_details": { "thinking_tokens": 166 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezcuRneyWFt2j9kqeFNQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RmZ3x94wWqwC6Ei19yKP75", "name": "move_to", "input": { "targets": { "z": 0.8, "x": 0.45 }, "note": "Continue descending slowly over the object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 754, "cache_read_input_tokens": 5479, "cache_creation": { "ephemeral_5m_input_tokens": 754, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 311, "output_tokens_details": { "thinking_tokens": 216 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezcutaxe2i8pu34cKHan", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GaEKzWwgRCvWbrUu8bL4Zt", "name": "move_to", "input": { "targets": { "x": 0.42, "z": 0.93, "pitch": 0 }, "note": "Pose drifted (pitch -0.27, x overshoot); retreat up and reset orientation." }, "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": 6233, "cache_creation": { "ephemeral_5m_input_tokens": 806, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 312, "output_tokens_details": { "thinking_tokens": 189 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezcvMQGCJsihKrCR7zqX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MykneJPhEUymgzGtKDbKY3", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.88 }, "note": "Re-approach object slowly with level orientation." }, "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": 7039, "cache_creation": { "ephemeral_5m_input_tokens": 808, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 559, "output_tokens_details": { "thinking_tokens": 461 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezcwA5eEmL553Se4GNYW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y1ZjbpUZsdHr4Wr3qjhHJZ", "name": "move_to", "input": { "targets": { "x": 0.42, "y": -0.05, "z": 0.86, "pitch": 0 }, "note": "Compensate for consistent x overshoot and object appearing left 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": 1053, "cache_read_input_tokens": 7847, "cache_creation": { "ephemeral_5m_input_tokens": 1053, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 455, "output_tokens_details": { "thinking_tokens": 331 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezcwk9WabBsJnocMQp3s", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WAS3WwySxX2YPqFyKA3cNM", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.95, "pitch": 0 }, "note": "Retreat up and back to reset, then will descend before advancing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 954, "cache_read_input_tokens": 8900, "cache_creation": { "ephemeral_5m_input_tokens": 954, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 382, "output_tokens_details": { "thinking_tokens": 271 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezcxHEXuV3s4o1U29Ei2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013EL2de7Rsj4Du7de2ZVSK3", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Descend while backed off at x=0.35 to test achievable height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 878, "cache_read_input_tokens": 9854, "cache_creation": { "ephemeral_5m_input_tokens": 878, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 244, "output_tokens_details": { "thinking_tokens": 148 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezcxhb1GesEanYtCmHeN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XAGUYRobgMFNLh68vB6f5i", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Continue descending at backed-off x to find table/object height." }, "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": 10732, "cache_creation": { "ephemeral_5m_input_tokens": 744, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 141, "output_tokens_details": { "thinking_tokens": 48 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezcxy79w3Zj8V3F8ZmAe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K4EzUGzegRakAri2qNEiTs", "name": "move_to", "input": { "targets": { "x": 0.4 }, "note": "At lowest reachable height; advance toward the tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 635, "cache_read_input_tokens": 11476, "cache_creation": { "ephemeral_5m_input_tokens": 635, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 328, "output_tokens_details": { "thinking_tokens": 235 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezcyXamZgweje6SafUS8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WTW97ujN2JhVjQ7Wzt2DND", "name": "move_to", "input": { "targets": { "x": 0.43, "y": -0.045 }, "note": "Advance further and nudge +y to center the tissue 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": 828, "cache_read_input_tokens": 12111, "cache_creation": { "ephemeral_5m_input_tokens": 828, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 273, "output_tokens_details": { "thinking_tokens": 169 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezcyywXtp3rb1ZTgS63t", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VPgmt9DZg4WMnZ6jTKxWuB", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Tissue appears between fingers; close gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 768, "cache_read_input_tokens": 12939, "cache_creation": { "ephemeral_5m_input_tokens": 768, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 153, "output_tokens_details": { "thinking_tokens": 62 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezczGKHLd15Pp3mf3ukL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FJRHFDrPP34cR9aTwcqWZo", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Ensure gripper fully closes on tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 649, "cache_read_input_tokens": 13707, "cache_creation": { "ephemeral_5m_input_tokens": 649, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 166, "output_tokens_details": { "thinking_tokens": 75 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezczaebJdLGmJRkUkcCm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016bePVWr49AWN2WRh6kbiUx", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Attempt lift to check whether tissue is held." }, "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": 14356, "cache_creation": { "ephemeral_5m_input_tokens": 661, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 305, "output_tokens_details": { "thinking_tokens": 214 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezd14zg3kMNAWfBxG4ix", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014WxXEQP9dBSNnAUe9yL5Rf", "name": "move_to", "input": { "targets": { "x": 0.38, "z": 0.98, "gripper": 1 }, "note": "Object toppled; back off and look down to relocate it." }, "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": 15017, "cache_creation": { "ephemeral_5m_input_tokens": 801, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 576, "output_tokens_details": { "thinking_tokens": 468 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezd1xzYTcTRBdu36p3xu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0179RSeGC6rAKTzngRgTr15N", "name": "move_to", "input": { "targets": { "y": 0.0 }, "note": "Test lateral mapping: move +y ~5cm and observe object shift 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": 1071, "cache_read_input_tokens": 15818, "cache_creation": { "ephemeral_5m_input_tokens": 1071, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 328, "output_tokens_details": { "thinking_tokens": 224 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezd2X1sjnYH5FKC12w5M", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EgrS9UQ3ecjKSwU8QveXz7", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Object still right of center in wrist view; continue moving +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 829, "cache_read_input_tokens": 16889, "cache_creation": { "ephemeral_5m_input_tokens": 829, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 282, "output_tokens_details": { "thinking_tokens": 188 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezd3CzvuPp2qb1WqgybL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PcDQBe6wfRMvfp1PTj1yGB", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Object roughly centered laterally; descend toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 777, "cache_read_input_tokens": 17718, "cache_creation": { "ephemeral_5m_input_tokens": 777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 199, "output_tokens_details": { "thinking_tokens": 107 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezd3aDdQcdFEfXm6N8fg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R3hks3d2BSpwtKXM5SbfbJ", "name": "move_to", "input": { "targets": { "z": 0.845 }, "note": "Continue descending to grasp height over the toppled tissue." }, "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": 18495, "cache_creation": { "ephemeral_5m_input_tokens": 693, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezd3yjzHXePjkrwM13zJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ln4enPZxhDYTKrWJSFMaAD", "name": "move_to", "input": { "targets": { "x": 0.41, "y": 0.06 }, "note": "Advance slightly and nudge +y to align object 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": 703, "cache_read_input_tokens": 19188, "cache_creation": { "ephemeral_5m_input_tokens": 703, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 411, "output_tokens_details": { "thinking_tokens": 308 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezd4XqYXiAHhQfC27aNK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0155eYWfsGJmCucS1CLR2c4s", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Object appears between fingers; close gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 905, "cache_read_input_tokens": 19891, "cache_creation": { "ephemeral_5m_input_tokens": 905, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 236, "output_tokens_details": { "thinking_tokens": 147 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezd4xikGeedmnNyw1Cgm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L6TBxnuxTSdv7r7KqdZ11r", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.45 }, "note": "Empty close; reopen and reach further forward since object appears beyond fingertips." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 20796, "cache_creation": { "ephemeral_5m_input_tokens": 729, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 280, "output_tokens_details": { "thinking_tokens": 171 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezd5UEH5Q3aJVVCnSRKu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QecN7ShPQ6o7BwZnZm58QC", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Object appears right at fingers now; close." }, "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": 21525, "cache_creation": { "ephemeral_5m_input_tokens": 775, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 235, "output_tokens_details": { "thinking_tokens": 147 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezd5yZNtfZ31r6hAT9Jf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KUMzYuBGDkp67pCEmS4Tch", "name": "move_to", "input": { "targets": { "gripper": 1, "y": 0.035, "z": 0.838 }, "note": "Reopen; object sits left/above the finger convergence point, so shift -y and lower slightly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 22300, "cache_creation": { "ephemeral_5m_input_tokens": 729, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 732, "output_tokens_details": { "thinking_tokens": 610 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011Cezd719ekdBRvkUapFG7N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WHji7FteAxRVuYfp6bB6Tr", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Object centered between open fingers; close to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1227, "cache_read_input_tokens": 23029, "cache_creation": { "ephemeral_5m_input_tokens": 1227, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 135, "output_tokens_details": { "thinking_tokens": 44 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezd7H8azyDmg5Loq99hD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HmW62bSk89deVNxPxMJiK5", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.48 }, "note": "Still missing; object likely beyond fingertips, so reopen and advance 3 cm." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 629, "cache_read_input_tokens": 24256, "cache_creation": { "ephemeral_5m_input_tokens": 629, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 563, "output_tokens_details": { "thinking_tokens": 451 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011Cezd84A1HgQyx7aM9kBUD", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_018SfFoLNZKgXxVV95busnBE", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Advanced 3 cm; attempt grasp again." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1058, "cache_read_input_tokens": 24885, "cache_creation": { "ephemeral_5m_input_tokens": 1058, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 92, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011Cezd8L9h8uByxZabEfci9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012V2taW1LrqPHFCdhY1Djsz", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.81 }, "note": "Fingers may be passing above the object; reopen and lower 3 cm." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 587, "cache_read_input_tokens": 25943, "cache_creation": { "ephemeral_5m_input_tokens": 587, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 451, "output_tokens_details": { "thinking_tokens": 344 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011Cezd8wjLUtQfmQQvzhjwm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Vii8xJ11PptTnskAm5iHs7", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Lowered 3 cm; close gripper to grasp tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 946, "cache_read_input_tokens": 26530, "cache_creation": { "ephemeral_5m_input_tokens": 946, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 118, "output_tokens_details": { "thinking_tokens": 21 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 34, "response": { "model": "claude-opus-5", "id": "msg_011Cezd9C44KVFWBTMHLrZRj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016AgfLRjTVpiDRCo6no3bPr", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.54 }, "note": "Object still beyond fingertips; reopen and push forward 6 cm." }, "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": 27476, "cache_creation": { "ephemeral_5m_input_tokens": 614, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 262, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 35, "response": { "model": "claude-opus-5", "id": "msg_011Cezd9bUhXzCbQtT8ou85e", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NFApwLetZPC9frvhRMQZHg", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.84 }, "note": "Raise slightly to finger level with object and close." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 28090, "cache_creation": { "ephemeral_5m_input_tokens": 758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 211, "output_tokens_details": { "thinking_tokens": 113 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 36, "response": { "model": "claude-opus-5", "id": "msg_011Cezd9xpbcKTF6GiwozFmQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XTzA4xafJoizj9zahc4hMv", "name": "give_up", "input": { "note": "Repeated grasp attempts closed on empty air; unable to localize the tissue's depth accurately before running out of simulated time." }, "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": 28848, "cache_creation": { "ephemeral_5m_input_tokens": 706, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 191, "output_tokens_details": { "thinking_tokens": 105 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00798, -0.77519, 0.00395, -2.38532, 0.00059, 1.5671, 0.04692 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30137, -0.00116, 0.99824 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99772, -0.05203, -0.04303 ], [ -0.05217, -0.99864, -0.00195 ], [ -0.04287, 0.00419, -0.99907 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.00665289722383, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.92 }, "note": "Move forward and down toward the teal object seen ahead." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0084, -0.46416, 0.00575, -2.36444, 0.0005, 1.85695, 0.04869 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3989, -0.00117, 0.92076 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0003, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9977, -0.05204, -0.04333 ], [ -0.05217, -0.99864, -0.00195 ], [ -0.04317, 0.00421, -0.99906 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 56 }, "api_seconds": 6.404553549364209, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03, "z": 0.87 }, "note": "Object appears slightly left of gripper; shift +y and lower." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01857, -0.43097, 0.04972, -2.46514, 0.02356, 1.99097, 0.10531 ], "gripper_open": 0.9969, "tcp_xyz": [ 0.39887, 0.02938, 0.87096 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00048, 6e-05 ], "tcp_rotation_matrix": [ [ 0.9977, -0.05197, -0.0435 ], [ -0.05211, -0.99864, -0.00201 ], [ -0.04334, 0.00427, -0.99905 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 55 }, "api_seconds": 7.006089777685702, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.03 }, "note": "Object drifted further left in wrist view after +y; reverse direction to center it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03494, -0.43101, -0.03121, -2.46546, -0.01942, 1.99133, -0.00242 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3989, -0.02868, 0.87099 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00041, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99769, -0.05218, -0.04344 ], [ -0.05231, -0.99863, -0.00195 ], [ -0.04327, 0.00422, -0.99905 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 5.004579839296639, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44 }, "note": "Object centered laterally but appears farther forward in wrist view; advance x." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03112, -0.30413, -0.02961, -2.35087, -0.01475, 2.00351, -0.00039 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.43886, -0.02868, 0.87098 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00046, -0.00016 ], "tcp_rotation_matrix": [ [ 0.99769, -0.05219, -0.04349 ], [ -0.05233, -0.99863, -0.00195 ], [ -0.04333, 0.00422, -0.99905 ] ], "simulated_seconds_remaining": 26.928, "calls_remaining_including_this": 53 }, "api_seconds": 5.806043749675155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Descend toward the object to judge alignment at closer range." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02965, -0.26404, -0.02863, -2.41591, -0.01467, 2.16788, -0.00052 ], "gripper_open": 0.9996, "tcp_xyz": [ 0.45474, -0.02797, 0.83715 ], "tcp_roll_pitch_yaw": [ -0.00367, -0.05859, 0.00372 ], "tcp_rotation_matrix": [ [ 0.99869, -0.04869, 0.01557 ], [ -0.04861, -0.9988, -0.00556 ], [ 0.01582, 0.0048, -0.99986 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 52 }, "api_seconds": 6.004868928343058, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "x": 0.45 }, "note": "Continue descending slowly over the object." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02772, -0.24125, -0.02664, -2.46529, -0.01444, 2.45233, -0.00052 ], "gripper_open": 0.9949, "tcp_xyz": [ 0.50389, -0.02797, 0.83637 ], "tcp_roll_pitch_yaw": [ -0.01567, -0.27048, 0.01117 ], "tcp_rotation_matrix": [ [ 0.97321, -0.04429, 0.22562 ], [ -0.04197, -0.99901, -0.01509 ], [ 0.22607, 0.00522, -0.9741 ] ], "simulated_seconds_remaining": 25.74, "calls_remaining_including_this": 51 }, "api_seconds": 5.805055722594261, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.93, "pitch": 0 }, "note": "Pose drifted (pitch -0.27, x overshoot); retreat up and reset orientation." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03229, -0.39839, -0.01976, -2.28712, -0.02885, 1.84943, -0.00053 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4208, -0.02797, 0.92933 ], "tcp_roll_pitch_yaw": [ -0.01569, -0.00268, 0.01118 ], "tcp_rotation_matrix": [ [ 0.99835, -0.04093, -0.04016 ], [ -0.04168, -0.99897, -0.01808 ], [ -0.03937, 0.01972, -0.99903 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 50 }, "api_seconds": 10.608483208343387, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.88 }, "note": "Re-approach object slowly with level orientation." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02966, -0.2923, -0.01761, -2.29166, -0.02882, 2.09592, 0.00294 ], "gripper_open": 1.0, "tcp_xyz": [ 0.48356, -0.02772, 0.90256 ], "tcp_roll_pitch_yaw": [ -0.02413, -0.13807, 0.01801 ], "tcp_rotation_matrix": [ [ 0.99474, -0.03745, 0.09529 ], [ -0.03528, -0.99908, -0.02434 ], [ 0.09612, 0.02085, -0.99515 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 49 }, "api_seconds": 7.605806648731232, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": -0.05, "z": 0.86, "pitch": 0 }, "note": "Compensate for consistent x overshoot and object appearing left in wrist view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05284, -0.35617, -0.04452, -2.4121, -0.05286, 2.3258, -0.03753 ], "gripper_open": 1.0, "tcp_xyz": [ 0.49718, -0.05392, 0.90268 ], "tcp_roll_pitch_yaw": [ -0.0557, -0.30816, 0.03413 ], "tcp_rotation_matrix": [ [ 0.96412, -0.03366, 0.26333 ], [ -0.02158, -0.99858, -0.04861 ], [ 0.26459, 0.04118, -0.96348 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 48 }, "api_seconds": 6.6074072159826756, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.95, "pitch": 0 }, "note": "Retreat up and back to reset, then will descend before advancing." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.06896, -0.62362, -0.03167, -2.41493, -0.08231, 1.75783, -0.05841 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35104, -0.05393, 0.94974 ], "tcp_roll_pitch_yaw": [ -0.05573, -0.00235, 0.03415 ], "tcp_rotation_matrix": [ [ 0.99909, -0.01811, -0.0387 ], [ -0.02038, -0.99805, -0.05896 ], [ -0.03756, 0.05969, -0.99751 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 47 }, "api_seconds": 5.404526815749705, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Descend while backed off at x=0.35 to test achievable height." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.07127, -0.59265, -0.03718, -2.59444, -0.09047, 1.96773, -0.04602 ], "gripper_open": 0.997, "tcp_xyz": [ 0.35097, -0.05395, 0.87117 ], "tcp_roll_pitch_yaw": [ -0.05572, -0.00204, 0.03409 ], "tcp_rotation_matrix": [ [ 0.99907, -0.01815, -0.03901 ], [ -0.02044, -0.99805, -0.05895 ], [ -0.03786, 0.0597, -0.9975 ] ], "simulated_seconds_remaining": 20.922, "calls_remaining_including_this": 46 }, "api_seconds": 3.2027979185804725, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Continue descending at backed-off x to find table/object height." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0779, -0.55417, -0.04293, -2.66853, -0.11798, 2.11584, -0.03509 ], "gripper_open": 1.0, "tcp_xyz": [ 0.3596, -0.06069, 0.83572 ], "tcp_roll_pitch_yaw": [ -0.076, -0.03545, 0.03692 ], "tcp_rotation_matrix": [ [ 0.99983, -0.01806, -0.00482 ], [ -0.01838, -0.99678, -0.07803 ], [ -0.00339, 0.07811, -0.99694 ] ], "simulated_seconds_remaining": 20.262, "calls_remaining_including_this": 45 }, "api_seconds": 7.406204584054649, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "At lowest reachable height; advance toward the tissue." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.07127, -0.41992, -0.03841, -2.56098, -0.1117, 2.14243, -0.02761 ], "gripper_open": 0.9976, "tcp_xyz": [ 0.399, -0.06075, 0.83595 ], "tcp_roll_pitch_yaw": [ -0.0761, -0.0359, 0.03685 ], "tcp_rotation_matrix": [ [ 0.99983, -0.01817, -0.00438 ], [ -0.01845, -0.99677, -0.07812 ], [ -0.00294, 0.07819, -0.99693 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 44 }, "api_seconds": 5.804871475324035, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43, "y": -0.045 }, "note": "Advance further and nudge +y to center the tissue between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05543, -0.33344, -0.01595, -2.47582, -0.10062, 2.12037, 0.00649 ], "gripper_open": 1.0, "tcp_xyz": [ 0.42254, -0.04732, 0.83703 ], "tcp_roll_pitch_yaw": [ -0.07625, -0.01539, 0.03098 ], "tcp_rotation_matrix": [ [ 0.99943, -0.0224, -0.02526 ], [ -0.02433, -0.99659, -0.07887 ], [ -0.02341, 0.07944, -0.99656 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 43 }, "api_seconds": 3.40394426882267, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Tissue appears between fingers; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05617, -0.33675, -0.01664, -2.47499, -0.10122, 2.11683, 0.00702 ], "gripper_open": 0.9723, "tcp_xyz": [ 0.42211, -0.04804, 0.83852 ], "tcp_roll_pitch_yaw": [ -0.07674, -0.01593, 0.02911 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02432, -0.02486 ], [ -0.02622, -0.99651, -0.0793 ], [ -0.02284, 0.0799, -0.99654 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 42 }, "api_seconds": 3.6032277615740895, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Ensure gripper fully closes on tissue." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05604, -0.33889, -0.01641, -2.47459, -0.10106, 2.1144, 0.00714 ], "gripper_open": 0.957, "tcp_xyz": [ 0.4218, -0.04789, 0.83941 ], "tcp_roll_pitch_yaw": [ -0.07679, -0.01606, 0.02905 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02439, -0.02474 ], [ -0.02628, -0.9965, -0.07934 ], [ -0.02271, 0.07994, -0.99654 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 41 }, "api_seconds": 6.405367725528777, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Attempt lift to check whether tissue is held." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05259, -0.41179, -0.01269, -2.25488, -0.08874, 1.82282, -0.01577 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42188, -0.04789, 0.94881 ], "tcp_roll_pitch_yaw": [ -0.07681, -0.01638, 0.02906 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02441, -0.02441 ], [ -0.02628, -0.9965, -0.07936 ], [ -0.02239, 0.07995, -0.99655 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 40 }, "api_seconds": 11.80999565217644, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "z": 0.98, "gripper": 1 }, "note": "Object toppled; back off and look down to relocate it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05436, -0.54147, -0.01436, -2.28328, -0.08932, 1.72237, -0.02684 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.381, -0.0479, 0.97938 ], "tcp_roll_pitch_yaw": [ -0.07683, -0.01665, 0.02906 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02443, -0.02415 ], [ -0.02628, -0.9965, -0.07937 ], [ -0.02212, 0.07996, -0.99655 ] ], "simulated_seconds_remaining": 15.576, "calls_remaining_including_this": 39 }, "api_seconds": 7.208278653211892, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0 }, "note": "Test lateral mapping: move +y ~5cm and observe object shift in wrist view." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02029, -0.54369, 0.05346, -2.28272, -0.05176, 1.7133, 0.05833 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38101, -0.00125, 0.97939 ], "tcp_roll_pitch_yaw": [ -0.07689, -0.01666, 0.02927 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02422, -0.02412 ], [ -0.02606, -0.9965, -0.07943 ], [ -0.02211, 0.08001, -0.99655 ] ], "simulated_seconds_remaining": 14.982, "calls_remaining_including_this": 38 }, "api_seconds": 9.01028430275619, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Object still right of center in wrist view; continue moving +y." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01534, -0.5297, 0.1264, -2.26675, -0.01236, 1.70673, 0.15036 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38102, 0.04888, 0.97939 ], "tcp_roll_pitch_yaw": [ -0.07694, -0.01667, 0.02947 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02402, -0.02409 ], [ -0.02587, -0.9965, -0.07948 ], [ -0.0221, 0.08006, -0.99654 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 37 }, "api_seconds": 4.60398577246815, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Object roughly centered laterally; descend toward it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01827, -0.50145, 0.1372, -2.49595, -0.01051, 1.96328, 0.16676 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38097, 0.04887, 0.88117 ], "tcp_roll_pitch_yaw": [ -0.07697, -0.01636, 0.02946 ], "tcp_rotation_matrix": [ [ 0.99941, -0.024, -0.0244 ], [ -0.02588, -0.9965, -0.07953 ], [ -0.02241, 0.08011, -0.99653 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 36 }, "api_seconds": 5.204658688977361, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.845 }, "note": "Continue descending to grasp height over the toppled tissue." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01753, -0.46929, 0.14263, -2.56242, -0.01241, 2.06128, 0.17479 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38091, 0.04885, 0.84614 ], "tcp_roll_pitch_yaw": [ -0.077, -0.01607, 0.02946 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02399, -0.02468 ], [ -0.02589, -0.99649, -0.07956 ], [ -0.02269, 0.08016, -0.99652 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 35 }, "api_seconds": 7.206329383887351, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.41, "y": 0.06 }, "note": "Advance slightly and nudge +y to align object between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01517, -0.37212, 0.15848, -2.47861, -0.01963, 2.07334, 0.19664 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40902, 0.05963, 0.84613 ], "tcp_roll_pitch_yaw": [ -0.077, -0.01603, 0.02947 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02397, -0.02472 ], [ -0.02587, -0.99649, -0.07957 ], [ -0.02273, 0.08016, -0.99652 ] ], "simulated_seconds_remaining": 12.276, "calls_remaining_including_this": 34 }, "api_seconds": 5.604314837604761, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Object appears between fingers; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01517, -0.37212, 0.15848, -2.47861, -0.01963, 2.07334, 0.19664 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40903, 0.05963, 0.84613 ], "tcp_roll_pitch_yaw": [ -0.077, -0.01603, 0.02947 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02397, -0.02472 ], [ -0.02587, -0.99649, -0.07957 ], [ -0.02273, 0.08016, -0.99652 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 33 }, "api_seconds": 6.005583238787949, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.45 }, "note": "Empty close; reopen and reach further forward since object appears beyond fingertips." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.00082, -0.24727, 0.15865, -2.36099, -0.04147, 2.07959, 0.19987 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44912, 0.05962, 0.84611 ], "tcp_roll_pitch_yaw": [ -0.07699, -0.01601, 0.02945 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02399, -0.02475 ], [ -0.0259, -0.99649, -0.07956 ], [ -0.02276, 0.08015, -0.99652 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 32 }, "api_seconds": 6.805793563835323, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Object appears right at fingers now; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.00082, -0.24727, 0.15865, -2.36099, -0.04147, 2.07959, 0.19987 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44912, 0.05962, 0.84611 ], "tcp_roll_pitch_yaw": [ -0.07699, -0.01601, 0.02945 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02399, -0.02475 ], [ -0.0259, -0.99649, -0.07956 ], [ -0.02276, 0.08015, -0.99652 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 31 }, "api_seconds": 13.612208878621459, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.035, "z": 0.838 }, "note": "Reopen; object sits left/above the finger convergence point, so shift -y and lower slightly." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02, -0.24806, 0.12999, -2.38474, -0.05199, 2.10499, 0.15781 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44911, 0.03598, 0.83832 ], "tcp_roll_pitch_yaw": [ -0.07699, -0.01598, 0.02938 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02405, -0.02478 ], [ -0.02596, -0.99649, -0.07955 ], [ -0.02278, 0.08015, -0.99652 ] ], "simulated_seconds_remaining": 8.58, "calls_remaining_including_this": 30 }, "api_seconds": 3.403114096261561, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Object centered between open fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02, -0.24806, 0.12999, -2.38474, -0.05199, 2.10499, 0.15781 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44911, 0.03597, 0.83832 ], "tcp_roll_pitch_yaw": [ -0.07699, -0.01598, 0.02939 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02405, -0.02478 ], [ -0.02596, -0.99649, -0.07955 ], [ -0.02278, 0.08015, -0.99652 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 29 }, "api_seconds": 10.209503669291735, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.48 }, "note": "Still missing; object likely beyond fingertips, so reopen and advance 3 cm." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.026, -0.15828, 0.13038, -2.29152, -0.06511, 2.10074, 0.16137 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.47888, 0.03597, 0.83831 ], "tcp_roll_pitch_yaw": [ -0.07698, -0.01596, 0.02937 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02407, -0.0248 ], [ -0.02597, -0.99649, -0.07954 ], [ -0.0228, 0.08014, -0.99652 ] ], "simulated_seconds_remaining": 6.732, "calls_remaining_including_this": 28 }, "api_seconds": 3.202973820269108, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Advanced 3 cm; attempt grasp again." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.026, -0.15828, 0.13038, -2.29152, -0.06511, 2.10074, 0.16137 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.47889, 0.03597, 0.83831 ], "tcp_roll_pitch_yaw": [ -0.07698, -0.01596, 0.02937 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02407, -0.0248 ], [ -0.02597, -0.99649, -0.07954 ], [ -0.0228, 0.08014, -0.99652 ] ], "simulated_seconds_remaining": 5.808, "calls_remaining_including_this": 27 }, "api_seconds": 8.006769891828299, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.81 }, "note": "Fingers may be passing above the object; reopen and lower 3 cm." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02702, -0.1253, 0.13177, -2.33007, -0.073, 2.17154, 0.17083 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.47886, 0.03596, 0.81112 ], "tcp_roll_pitch_yaw": [ -0.07698, -0.01587, 0.02937 ], "tcp_rotation_matrix": [ [ 0.9994, -0.02406, -0.0249 ], [ -0.02597, -0.99649, -0.07955 ], [ -0.0229, 0.08015, -0.99652 ] ], "simulated_seconds_remaining": 4.884, "calls_remaining_including_this": 26 }, "api_seconds": 3.0030216658487916, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Lowered 3 cm; close gripper to grasp tissue." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02676, -0.12701, 0.13207, -2.32745, -0.07294, 2.17308, 0.17082 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.48052, 0.03644, 0.8132 ], "tcp_roll_pitch_yaw": [ -0.07669, -0.02171, 0.03006 ], "tcp_rotation_matrix": [ [ 0.99953, -0.02384, -0.01903 ], [ -0.02527, -0.99655, -0.0791 ], [ -0.01707, 0.07955, -0.99668 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 25 }, "api_seconds": 5.004627635702491, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.54 }, "note": "Object still beyond fingertips; reopen and push forward 6 cm." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03196, 0.04078, 0.12987, -2.12939, -0.0977, 2.14087, 0.17645 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.53872, 0.03643, 0.81318 ], "tcp_roll_pitch_yaw": [ -0.07668, -0.02168, 0.03003 ], "tcp_rotation_matrix": [ [ 0.99953, -0.02386, -0.01906 ], [ -0.0253, -0.99655, -0.07909 ], [ -0.0171, 0.07954, -0.99669 ] ], "simulated_seconds_remaining": 3.036, "calls_remaining_including_this": 24 }, "api_seconds": 4.604190154932439, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.84 }, "note": "Raise slightly to finger level with object and close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03197, 0.0129, 0.13025, -2.09404, -0.08996, 2.07838, 0.16779 ], "gripper_open": 0.0, "tcp_xyz": [ 0.53873, 0.03643, 0.83895 ], "tcp_roll_pitch_yaw": [ -0.07668, -0.02178, 0.03003 ], "tcp_rotation_matrix": [ [ 0.99954, -0.02387, -0.01896 ], [ -0.0253, -0.99655, -0.07909 ], [ -0.01701, 0.07953, -0.99669 ] ], "simulated_seconds_remaining": 2.112, "calls_remaining_including_this": 23 }, "api_seconds": 4.603895614854991, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasp attempts closed on empty air; unable to localize the tissue's depth accurately before running out of simulated time." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 004 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 4, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 28, "api_calls": 30, "wall_seconds": 246.04828882217407, "usage": { "input_tokens": 60, "cache_creation_input_tokens": 27712, "cache_read_input_tokens": 409125, "output_tokens": 11881 }, "estimated_cost_usd": 0.6750875 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezcsrQSSgzxGadsEHhaQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RrKN8rhVZjHqj8B3vb4RA2", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 52, "output_tokens_details": { "thinking_tokens": 28 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezct2zv5ddZwYJxSyNoA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BZVz4tV8SX6ChPfi7hAjPb", "name": "move_to", "input": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the table to find the tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 485, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 485, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 255, "output_tokens_details": { "thinking_tokens": 158 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezctTDSnn7G81SZrxf2e", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0126oWTg34mVKKgP7HNuhgsz", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.15, "z": 1.15 }, "note": "Move forward-left over the table area to survey objects with the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 751, "cache_read_input_tokens": 2242, "cache_creation": { "ephemeral_5m_input_tokens": 751, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 403, "output_tokens_details": { "thinking_tokens": 289 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezcu4gALHZzdj1Xiwsbf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Cd1D1LSyhRWhrvMpzcexx9", "name": "move_to", "input": { "targets": { "z": 1.02 }, "note": "Lower for a closer, clearer wrist view of the objects below." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 900, "cache_read_input_tokens": 2993, "cache_creation": { "ephemeral_5m_input_tokens": 900, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 256, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezcuSHueZ9KhxHtocyWU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NhZm3iDbytJShz7Mhg6PzR", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 1.32 }, "note": "Back up high for a wide overhead survey of the table to identify the tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 755, "cache_read_input_tokens": 3893, "cache_creation": { "ephemeral_5m_input_tokens": 755, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 301, "output_tokens_details": { "thinking_tokens": 186 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezcuuotBreB9YhyEPA41", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YKC5KV4A1vKgSB9UjEDxsr", "name": "move_to", "input": { "targets": { "x": 0.32, "y": 0.1, "z": 1.18 }, "note": "Back up and raise for a wider overhead survey." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 792, "cache_read_input_tokens": 4648, "cache_creation": { "ephemeral_5m_input_tokens": 792, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 137, "output_tokens_details": { "thinking_tokens": 30 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezcvENbCbUwASK9bvb3h", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Kv7ppDjdMzQ7HTVF89PTD2", "name": "move_to", "input": { "targets": { "y": 0.25 }, "note": "Test move +y to learn the wrist image axis mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 5440, "cache_creation": { "ephemeral_5m_input_tokens": 636, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 661, "output_tokens_details": { "thinking_tokens": 567 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezcw5gj9Fh2PjBPieRHK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rgog18THAEsp5UZ6wkgshK", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.9 }, "note": "Descend closer to the table surface in front to inspect actual tabletop objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1154, "cache_read_input_tokens": 6076, "cache_creation": { "ephemeral_5m_input_tokens": 1154, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 560, "output_tokens_details": { "thinking_tokens": 444 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezcwwiXwrsSWckpAvCcm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018jkugqWL7SknyaRVwCXkBg", "name": "move_to", "input": { "targets": { "y": -0.1 }, "note": "Small lateral test to calibrate image-to-world mapping for the yellow tissue-box-like object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1055, "cache_read_input_tokens": 7230, "cache_creation": { "ephemeral_5m_input_tokens": 1055, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 840, "output_tokens_details": { "thinking_tokens": 732 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezcy4YaJUQM5mvvBJ3Wa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01J7N4S1j2FaGfyWFo9auWBd", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.11 }, "note": "Move toward estimated object position (y=0.11, guessing x forward) to verify mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1335, "cache_read_input_tokens": 8285, "cache_creation": { "ephemeral_5m_input_tokens": 1335, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 650, "output_tokens_details": { "thinking_tokens": 537 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezcyw2AtxcAvEjjjSEny", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GiYuWhTWG5pyvEoy6pG9D9", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Descend over the candidate tissue box for a closer look." }, "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": 9620, "cache_creation": { "ephemeral_5m_input_tokens": 1144, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 338, "output_tokens_details": { "thinking_tokens": 245 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezczd8BKongx9jSrW41F", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Bt9vM87jAR8Vy9SDxk6eTh", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Continue descending carefully toward the object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 832, "cache_read_input_tokens": 10764, "cache_creation": { "ephemeral_5m_input_tokens": 832, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 207, "output_tokens_details": { "thinking_tokens": 119 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezd15WRXDGfPuXMjHiEm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XimPo2GV453aKzDboG5X19", "name": "move_to", "input": { "targets": { "x": 0.57, "y": 0.13, "z": 0.85 }, "note": "Reposition above the white tissue blob (offset from image center) before descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 11596, "cache_creation": { "ephemeral_5m_input_tokens": 705, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 578, "output_tokens_details": { "thinking_tokens": 464 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezd1rtvdm7wP24BWtzMm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CUdTF2wzwfnJKE9uiC8wiF", "name": "move_to", "input": { "targets": { "x": 0.551, "y": 0.126, "z": 0.79 }, "note": "Center over the white tissue sticking out of the yellow box and descend to 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": 1071, "cache_read_input_tokens": 12301, "cache_creation": { "ephemeral_5m_input_tokens": 1071, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 570, "output_tokens_details": { "thinking_tokens": 452 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezd2hmHXHXeN3TWuwvVP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0167RG9bdrULa1WTDG8odepz", "name": "move_to", "input": { "targets": { "z": 0.755 }, "note": "Lower fingers around the protruding tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1064, "cache_read_input_tokens": 13372, "cache_creation": { "ephemeral_5m_input_tokens": 1064, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 152 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezd37jvgo9YdhRmwgH8U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SoF5y34PKTFZuHTB2i1tLh", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on the tissue." }, "caller": { "type": "direct" } } ], "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": 14436, "cache_creation": { "ephemeral_5m_input_tokens": 735, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 370, "output_tokens_details": { "thinking_tokens": 284 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezd3h9MaaoKsWmgsLHNC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W7sW9q9kG69DHDNsGT8TBt", "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": 864, "cache_read_input_tokens": 15171, "cache_creation": { "ephemeral_5m_input_tokens": 864, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 122, "output_tokens_details": { "thinking_tokens": 98 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezd3yXbnNizF4Y3ZTB6D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SwfNGpEgcUAAVXLbrV3jdM", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lift to check if the tissue is grasped." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 560, "cache_read_input_tokens": 16035, "cache_creation": { "ephemeral_5m_input_tokens": 560, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 126, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezd4KMwwadAvoRnVh1Ko", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R6pbCo7y2DnHit2q6Vrefo", "name": "move_to", "input": { "targets": { "x": 0.545, "y": 0.128, "z": 0.783, "gripper": 1 }, "note": "Return down over the tissue opening for another 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": 625, "cache_read_input_tokens": 16595, "cache_creation": { "ephemeral_5m_input_tokens": 625, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 921, "output_tokens_details": { "thinking_tokens": 803 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezd5TSPznJP6UuNoDkiE", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015C8syXv3jAEFT9qyrWunWA", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on the tissue again." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1420, "cache_read_input_tokens": 17220, "cache_creation": { "ephemeral_5m_input_tokens": 1420, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 83, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezd5hoMS1QXS625kJ3Ar", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X74jjQWWeahWtmJ4YVi1V2", "name": "move_to", "input": { "targets": { "x": 0.54, "y": 0.12, "z": 0.775, "gripper": 1 }, "note": "Open and shift slightly toward the white tissue (left/down in image) for another attempt." }, "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": 18640, "cache_creation": { "ephemeral_5m_input_tokens": 576, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1122, "output_tokens_details": { "thinking_tokens": 995 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezd76FzjrH3p6aAmvjrc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019jksf1cxm7VT1XHQCpKnE2", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on tissue at corrected position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1616, "cache_read_input_tokens": 19216, "cache_creation": { "ephemeral_5m_input_tokens": 1616, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 159, "output_tokens_details": { "thinking_tokens": 72 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezd7TgqneoWYWMJhiL97", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RVQMEvYArQXCJwZMXjh3nR", "name": "move_to", "input": { "targets": { "x": 0.545, "y": 0.1, "z": 0.8, "gripper": 1 }, "note": "Reposition using the z=0.90 calibration estimate of the tissue at (0.545,0.102); 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": 652, "cache_read_input_tokens": 20832, "cache_creation": { "ephemeral_5m_input_tokens": 652, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 924, "output_tokens_details": { "thinking_tokens": 787 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezd8eYENGoVMLMUCD5p3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M6mqD1mBUbZvpoy8TpJ5JL", "name": "move_to", "input": { "targets": { "z": 0.782, "gripper": 0 }, "note": "Descend slightly and close on the tissue now that it appears centered 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": 1418, "cache_read_input_tokens": 21484, "cache_creation": { "ephemeral_5m_input_tokens": 1418, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 156, "output_tokens_details": { "thinking_tokens": 48 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezd8yNoKG8DVNaaGBh3H", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Xxybxdr9FgZFdUZCXaxTvD", "name": "move_to", "input": { "targets": { "x": 0.554, "y": 0.121, "z": 0.786, "gripper": 1 }, "note": "Return to the pose where the gripper previously caught something (stopped at 0.86)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 22902, "cache_creation": { "ephemeral_5m_input_tokens": 650, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 509, "output_tokens_details": { "thinking_tokens": 384 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezd9i6KdtSHmTt4NJs8A", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D7n1eFoeZNiea5oNtskcju", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on the tissue at the pose that previously made contact." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1003, "cache_read_input_tokens": 23552, "cache_creation": { "ephemeral_5m_input_tokens": 1003, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 92, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezd9xM4kTTAuXqeMJSmf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019wgLJ8ERMD8RuhWCi6pdHm", "name": "move_to", "input": { "targets": { "x": 0.545, "y": 0.085, "z": 0.78, "gripper": 0 }, "note": "Final attempt: shift toward where the white tissue appears relative to the fingers, closing as we arrive." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 585, "cache_read_input_tokens": 24555, "cache_creation": { "ephemeral_5m_input_tokens": 585, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 448, "output_tokens_details": { "thinking_tokens": 315 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezdAag7nuoUjLsuZYBrv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011ZtWEdRXjCPBcgwnLoLfac", "name": "move_to", "input": { "targets": { "y": 0.07, "z": 0.772, "gripper": 1 }, "note": "Open and shift further right (-y) so fingers straddle the tissue, ready for a final close." }, "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": 25140, "cache_creation": { "ephemeral_5m_input_tokens": 941, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 474, "output_tokens_details": { "thinking_tokens": 353 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezdBGffeQvGxAcDSpN2Z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QknpUHha8ohE9SQeNiZgjo", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Final close on tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 968, "cache_read_input_tokens": 26081, "cache_creation": { "ephemeral_5m_input_tokens": 968, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 169, "output_tokens_details": { "thinking_tokens": 86 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezdBbzWbDdYBUmM1x1NS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EYYTdXXa7dmAs9AKkm3KaH", "name": "move_to", "input": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Lift to see if the tissue sheet is pinched." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 663, "cache_read_input_tokens": 27049, "cache_creation": { "ephemeral_5m_input_tokens": 663, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 156, "output_tokens_details": { "thinking_tokens": 55 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02488, -0.8208, -0.01911, -2.38404, 0.01531, 1.58549, 0.03837 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30215, 0.00616, 1.01423 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02639, 0.0218 ], [ -0.02703, -0.9992, 0.02954 ], [ 0.021, -0.03011, -0.99933 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.606724572367966, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the table to find the tissue." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02848, -0.67014, -0.01936, -1.92802, 0.01799, 1.2804, 0.04524 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30218, 0.00616, 1.1487 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00021, -0.0 ], "tcp_rotation_matrix": [ [ 0.99941, -0.02639, 0.022 ], [ -0.02703, -0.9992, 0.02955 ], [ 0.0212, -0.03013, -0.99932 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 7.406515532173216, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.15, "z": 1.15 }, "note": "Move forward-left over the table area to survey objects with the wrist camera." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08339, -0.1873, 0.18872, -1.51685, 0.05884, 1.36206, 0.30904 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44903, 0.14908, 1.1499 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.0, 0.00011 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02628, 0.02179 ], [ -0.02691, -0.9992, 0.02949 ], [ 0.021, -0.03006, -0.99933 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 55 }, "api_seconds": 4.605329512618482, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.02 }, "note": "Lower for a closer, clearer wrist view of the objects below." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08821, -0.30177, 0.18672, -1.97269, 0.07859, 1.70404, 0.28472 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44901, 0.14907, 1.0212 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00029, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02627, 0.0215 ], [ -0.0269, -0.99921, 0.02942 ], [ 0.02071, -0.02998, -0.99934 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 54 }, "api_seconds": 6.405522593297064, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 1.32 }, "note": "Back up high for a wide overhead survey of the table to identify the tissue." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 5, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08821, -0.30177, 0.18672, -1.97269, 0.07859, 1.70404, 0.28472 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44901, 0.14907, 1.0212 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00029, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02627, 0.0215 ], [ -0.0269, -0.99921, 0.02942 ], [ 0.02071, -0.02998, -0.99934 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 53 }, "api_seconds": 3.4038543784990907, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32, "y": 0.1, "z": 1.18 }, "note": "Back up and raise for a wider overhead survey." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08597, -0.54162, 0.11381, -1.74848, 0.08842, 1.23788, 0.24108 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32082, 0.10031, 1.1791 ], "tcp_roll_pitch_yaw": [ -6e-05, -5e-05, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02627, 0.02184 ], [ -0.02691, -0.9992, 0.02948 ], [ 0.02105, -0.03005, -0.99933 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 52 }, "api_seconds": 11.01000844500959, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "Test move +y to learn the wrist image axis mapping." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.13186, -0.37942, 0.35897, -1.59194, 0.15378, 1.27106, 0.54393 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32081, 0.24875, 1.17907 ], "tcp_roll_pitch_yaw": [ -0.00013, 1e-05, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02606, 0.02178 ], [ -0.0267, -0.99921, 0.02942 ], [ 0.021, -0.02998, -0.99933 ] ], "simulated_seconds_remaining": 22.968, "calls_remaining_including_this": 51 }, "api_seconds": 10.20968855638057, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.9 }, "note": "Descend closer to the table surface in front to inspect actual tabletop objects." } } } ] } } ] }, "execution": { "steps": 44, "motion_seconds": 2.904, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.01805, -0.34457, 0.00472, -2.3254, 0.0345, 2.00172, -0.00112 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44951, 0.00081, 0.90088 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00029, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02624, 0.02151 ], [ -0.02687, -0.9992, 0.02946 ], [ 0.02072, -0.03002, -0.99933 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 50 }, "api_seconds": 14.815918919630349, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.1 }, "note": "Small lateral test to calibrate image-to-world mapping for the yellow tissue-box-like object." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.09704, -0.30852, -0.12413, -2.28758, -0.00459, 1.99599, -0.18696 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44951, -0.0988, 0.90088 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00029, -9e-05 ], "tcp_rotation_matrix": [ [ 0.99942, -0.02649, 0.02151 ], [ -0.02712, -0.9992, 0.0295 ], [ 0.02071, -0.03006, -0.99933 ] ], "simulated_seconds_remaining": 19.074, "calls_remaining_including_this": 49 }, "api_seconds": 11.009795982390642, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.11 }, "note": "Move toward estimated object position (y=0.11, guessing x forward) to verify mapping." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.07149, -0.1013, 0.12046, -2.07591, 0.04073, 2.00173, 0.20153 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51956, 0.10883, 0.90085 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00032, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99943, -0.02623, 0.02147 ], [ -0.02686, -0.9992, 0.02948 ], [ 0.02068, -0.03004, -0.99933 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 48 }, "api_seconds": 8.410282948054373, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descend over the candidate tissue box for a closer look." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.07335, -0.00431, 0.12418, -2.23058, 0.03251, 2.25254, 0.20394 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51948, 0.10881, 0.80115 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00068, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99943, -0.02624, 0.02111 ], [ -0.02686, -0.99921, 0.02942 ], [ 0.02032, -0.02997, -0.99934 ] ], "simulated_seconds_remaining": 16.302, "calls_remaining_including_this": 47 }, "api_seconds": 6.205729985609651, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Continue descending carefully toward the object." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.07597, 0.04941, 0.12335, -2.29083, 0.01374, 2.40673, 0.21596 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52541, 0.10855, 0.76127 ], "tcp_roll_pitch_yaw": [ -0.00129, -0.0407, -0.00074 ], "tcp_rotation_matrix": [ [ 0.99771, -0.02594, 0.06246 ], [ -0.02774, -0.99922, 0.0282 ], [ 0.06168, -0.02987, -0.99765 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 46 }, "api_seconds": 10.209352337755263, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "y": 0.13, "z": 0.85 }, "note": "Reposition above the white tissue blob (offset from image center) before descending." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08825, 0.06954, 0.13348, -2.01898, 0.00548, 2.15538, 0.24508 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56951, 0.12976, 0.84898 ], "tcp_roll_pitch_yaw": [ -0.00123, -0.041, -0.00072 ], "tcp_rotation_matrix": [ [ 0.99769, -0.0259, 0.06276 ], [ -0.02772, -0.99922, 0.02827 ], [ 0.06198, -0.02994, -0.99763 ] ], "simulated_seconds_remaining": 14.454, "calls_remaining_including_this": 45 }, "api_seconds": 11.010856683366, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.551, "y": 0.126, "z": 0.79 }, "note": "Center over the white tissue sticking out of the yellow box and descend to grasp height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08859, 0.08339, 0.13339, -2.16039, 0.00371, 2.3102, 0.24559 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5513, 0.12606, 0.79105 ], "tcp_roll_pitch_yaw": [ -0.00129, -0.04068, -0.00071 ], "tcp_rotation_matrix": [ [ 0.99771, -0.02591, 0.06244 ], [ -0.02771, -0.99922, 0.0282 ], [ 0.06166, -0.02987, -0.99765 ] ], "simulated_seconds_remaining": 13.728, "calls_remaining_including_this": 44 }, "api_seconds": 5.4058586079627275, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.755 }, "note": "Lower fingers around the protruding tissue." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.0907, 0.09237, 0.13295, -2.18419, -0.00616, 2.35556, 0.25384 ], "gripper_open": 1.0, "tcp_xyz": [ 0.55138, 0.12598, 0.77999 ], "tcp_roll_pitch_yaw": [ -0.00418, -0.05428, -0.00107 ], "tcp_rotation_matrix": [ [ 0.99677, -0.02602, 0.07602 ], [ -0.02801, -0.99929, 0.02528 ], [ 0.07531, -0.02733, -0.99679 ] ], "simulated_seconds_remaining": 13.2, "calls_remaining_including_this": 43 }, "api_seconds": 7.206283792853355, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on the tissue." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.0869, 0.08285, 0.12805, -2.18139, -0.0082, 2.35107, 0.25518 ], "gripper_open": 0.8585, "tcp_xyz": [ 0.55383, 0.12099, 0.78609 ], "tcp_roll_pitch_yaw": [ -0.00552, -0.0625, -0.00971 ], "tcp_rotation_matrix": [ [ 0.99583, -0.03451, 0.08441 ], [ -0.03658, -0.99906, 0.0232 ], [ 0.08353, -0.02619, -0.99616 ] ], "simulated_seconds_remaining": 12.276, "calls_remaining_including_this": 42 }, "api_seconds": 7.807202385738492, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lift to check if the tissue is grasped." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08385, -0.05617, 0.12612, -1.91722, 0.01306, 1.94934, 0.24141 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55391, 0.12101, 0.9488 ], "tcp_roll_pitch_yaw": [ -0.00545, -0.06287, -0.00972 ], "tcp_rotation_matrix": [ [ 0.9958, -0.0345, 0.08478 ], [ -0.03659, -0.99906, 0.02327 ], [ 0.0839, -0.02627, -0.99613 ] ], "simulated_seconds_remaining": 10.89, "calls_remaining_including_this": 41 }, "api_seconds": 15.013706308789551, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.545, "y": 0.128, "z": 0.783, "gripper": 1 }, "note": "Return down over the tissue opening for another grasp attempt." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.09421, 0.06606, 0.13631, -2.20867, -0.00799, 2.36168, 0.27089 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54499, 0.12793, 0.78421 ], "tcp_roll_pitch_yaw": [ -0.00553, -0.06249, -0.0097 ], "tcp_rotation_matrix": [ [ 0.99583, -0.0345, 0.0844 ], [ -0.03658, -0.99906, 0.02319 ], [ 0.08352, -0.02618, -0.99616 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 40 }, "api_seconds": 3.0033014183863997, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on the tissue again." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.09421, 0.06606, 0.13631, -2.20867, -0.00799, 2.36168, 0.27089 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54499, 0.12793, 0.7842 ], "tcp_roll_pitch_yaw": [ -0.00553, -0.06249, -0.0097 ], "tcp_rotation_matrix": [ [ 0.99583, -0.0345, 0.0844 ], [ -0.03658, -0.99906, 0.02319 ], [ 0.08352, -0.02618, -0.99616 ] ], "simulated_seconds_remaining": 8.58, "calls_remaining_including_this": 39 }, "api_seconds": 18.417395568452775, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54, "y": 0.12, "z": 0.775, "gripper": 1 }, "note": "Open and shift slightly toward the white tissue (left/down in image) for another attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08785, 0.0621, 0.13112, -2.23838, -0.00549, 2.38745, 0.25784 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.54038, 0.12061, 0.77571 ], "tcp_roll_pitch_yaw": [ -0.00554, -0.06247, -0.00972 ], "tcp_rotation_matrix": [ [ 0.99584, -0.03452, 0.08437 ], [ -0.03659, -0.99906, 0.02318 ], [ 0.0835, -0.02617, -0.99616 ] ], "simulated_seconds_remaining": 7.656, "calls_remaining_including_this": 38 }, "api_seconds": 4.404511447995901, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on tissue at corrected position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08763, 0.06186, 0.13084, -2.2381, -0.00562, 2.38758, 0.25783 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54063, 0.12035, 0.77598 ], "tcp_roll_pitch_yaw": [ -0.00553, -0.06312, -0.01014 ], "tcp_rotation_matrix": [ [ 0.99577, -0.03492, 0.08504 ], [ -0.03701, -0.99905, 0.02315 ], [ 0.08415, -0.0262, -0.99611 ] ], "simulated_seconds_remaining": 6.732, "calls_remaining_including_this": 37 }, "api_seconds": 15.815471886657178, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.545, "y": 0.1, "z": 0.8, "gripper": 1 }, "note": "Reposition using the z=0.90 calibration estimate of the tissue at (0.545,0.102); open gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.06721, 0.02832, 0.11356, -2.21363, 0.0059, 2.32977, 0.21282 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.54487, 0.10071, 0.79917 ], "tcp_roll_pitch_yaw": [ -0.00552, -0.06321, -0.0102 ], "tcp_rotation_matrix": [ [ 0.99576, -0.03498, 0.08512 ], [ -0.03707, -0.99904, 0.02315 ], [ 0.08423, -0.02621, -0.9961 ] ], "simulated_seconds_remaining": 5.808, "calls_remaining_including_this": 36 }, "api_seconds": 4.004194659180939, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.782, "gripper": 0 }, "note": "Descend slightly and close on the tissue now that it appears centered between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.06836, 0.04883, 0.11457, -2.22826, 0.00265, 2.37092, 0.21518 ], "gripper_open": 0.0002, "tcp_xyz": [ 0.54626, 0.10202, 0.78572 ], "tcp_roll_pitch_yaw": [ -0.00438, -0.06924, -0.00867 ], "tcp_rotation_matrix": [ [ 0.99529, -0.03321, 0.0911 ], [ -0.03556, -0.99907, 0.02437 ], [ 0.09021, -0.02749, -0.99554 ] ], "simulated_seconds_remaining": 4.884, "calls_remaining_including_this": 35 }, "api_seconds": 9.40844504069537, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.554, "y": 0.121, "z": 0.786, "gripper": 1 }, "note": "Return to the pose where the gripper previously caught something (stopped at 0.86)." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08557, 0.0785, 0.12811, -2.18952, -0.00773, 2.36169, 0.25247 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.55368, 0.12025, 0.78599 ], "tcp_roll_pitch_yaw": [ -0.00438, -0.06923, -0.00862 ], "tcp_rotation_matrix": [ [ 0.99529, -0.03316, 0.0911 ], [ -0.03551, -0.99907, 0.02438 ], [ 0.0902, -0.0275, -0.99554 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 34 }, "api_seconds": 3.0028312634676695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on the tissue at the pose that previously made contact." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.08557, 0.0785, 0.12811, -2.18952, -0.00773, 2.36169, 0.25247 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55368, 0.12026, 0.78599 ], "tcp_roll_pitch_yaw": [ -0.00438, -0.06923, -0.00862 ], "tcp_rotation_matrix": [ [ 0.99529, -0.03316, 0.0911 ], [ -0.03552, -0.99907, 0.02438 ], [ 0.0902, -0.0275, -0.99554 ] ], "simulated_seconds_remaining": 3.036, "calls_remaining_including_this": 33 }, "api_seconds": 8.207103652879596, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.545, "y": 0.085, "z": 0.78, "gripper": 0 }, "note": "Final attempt: shift toward where the white tissue appears relative to the fingers, closing as we arrive." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.05247, 0.04721, 0.10143, -2.2462, 0.00782, 2.38702, 0.18275 ], "gripper_open": 0.0, "tcp_xyz": [ 0.5453, 0.08609, 0.78019 ], "tcp_roll_pitch_yaw": [ -0.00438, -0.0692, -0.00884 ], "tcp_rotation_matrix": [ [ 0.99529, -0.03338, 0.09107 ], [ -0.03574, -0.99906, 0.02435 ], [ 0.09017, -0.02749, -0.99555 ] ], "simulated_seconds_remaining": 2.508, "calls_remaining_including_this": 32 }, "api_seconds": 9.007492939941585, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.07, "z": 0.772, "gripper": 1 }, "note": "Open and shift further right (-y) so fingers straddle the tissue, ready for a final close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03717, 0.05367, 0.08813, -2.26083, 0.01207, 2.40777, 0.15106 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.5453, 0.07063, 0.77232 ], "tcp_roll_pitch_yaw": [ -0.00439, -0.06917, -0.00889 ], "tcp_rotation_matrix": [ [ 0.99529, -0.03343, 0.09104 ], [ -0.03579, -0.99906, 0.02434 ], [ 0.09014, -0.02749, -0.99555 ] ], "simulated_seconds_remaining": 1.584, "calls_remaining_including_this": 31 }, "api_seconds": 4.004002716392279, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Final close on tissue." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03629, 0.04905, 0.08702, -2.25811, 0.01155, 2.40715, 0.15098 ], "gripper_open": 0.0093, "tcp_xyz": [ 0.54715, 0.06963, 0.77601 ], "tcp_roll_pitch_yaw": [ -0.00433, -0.07593, -0.01045 ], "tcp_rotation_matrix": [ [ 0.9946, -0.0348, 0.09781 ], [ -0.03734, -0.99901, 0.02418 ], [ 0.09687, -0.02771, -0.99491 ] ], "simulated_seconds_remaining": 0.66, "calls_remaining_including_this": 30 }, "api_seconds": 5.404926089569926, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Lift to see if the tissue sheet is pinched." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 005 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 5, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 25, "api_calls": 25, "wall_seconds": 527.0403499603271, "usage": { "input_tokens": 50, "cache_creation_input_tokens": 38831, "cache_read_input_tokens": 441650, "output_tokens": 25972 }, "estimated_cost_usd": 1.11306875 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezdCCTwcQPioMpmCNezR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014hUNeaTMu1EgEs5pgDRDHr", "name": "move_to", "input": { "targets": { "z": 1.15, "pitch": -0.5 }, "note": "Lift and tilt down to survey the table and find the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 249, "output_tokens_details": { "thinking_tokens": 144 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezdCeZ5jCh3thuwsXGKm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FP6pFeX3F4d4i5t1nN8xNp", "name": "move_to", "input": { "targets": { "z": 1.2, "pitch": -1.2, "x": 0.35 }, "note": "Look more downward from higher to localize objects on the table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 742, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 742, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 386, "output_tokens_details": { "thinking_tokens": 276 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezdDCAN13syNrfZd6xee", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SNyAnTGY8k5cLij3c2EpW4", "name": "move_to", "input": { "targets": { "z": 1.1, "pitch": -0.6, "x": 0.35, "y": -0.15 }, "note": "Test how wrist view shifts by moving right (-y) at moderate tilt to find the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 878, "cache_read_input_tokens": 2502, "cache_creation": { "ephemeral_5m_input_tokens": 878, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 820, "output_tokens_details": { "thinking_tokens": 687 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezdEL1fcitHJWNRDWvJ1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JLsAZCfBHHtqnUTth5K6P8", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.09, "z": 1.05, "pitch": -0.6 }, "note": "Estimated spoon around y=+0.09, moving there to center it 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": 1319, "cache_read_input_tokens": 3380, "cache_creation": { "ephemeral_5m_input_tokens": 1319, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1284, "output_tokens_details": { "thinking_tokens": 1155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezdFvFUp1zUof4hhdoim", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018ftoQ2bALaf646sBymWnyJ", "name": "move_to", "input": { "targets": { "x": 0.43, "y": 0.13, "z": 1.0 }, "note": "Spoon slightly right and forward in wrist view; approaching closer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1778, "cache_read_input_tokens": 4699, "cache_creation": { "ephemeral_5m_input_tokens": 1778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 366, "output_tokens_details": { "thinking_tokens": 252 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezdGaEzQ7KhpaTWk9i5P", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SeGx29fTmEVEEu8JRn7NYG", "name": "move_to", "input": { "targets": { "x": 0.47, "y": 0.13, "z": 1.03, "pitch": -1.45 }, "note": "Rotating to near top-down above estimated spoon position for a vertical grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 860, "cache_read_input_tokens": 6477, "cache_creation": { "ephemeral_5m_input_tokens": 860, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 575, "output_tokens_details": { "thinking_tokens": 448 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezdHQcKyKAeGKv3Ypux6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011cYavA7R7CXjk4CYK4UP6g", "name": "move_to", "input": { "targets": { "pitch": -1.0, "z": 1.05 }, "note": "Top-down view lost the spoon; easing tilt back to re-locate it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1070, "cache_read_input_tokens": 7337, "cache_creation": { "ephemeral_5m_input_tokens": 1070, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 564, "output_tokens_details": { "thinking_tokens": 454 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezdJDMwHuUR6wddjWw6E", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DP3YGsbRenkV5XDNCB34hv", "name": "move_to", "input": { "targets": { "x": 0.55, "z": 1.05, "pitch": -1.0 }, "note": "Table surface appears farther forward; advancing x to bring spoon toward view center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1064, "cache_read_input_tokens": 8407, "cache_creation": { "ephemeral_5m_input_tokens": 1064, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 618, "output_tokens_details": { "thinking_tokens": 499 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezdK6PG2kJaXvkL74oBa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016TGqKvaMyodQoGyURQGLd2", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.35, "z": 1.05, "pitch": -0.8 }, "note": "Moving left over the far table objects (phone, pencil, white utensil) to identify the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1118, "cache_read_input_tokens": 9471, "cache_creation": { "ephemeral_5m_input_tokens": 1118, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1449, "output_tokens_details": { "thinking_tokens": 1317 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezdLtdPMBm7SpV4viwUr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013qHBz7jSVcSQw3cCf7xv1n", "name": "move_to", "input": { "targets": { "y": 0.2, "pitch": -0.6, "z": 1.08 }, "note": "Shifting right toward the spoon estimate and tilting up to view farther table area." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1949, "cache_read_input_tokens": 10589, "cache_creation": { "ephemeral_5m_input_tokens": 1949, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1388, "output_tokens_details": { "thinking_tokens": 1269 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezdNgA7CevpXafZnVv2Z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WUpUjPy5BwEWfzaAXHUrrU", "name": "move_to", "input": { "targets": { "x": 0.57, "y": 0.19 }, "note": "Spoon centered horizontally but far; moving forward 12 cm to close in." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1881, "cache_read_input_tokens": 12538, "cache_creation": { "ephemeral_5m_input_tokens": 1881, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 507, "output_tokens_details": { "thinking_tokens": 398 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezdPMJ4Z5BahU2Tj1BSu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mjtix9STKhdyTwiUUbpPqH", "name": "move_to", "input": { "targets": { "z": 1.0, "pitch": -1.2 }, "note": "Descending and tilting down to inspect the table directly under the gripper for the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1002, "cache_read_input_tokens": 14419, "cache_creation": { "ephemeral_5m_input_tokens": 1002, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1154, "output_tokens_details": { "thinking_tokens": 1042 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezdQz8tipTXiwwAdMDtU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013PTegA7VDFqGz7m3rgweua", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.19, "z": 1.02, "pitch": -1.35 }, "note": "Model: image-up = nearer. Spoon seems at x~0.45,y~0.19; going near top-down there to confirm." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1649, "cache_read_input_tokens": 15421, "cache_creation": { "ephemeral_5m_input_tokens": 1649, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1353, "output_tokens_details": { "thinking_tokens": 1211 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezdSgYHfZSrky3wUEShb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QtzBJhjKuSAUUsKTZPMeL7", "name": "move_to", "input": { "targets": { "z": 0.96, "pitch": -0.6 }, "note": "Returning to shallow tilt and lowering to see the spoon up close before grasping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1848, "cache_read_input_tokens": 17070, "cache_creation": { "ephemeral_5m_input_tokens": 1848, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1012, "output_tokens_details": { "thinking_tokens": 900 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezdTzTpt8whoKBV5Fr8V", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Jz7EM16CX9Ce6ZQpU12NUm", "name": "move_to", "input": { "targets": { "x": 0.62, "z": 0.96, "pitch": -0.6 }, "note": "Objects appear far; extending forward to approach the spoon and watch its image growth." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1506, "cache_read_input_tokens": 18918, "cache_creation": { "ephemeral_5m_input_tokens": 1506, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 3221, "output_tokens_details": { "thinking_tokens": 3102 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezdYAcdBdZuKCka5pvRw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015k5NQApWpaV9kAJKgHxFZz", "name": "move_to", "input": { "targets": { "x": 0.59, "y": 0.175, "z": 0.95, "pitch": -1.5 }, "note": "Spoon appears just under/ahead of gripper; going top-down above estimated spoon spot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 3715, "cache_read_input_tokens": 20424, "cache_creation": { "ephemeral_5m_input_tokens": 3715, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1563, "output_tokens_details": { "thinking_tokens": 1431 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezdaBLahwPfffQEv5YSz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01265BWouEF1MqVh1HMX6NPu", "name": "move_to", "input": { "targets": { "pitch": -0.9, "z": 0.98 }, "note": "Splitting the rotation: tilt to -0.9 first to avoid large joint jump." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2055, "cache_read_input_tokens": 24139, "cache_creation": { "ephemeral_5m_input_tokens": 2055, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 133, "output_tokens_details": { "thinking_tokens": 19 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezddsnGd73eNKUPt9fj4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0198G4nJ7MHXsftnEKaq49ik", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.18, "z": 0.91 }, "note": "Lowering toward the table surface just behind the bottle where the spoon lies." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 0, "cache_read_input_tokens": 26822, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 902, "output_tokens_details": { "thinking_tokens": 786 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezdfVWN6z4gRQtRiiF8X", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JndJ39Lu91DdNvF915Dpvs", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.3, "z": 0.85, "pitch": -0.9 }, "note": "Probing counter height at an empty spot to calibrate vertical geometry from 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": 1397, "cache_read_input_tokens": 26822, "cache_creation": { "ephemeral_5m_input_tokens": 1397, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 4580, "output_tokens_details": { "thinking_tokens": 4450 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezdmQUffkh9Ug2caVcea", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KHM6jtEhkBDUR8FtvnHApk", "name": "move_to", "input": { "targets": { "x": 0.66, "y": 0.17, "z": 0.95, "pitch": -1.25 }, "note": "Triangulated spoon at about (0.69,0.17); hovering above it near top-down to verify." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 5079, "cache_read_input_tokens": 28219, "cache_creation": { "ephemeral_5m_input_tokens": 5079, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2046, "output_tokens_details": { "thinking_tokens": 1913 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezdotcQENg7mQ9D2nTqp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ak6diebYRin1SPqcgNeVBc", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Descending toward the table surface at the estimated spoon location." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2545, "cache_read_input_tokens": 33298, "cache_creation": { "ephemeral_5m_input_tokens": 2545, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 325, "output_tokens_details": { "thinking_tokens": 231 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezdpc4mJf62Yvjqo7Zho", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Cf4KiwpP2tBCPxZDXUAmSQ", "name": "move_to", "input": { "targets": { "x": 0.6, "z": 0.855 }, "note": "White spoon blob appears nearer than nadir; shifting back 6 cm and just above table to straddle it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 825, "cache_read_input_tokens": 35843, "cache_creation": { "ephemeral_5m_input_tokens": 825, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 653, "output_tokens_details": { "thinking_tokens": 535 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezdqZBuom5gvDp3f5oNr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P2hk7Xzbapbe5aZbCKdHvd", "name": "move_to", "input": { "targets": { "x": 0.55, "z": 0.85 }, "note": "Spoon still slightly nearer; final 5 cm back-shift to place fingers over it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1148, "cache_read_input_tokens": 36668, "cache_creation": { "ephemeral_5m_input_tokens": 1148, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 300, "output_tokens_details": { "thinking_tokens": 187 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezdr6JRcnGpZg2NkEqRP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CwBCUg3buVA7EFLKVQT76v", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.95 }, "note": "Out of time budget: closing gripper at best estimate and lifting to attempt the pick." }, "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": 37816, "cache_creation": { "ephemeral_5m_input_tokens": 795, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 354, "output_tokens_details": { "thinking_tokens": 242 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezdrhS2PHD7zVzVC17S3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JTRYv8cuPFpZuHQ1M6qHKE", "name": "give_up", "input": { "note": "Could not reliably localize the spoon: wrist-camera depth/parallax cues were ambiguous (shadowed table regions and a fixed pink wrist fixture confused my geometry estimates), and I exhausted the motion time budget before achieving 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": 848, "cache_read_input_tokens": 38611, "cache_creation": { "ephemeral_5m_input_tokens": 848, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 170, "output_tokens_details": { "thinking_tokens": 40 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.01215, -0.78235, -0.03683, -2.38252, -0.04411, 1.54169, -0.01479 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29383, -0.02518, 0.9996 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99799, -0.0222, -0.05941 ], [ -0.02318, -0.9996, -0.01591 ], [ -0.05904, 0.01725, -0.99811 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.40551339276135, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15, "pitch": -0.5 }, "note": "Lift and tilt down to survey the table and find the spoon." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.01114, -1.04164, -0.03842, -2.27289, -0.03314, 1.67005, -0.01527 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29384, -0.02518, 1.14924 ], "tcp_roll_pitch_yaw": [ -0.0, -0.49743, -0.0 ], "tcp_rotation_matrix": [ [ 0.90521, -0.02774, 0.42405 ], [ -0.02318, -0.9996, -0.01591 ], [ 0.42433, 0.00457, -0.9055 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 6.611889550462365, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.2, "pitch": -1.2, "x": 0.35 }, "note": "Look more downward from higher to localize objects on the table." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.00747, -1.313, -0.05428, -2.68351, -0.03149, 2.50691, -0.00804 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34972, -0.02518, 1.19952 ], "tcp_roll_pitch_yaw": [ 1e-05, -1.19523, 0.0 ], "tcp_rotation_matrix": [ [ 0.42098, -0.02418, 0.90675 ], [ -0.02318, -0.9996, -0.0159 ], [ 0.90677, -0.01432, -0.42137 ] ], "simulated_seconds_remaining": 27.456, "calls_remaining_including_this": 55 }, "api_seconds": 14.41206712834537, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.1, "pitch": -0.6, "x": 0.35, "y": -0.15 }, "note": "Test how wrist view shifts by moving right (-y) at moderate tilt to find the spoon." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.02998, -0.96694, -0.3009, -2.39902, -0.13402, 1.98957, -0.2234 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35006, -0.14936, 1.10047 ], "tcp_roll_pitch_yaw": [ 5e-05, -0.60309, -8e-05 ], "tcp_rotation_matrix": [ [ 0.85541, -0.02811, 0.51718 ], [ -0.02324, -0.9996, -0.0159 ], [ 0.51742, 0.00158, -0.85573 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 54 }, "api_seconds": 20.21568586025387, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.09, "z": 1.05, "pitch": -0.6 }, "note": "Estimated spoon around y=+0.09, moving there to center it in the wrist view." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.06007, -0.87684, 0.17018, -2.51514, 0.0121, 2.17417, 0.22822 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39974, 0.08875, 1.05024 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.59994, 0.00015 ], "tcp_rotation_matrix": [ [ 0.85704, -0.02797, 0.51449 ], [ -0.02306, -0.99961, -0.01595 ], [ 0.51473, 0.0018, -0.85735 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 53 }, "api_seconds": 8.407167183235288, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43, "y": 0.13, "z": 1.0 }, "note": "Spoon slightly right and forward in wrist view; approaching closer." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0535, -0.7516, 0.26735, -2.55677, 0.01915, 2.34004, 0.31677 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42946, 0.12928, 1.00078 ], "tcp_roll_pitch_yaw": [ -0.00027, -0.59969, 0.00027 ], "tcp_rotation_matrix": [ [ 0.85717, -0.02794, 0.51427 ], [ -0.02297, -0.99961, -0.01603 ], [ 0.51452, 0.00193, -0.85748 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 52 }, "api_seconds": 10.409226541407406, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": 0.13, "z": 1.03, "pitch": -1.45 }, "note": "Rotating to near top-down above estimated spoon position for a vertical grasp." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.46475, -0.88181, 0.80219, -2.96815, 0.01532, 3.61042, 0.60785 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46989, 0.1299, 1.02972 ], "tcp_roll_pitch_yaw": [ -0.00105, -1.44525, 0.00048 ], "tcp_rotation_matrix": [ [ 0.18353, -0.02046, 0.9828 ], [ -0.02315, -0.9996, -0.01648 ], [ 0.98274, -0.01973, -0.18393 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 51 }, "api_seconds": 10.409044357948005, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.0, "z": 1.05 }, "note": "Top-down view lost the spoon; easing tilt back to re-locate it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.05535, -0.81573, 0.35762, -2.69346, -0.06004, 2.82464, 0.40244 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47006, 0.12999, 1.05011 ], "tcp_roll_pitch_yaw": [ -0.00048, -1.00544, -6e-05 ], "tcp_rotation_matrix": [ [ 0.58447, -0.02692, 0.81096 ], [ -0.02324, -0.99959, -0.01644 ], [ 0.81108, -0.00924, -0.58486 ] ], "simulated_seconds_remaining": 20.988, "calls_remaining_including_this": 50 }, "api_seconds": 11.409408278763294, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 1.05, "pitch": -1.0 }, "note": "Table surface appears farther forward; advancing x to bring spoon toward view center." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.19272, -0.54811, 0.42249, -2.50851, -0.11731, 2.91467, 0.4133 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54877, 0.12994, 1.04996 ], "tcp_roll_pitch_yaw": [ -0.00048, -0.99995, -0.00017 ], "tcp_rotation_matrix": [ [ 0.58892, -0.02708, 0.80774 ], [ -0.0233, -0.99959, -0.01652 ], [ 0.80786, -0.0091, -0.58931 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 49 }, "api_seconds": 23.21925033070147, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.35, "z": 1.05, "pitch": -0.8 }, "note": "Moving left over the far table objects (phone, pencil, white utensil) to identify the spoon." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.19185, -0.55703, 0.84682, -2.20049, -0.08463, 2.40134, 0.77465 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45052, 0.34888, 1.05003 ], "tcp_roll_pitch_yaw": [ -0.00051, -0.80125, 0.00011 ], "tcp_rotation_matrix": [ [ 0.73681, -0.02809, 0.67552 ], [ -0.02312, -0.9996, -0.01634 ], [ 0.67571, -0.00358, -0.73716 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 48 }, "api_seconds": 23.418564901687205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2, "pitch": -0.6, "z": 1.08 }, "note": "Shifting right toward the spoon estimate and tilting up to view farther table area." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.05344, -0.62344, 0.44153, -2.22914, 0.05391, 2.15961, 0.3881 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45058, 0.20089, 1.07985 ], "tcp_roll_pitch_yaw": [ -0.0004, -0.60141, -0.00023 ], "tcp_rotation_matrix": [ [ 0.85627, -0.02852, 0.51574 ], [ -0.0234, -0.99959, -0.01643 ], [ 0.516, 0.002, -0.85659 ] ], "simulated_seconds_remaining": 16.896, "calls_remaining_including_this": 47 }, "api_seconds": 8.607683828100562, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "y": 0.19 }, "note": "Spoon centered horizontally but far; moving forward 12 cm to close in." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.16934, -0.27662, 0.49097, -1.96204, -0.07459, 2.22467, 0.39753 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56875, 0.19003, 1.07976 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.60122, -0.00041 ], "tcp_rotation_matrix": [ [ 0.85637, -0.02867, 0.51557 ], [ -0.02355, -0.99959, -0.01648 ], [ 0.51583, 0.00197, -0.85669 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 46 }, "api_seconds": 21.217724861577153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0, "pitch": -1.2 }, "note": "Descending and tilting down to inspect the table directly under the gripper for the spoon." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.72904, -0.60829, 0.97874, -2.56721, -0.35772, 3.31626, 0.88621 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56871, 0.19003, 1.00075 ], "tcp_roll_pitch_yaw": [ -0.00146, -1.19611, -1e-05 ], "tcp_rotation_matrix": [ [ 0.42015, -0.02555, 0.90709 ], [ -0.02327, -0.99958, -0.01738 ], [ 0.90716, -0.01381, -0.42057 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 45 }, "api_seconds": 22.418089350685477, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.19, "z": 1.02, "pitch": -1.35 }, "note": "Model: image-up = nearer. Spoon seems at x~0.45,y~0.19; going near top-down there to confirm." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.37129, -1.00515, 0.79504, -2.90002, -0.29675, 3.33249, 0.96873 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45125, 0.19007, 1.0198 ], "tcp_roll_pitch_yaw": [ -0.00227, -1.34837, 0.00087 ], "tcp_rotation_matrix": [ [ 0.27771, -0.02306, 0.96039 ], [ -0.02307, -0.99958, -0.01733 ], [ 0.96039, -0.01734, -0.27812 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 44 }, "api_seconds": 17.014016039669514, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.96, "pitch": -0.6 }, "note": "Returning to shallow tilt and lowering to see the spoon up close before grasping." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.14807, -0.57531, 0.30604, -2.53152, -0.12531, 2.46359, 0.55447 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45138, 0.19005, 0.96039 ], "tcp_roll_pitch_yaw": [ -0.00211, -0.60452, 0.00057 ], "tcp_rotation_matrix": [ [ 0.85466, -0.02869, 0.5184 ], [ -0.02281, -0.99958, -0.01771 ], [ 0.51869, 0.00331, -0.85496 ] ], "simulated_seconds_remaining": 12.21, "calls_remaining_including_this": 43 }, "api_seconds": 55.84509551897645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "z": 0.96, "pitch": -0.6 }, "note": "Objects appear far; extending forward to approach the spoon and watch its image growth." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0192, -0.06895, 0.31529, -2.07278, -0.2815, 2.49678, 0.55057 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61871, 0.18998, 0.95994 ], "tcp_roll_pitch_yaw": [ -0.00209, -0.5999, 0.00044 ], "tcp_rotation_matrix": [ [ 0.85704, -0.0288, 0.51444 ], [ -0.02292, -0.99958, -0.01776 ], [ 0.51474, 0.00343, -0.85734 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 42 }, "api_seconds": 27.22362898942083, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.59, "y": 0.175, "z": 0.95, "pitch": -1.5 }, "note": "Spoon appears just under/ahead of gripper; going top-down above estimated spoon spot." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 17, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0192, -0.06895, 0.31529, -2.07278, -0.2815, 2.49678, 0.55057 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61871, 0.18998, 0.95994 ], "tcp_roll_pitch_yaw": [ -0.00209, -0.5999, 0.00044 ], "tcp_rotation_matrix": [ [ 0.85704, -0.0288, 0.51444 ], [ -0.02292, -0.99958, -0.01776 ], [ 0.51474, 0.00343, -0.85734 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 41 }, "api_seconds": 5.006388580426574, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.9, "z": 0.98 }, "note": "Splitting the rotation: tilt to -0.9 first to avoid large joint jump." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.07871, -0.1648, 0.36908, -2.25331, -0.67699, 2.83894, 0.91649 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61879, 0.18982, 0.97976 ], "tcp_roll_pitch_yaw": [ -0.00247, -0.89612, 0.0002 ], "tcp_rotation_matrix": [ [ 0.66945, -0.02906, 0.74229 ], [ -0.02319, -0.99957, -0.01822 ], [ 0.74249, -0.00501, -0.66984 ] ], "simulated_seconds_remaining": 10.032, "calls_remaining_including_this": 40 }, "api_seconds": 66.05359519738704, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.18, "z": 0.91 }, "note": "Lowering toward the table surface just behind the bottle where the spoon lies." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.19412, -0.13167, 0.43627, -2.35279, -1.0236, 2.95797, 1.24262 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60034, 0.18011, 0.91113 ], "tcp_roll_pitch_yaw": [ -0.00254, -0.89591, 0.00012 ], "tcp_rotation_matrix": [ [ 0.6696, -0.0292, 0.74215 ], [ -0.02325, -0.99956, -0.01836 ], [ 0.74236, -0.00496, -0.66999 ] ], "simulated_seconds_remaining": 9.24, "calls_remaining_including_this": 39 }, "api_seconds": 79.27128456626087, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.3, "z": 0.85, "pitch": -0.9 }, "note": "Probing counter height at an empty spot to calibrate vertical geometry from exterior view." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.08, -0.32442, 0.71996, -2.56969, -1.1365, 2.81199, 1.72832 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45094, 0.29931, 0.8504 ], "tcp_roll_pitch_yaw": [ -0.00264, -0.89995, 0.00048 ], "tcp_rotation_matrix": [ [ 0.6666, -0.0289, 0.74485 ], [ -0.02302, -0.99957, -0.01818 ], [ 0.74506, -0.00502, -0.66698 ] ], "simulated_seconds_remaining": 7.59, "calls_remaining_including_this": 38 }, "api_seconds": 32.423763177357614, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "y": 0.17, "z": 0.95, "pitch": -1.25 }, "note": "Triangulated spoon at about (0.69,0.17); hovering above it near top-down to verify." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.38291, -0.01601, 0.62053, -2.13394, -2.1432, 2.86114, 2.284 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65923, 0.17039, 0.94961 ], "tcp_roll_pitch_yaw": [ -0.00232, -1.2486, -9e-05 ], "tcp_rotation_matrix": [ [ 0.37196, -0.02568, 0.92789 ], [ -0.02335, -0.99956, -0.0183 ], [ 0.92795, -0.01486, -0.3724 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 37 }, "api_seconds": 9.207790163345635, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Descending toward the table surface at the estimated spoon location." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.3586, 0.11539, 0.64528, -2.18703, -2.36661, 2.69492, 2.48315 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65919, 0.17037, 0.8711 ], "tcp_roll_pitch_yaw": [ -0.00233, -1.2483, -0.00012 ], "tcp_rotation_matrix": [ [ 0.37224, -0.02573, 0.92778 ], [ -0.02336, -0.99956, -0.01835 ], [ 0.92784, -0.01485, -0.37267 ] ], "simulated_seconds_remaining": 4.686, "calls_remaining_including_this": 36 }, "api_seconds": 12.410941236652434, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 0.855 }, "note": "White spoon blob appears nearer than nadir; shifting back 6 cm and just above table to straddle it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.34693, -0.03565, 0.66789, -2.36704, -2.40886, 2.67416, 2.63325 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60114, 0.17046, 0.85531 ], "tcp_roll_pitch_yaw": [ -0.00258, -1.24825, 0.00029 ], "tcp_rotation_matrix": [ [ 0.37229, -0.02556, 0.92777 ], [ -0.02322, -0.99956, -0.01822 ], [ 0.92783, -0.01476, -0.37272 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 35 }, "api_seconds": 6.806187145411968, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.85 }, "note": "Spoon still slightly nearer; final 5 cm back-shift to place fingers over it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.3142, -0.1872, 0.67731, -2.50731, -2.40776, 2.68838, 2.73365 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55115, 0.17053, 0.85012 ], "tcp_roll_pitch_yaw": [ -0.00283, -1.24822, 0.00069 ], "tcp_rotation_matrix": [ [ 0.37232, -0.02539, 0.92776 ], [ -0.02309, -0.99957, -0.01809 ], [ 0.92782, -0.01469, -0.37274 ] ], "simulated_seconds_remaining": 3.3, "calls_remaining_including_this": 34 }, "api_seconds": 7.607226572930813, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.95 }, "note": "Out of time budget: closing gripper at best estimate and lifting to attempt the pick." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.38285, -0.39274, 0.64103, -2.41633, -2.19873, 2.98057, 2.52674 ], "gripper_open": 0.0, "tcp_xyz": [ 0.5512, 0.1705, 0.94882 ], "tcp_roll_pitch_yaw": [ -0.00292, -1.24845, 0.00066 ], "tcp_rotation_matrix": [ [ 0.3721, -0.02551, 0.92784 ], [ -0.02311, -0.99957, -0.01821 ], [ 0.9279, -0.01466, -0.37253 ] ], "simulated_seconds_remaining": 2.31, "calls_remaining_including_this": 33 }, "api_seconds": 5.004505622200668, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably localize the spoon: wrist-camera depth/parallax cues were ambiguous (shadowed table regions and a fixed pink wrist fixture confused my geometry estimates), and I exhausted the motion time budget before achieving a grasp." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 006 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 6, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "api_calls": 32, "wall_seconds": 353.30798268318176, "usage": { "input_tokens": 64, "cache_creation_input_tokens": 33937, "cache_read_input_tokens": 514236, "output_tokens": 17042 }, "estimated_cost_usd": 0.89559425 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezdDy4bgdJMHZYVDoNE5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014sBPVtEZKFWwgSGzqy3251", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 74, "output_tokens_details": { "thinking_tokens": 50 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezdEArktmDVJpuP9q5xF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KMFp4B5pAYPy94Cpup5rYx", "name": "move_to", "input": { "targets": { "y": 0.25, "z": 1.15 }, "note": "Raise and shift left to survey counter objects with wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 509, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 509, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 204, "output_tokens_details": { "thinking_tokens": 100 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezdEckk9F7mzxs28o3Yy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DWkRKYrPitQ7TSaLJrHRFn", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.1, "z": 1.2 }, "note": "Move forward over counter to view objects from above." }, "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": 2268, "cache_creation": { "ephemeral_5m_input_tokens": 697, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 321, "output_tokens_details": { "thinking_tokens": 216 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezdF7ZLeoN9GBgugFJ8x", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FG8vbm2SwddujbJGdVxXsu", "name": "move_to", "input": { "targets": { "y": 0.4 }, "note": "Pan left along counter to find the spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 816, "cache_read_input_tokens": 2965, "cache_creation": { "ephemeral_5m_input_tokens": 816, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 230, "output_tokens_details": { "thinking_tokens": 141 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezdFUdcsZweMXcpTBXEX", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QenJvKPbnSavHru3f79rpa", "name": "move_to", "input": { "targets": { "y": 0.25 }, "note": "Smaller left pan step." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 723, "cache_read_input_tokens": 3781, "cache_creation": { "ephemeral_5m_input_tokens": 723, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 83, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezdFsyZTZNjtjmoQgWpH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SufGd5ixR9qDhLdGLXgBFt", "name": "move_to", "input": { "targets": { "y": 0.35, "z": 1.1 }, "note": "Move slightly further left and lower to inspect the utensil-like object seen 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": 577, "cache_read_input_tokens": 4504, "cache_creation": { "ephemeral_5m_input_tokens": 577, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 251, "output_tokens_details": { "thinking_tokens": 139 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezdGRT9FkmHZ6Aeyonqd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018RFwahz7RHXdhTDnivY86M", "name": "move_to", "input": { "targets": { "y": 0.28 }, "note": "Small y test to learn image-direction mapping while keeping utensil in view." }, "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": 5081, "cache_creation": { "ephemeral_5m_input_tokens": 744, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 783, "output_tokens_details": { "thinking_tokens": 684 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezdHUwHJAKhccDLo5Dnh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01D13HHBuGccqFviE7P1BXqU", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Lower closer to counter for a detailed view of the utensil." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1277, "cache_read_input_tokens": 5825, "cache_creation": { "ephemeral_5m_input_tokens": 1277, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 376, "output_tokens_details": { "thinking_tokens": 281 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezdJ6csWw8JhxMYGX2XA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ht4x2xYZmc89TnBb6DdhP6", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.25, "z": 1.15 }, "note": "Back up higher to re-center the utensil in wrist view for better visibility." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 870, "cache_read_input_tokens": 7102, "cache_creation": { "ephemeral_5m_input_tokens": 870, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 764, "output_tokens_details": { "thinking_tokens": 649 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezdKDwvdHLTjHPUC71v1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012UFjCT1wVZH7YE5oBq4Van", "name": "move_to", "input": { "targets": { "x": 0.55 }, "note": "Test +x motion to determine vertical image mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1258, "cache_read_input_tokens": 7972, "cache_creation": { "ephemeral_5m_input_tokens": 1258, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 576, "output_tokens_details": { "thinking_tokens": 484 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezdL3DoBcVdUdw5t5CdD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PMaKhrbvS3PU8YnqZiDyiq", "name": "move_to", "input": { "targets": { "y": 0.17 }, "note": "Shift right-in-image mapping: move -y toward estimated spatula location." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1070, "cache_read_input_tokens": 9230, "cache_creation": { "ephemeral_5m_input_tokens": 1070, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 688, "output_tokens_details": { "thinking_tokens": 588 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezdLuPnF11Br2uJGjsh5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QDGqf33NrYFNLGMoEuMoy5", "name": "move_to", "input": { "targets": { "x": 0.555, "y": 0.125, "z": 1.05 }, "note": "Center over candidate spatula and descend for closer look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1186, "cache_read_input_tokens": 10300, "cache_creation": { "ephemeral_5m_input_tokens": 1186, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 501, "output_tokens_details": { "thinking_tokens": 393 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezdMbhSaafsvrw7taTP3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WUGCrZjGDz7YfWVgXWjnZs", "name": "move_to", "input": { "targets": { "x": 0.49 }, "note": "Test -x move to resolve vertical image mapping ambiguity." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 996, "cache_read_input_tokens": 11486, "cache_creation": { "ephemeral_5m_input_tokens": 996, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 735, "output_tokens_details": { "thinking_tokens": 638 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezdNeyfgyh5Jnf84n5a7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0188TL8hk8o4bXmE6VLCDVRU", "name": "move_to", "input": { "targets": { "y": 0.1 }, "note": "Shift to estimated spatula y to center it under 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": 1230, "cache_read_input_tokens": 12482, "cache_creation": { "ephemeral_5m_input_tokens": 1230, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1218, "output_tokens_details": { "thinking_tokens": 1123 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezdQ6JgiHQCqcmHYpo2Y", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012Rv9eUhJ4em6fquSkqfuK4", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Descend to gauge counter height and get closer view of the utensil." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1712, "cache_read_input_tokens": 13712, "cache_creation": { "ephemeral_5m_input_tokens": 1712, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 760, "output_tokens_details": { "thinking_tokens": 664 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezdR76qcmPR5Z3PBUJ9f", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XXX9aKy8Eodqi68qVx1Kv4", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Continue descending toward counter surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1255, "cache_read_input_tokens": 15424, "cache_creation": { "ephemeral_5m_input_tokens": 1255, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 201, "output_tokens_details": { "thinking_tokens": 114 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezdRWC9cfZC4nL6bC2uB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NtjPEuCc3qmsdRfZNHmCRL", "name": "move_to", "input": { "targets": { "z": 0.79 }, "note": "Descend further to find the support surface height." }, "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": 16679, "cache_creation": { "ephemeral_5m_input_tokens": 700, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 880, "output_tokens_details": { "thinking_tokens": 793 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezdSirgvKo7qUVaotbJr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0185KBivPCCFtBPEUBoNWrQN", "name": "move_to", "input": { "targets": { "x": 0.48, "y": 0.15, "z": 0.9 }, "note": "Reposition above estimated spatula location at moderate 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": 17379, "cache_creation": { "ephemeral_5m_input_tokens": 1374, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 666, "output_tokens_details": { "thinking_tokens": 557 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezdThkEptzDk75CauF9r", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E7TG6aKQ8a7qP7k8s3nCjY", "name": "move_to", "input": { "targets": { "x": 0.462, "y": 0.168 }, "note": "Half-step to align utensil with finger position 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": 1161, "cache_read_input_tokens": 18753, "cache_creation": { "ephemeral_5m_input_tokens": 1161, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 853, "output_tokens_details": { "thinking_tokens": 751 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezdUoxpHhWzatFzdoqQ7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R9k6PYpSue9iBSmR69gnzY", "name": "move_to", "input": { "targets": { "x": 0.454, "y": 0.2 }, "note": "Align spatula blade with the gripper 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": 1347, "cache_read_input_tokens": 19914, "cache_creation": { "ephemeral_5m_input_tokens": 1347, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 419, "output_tokens_details": { "thinking_tokens": 319 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezdVWKTgE2H8zwv6y1kK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012CMbWQfbzPYkLXEXW2UH1M", "name": "move_to", "input": { "targets": { "yaw": 0.785 }, "note": "Rotate gripper 45° so fingers close perpendicular to the utensil's long axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 913, "cache_read_input_tokens": 21261, "cache_creation": { "ephemeral_5m_input_tokens": 913, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1152, "output_tokens_details": { "thinking_tokens": 1045 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezdWs4Qpudn9DC2jL9Km", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VAAtwNAKRqYK1Ku368U46t", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Descend toward the utensil for grasp; check alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1645, "cache_read_input_tokens": 22174, "cache_creation": { "ephemeral_5m_input_tokens": 1645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 378, "output_tokens_details": { "thinking_tokens": 284 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezdXUDkNbwE1kWRGuLbM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FQX2k4DJRBYJgDTmSsFPsF", "name": "move_to", "input": { "targets": { "z": 0.785 }, "note": "Descend to counter level to surround the utensil with fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 23819, "cache_creation": { "ephemeral_5m_input_tokens": 871, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 252, "output_tokens_details": { "thinking_tokens": 158 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezdYWavQ3K2CEcgoKm4r", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UhwM7ASGsnQfSoRSGZk4ku", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Rise to see where the utensil is relative to gripper." }, "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": 24690, "cache_creation": { "ephemeral_5m_input_tokens": 744, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 257, "output_tokens_details": { "thinking_tokens": 164 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezdYywDCQQRqCzb3PHu8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YUEyWNUScHgwevopLaSdc2", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.09 }, "note": "Move toward the clearly identified spatula (dark handle + white blade) seen at left edge of 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": 755, "cache_read_input_tokens": 25434, "cache_creation": { "ephemeral_5m_input_tokens": 755, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 786, "output_tokens_details": { "thinking_tokens": 668 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezda1Xz6P5nUppnvX5Pq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012UjSZaQ6yv414rvJTuq2Up", "name": "move_to", "input": { "targets": { "x": 0.56, "y": 0.02 }, "note": "Shift so the spatula handle lies 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": 1279, "cache_read_input_tokens": 26189, "cache_creation": { "ephemeral_5m_input_tokens": 1279, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 956, "output_tokens_details": { "thinking_tokens": 855 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezdbFepepStUfdPacgEP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SPouVbSJyCRjubGDnLVUso", "name": "move_to", "input": { "targets": { "y": -0.06 }, "note": "Single-axis y shift to bring handle into finger gap per mapping estimate." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1450, "cache_read_input_tokens": 27468, "cache_creation": { "ephemeral_5m_input_tokens": 1450, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 895, "output_tokens_details": { "thinking_tokens": 794 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezdck77jLBwqEUxEkook", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P6TfoUYp5gwMZf8TKjHD5A", "name": "move_to", "input": { "targets": { "y": 0.0 }, "note": "Move back onto the counter after overshooting toward the edge." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1392, "cache_read_input_tokens": 28918, "cache_creation": { "ephemeral_5m_input_tokens": 1392, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 458, "output_tokens_details": { "thinking_tokens": 364 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezddR5uY3GnsVADv4ZB1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GSUSeyJjbnAiXmbPQQNkGr", "name": "move_to", "input": { "targets": { "x": 0.549, "y": -0.036, "z": 0.79 }, "note": "Final alignment and descent onto the spatula handle before closing gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 951, "cache_read_input_tokens": 30310, "cache_creation": { "ephemeral_5m_input_tokens": 951, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 982, "output_tokens_details": { "thinking_tokens": 868 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezdeiHXuwTpD7MCdfPWR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01D5FWW4DyXjAHXbtFFHUrAP", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on presumed spatula handle position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1480, "cache_read_input_tokens": 31261, "cache_creation": { "ephemeral_5m_input_tokens": 1480, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 122, "output_tokens_details": { "thinking_tokens": 31 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezdfGbV3h5tKcEhpHV1v", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MNDQXLSRojE4B3HuxykRsL", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lift to check whether the spatula 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": 614, "cache_read_input_tokens": 32741, "cache_creation": { "ephemeral_5m_input_tokens": 614, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 90, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezdfZeQX6f5XWsEi3PkM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XQNqFPmQXN44uias1Hapez", "name": "give_up", "input": { "note": "Ran out of simulated motion time; grasp attempt missed the spatula, which remains on the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 582, "cache_read_input_tokens": 33355, "cache_creation": { "ephemeral_5m_input_tokens": 582, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 131, "output_tokens_details": { "thinking_tokens": 53 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.0305, -0.74975, -0.04129, -2.31016, 0.04918, 1.59094, 0.00529 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32415, -0.01014, 1.02827 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99726, -0.0653, 0.03472 ], [ -0.06776, -0.99486, 0.07525 ], [ 0.02962, -0.07739, -0.99656 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.407015201635659, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 1.15 }, "note": "Raise and shift left to survey counter objects with wrist camera." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.06172, -0.46392, 0.37836, -1.749, 0.22539, 1.38162, 0.52503 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32413, 0.24884, 1.14943 ], "tcp_roll_pitch_yaw": [ -4e-05, -4e-05, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99727, -0.06511, 0.03475 ], [ -0.06758, -0.99488, 0.07521 ], [ 0.02967, -0.07736, -0.99656 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 56 }, "api_seconds": 5.6054982002824545, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.1, "z": 1.2 }, "note": "Move forward over counter to view objects from above." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.05798, 0.02476, 0.22379, -1.13401, 0.06749, 1.20554, 0.25795 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49905, 0.10078, 1.19962 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00014, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99726, -0.06534, 0.03458 ], [ -0.06779, -0.99486, 0.0752 ], [ 0.02949, -0.07734, -0.99657 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 55 }, "api_seconds": 4.8048879988491535, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4 }, "note": "Pan left along counter to find the spatula." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.05798, 0.02476, 0.22379, -1.13401, 0.06749, 1.20554, 0.25795 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49905, 0.10078, 1.19962 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00014, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99726, -0.06534, 0.03458 ], [ -0.06779, -0.99486, 0.0752 ], [ 0.02949, -0.07734, -0.99657 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 54 }, "api_seconds": 4.40447171125561, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "Smaller left pan step." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.16982, 0.24457, 0.36957, -0.84782, -0.04375, 1.14461, 0.57335 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49903, 0.2488, 1.19956 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00027, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99729, -0.06505, 0.03443 ], [ -0.06749, -0.99488, 0.0752 ], [ 0.02936, -0.07732, -0.99657 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 53 }, "api_seconds": 6.40636845305562, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.35, "z": 1.1 }, "note": "Move slightly further left and lower to inspect the utensil-like object seen in wrist view." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.24214, 0.19654, 0.41802, -1.21657, -0.04046, 1.46954, 0.71081 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.499, 0.34912, 1.10082 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00052, 0.00044 ], "tcp_rotation_matrix": [ [ 0.99731, -0.0649, 0.03417 ], [ -0.06732, -0.9949, 0.0751 ], [ 0.02912, -0.07719, -0.99659 ] ], "simulated_seconds_remaining": 23.364, "calls_remaining_including_this": 52 }, "api_seconds": 14.21278313267976, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.28 }, "note": "Small y test to learn image-direction mapping while keeping utensil in view." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.14456, 0.05135, 0.36049, -1.39287, 0.03114, 1.50733, 0.57356 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49907, 0.28127, 1.10087 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00042, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99729, -0.06516, 0.03429 ], [ -0.06758, -0.99489, 0.07505 ], [ 0.02922, -0.07717, -0.99659 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 51 }, "api_seconds": 7.606328287161887, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Lower closer to counter for a detailed view of the utensil." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.13514, -0.02227, 0.35237, -1.73724, 0.05929, 1.78127, 0.5437 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49905, 0.28126, 1.00117 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.00072, 0.00019 ], "tcp_rotation_matrix": [ [ 0.9973, -0.06517, 0.03399 ], [ -0.06756, -0.9949, 0.07493 ], [ 0.02893, -0.07703, -0.99661 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 50 }, "api_seconds": 14.412842892110348, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.25, "z": 1.15 }, "note": "Back up higher to re-center the utensil in wrist view for better visibility." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.12505, 0.08289, 0.33953, -1.22002, 0.02484, 1.36252, 0.53509 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50004, 0.25028, 1.1488 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00045, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99728, -0.06519, 0.03426 ], [ -0.06761, -0.99489, 0.07504 ], [ 0.02919, -0.07715, -0.99659 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 49 }, "api_seconds": 10.609250832349062, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Test +x motion to determine vertical image mapping." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.16219, 0.29847, 0.34147, -0.92712, -0.05045, 1.27504, 0.53674 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54892, 0.25025, 1.14866 ], "tcp_roll_pitch_yaw": [ -0.0003, 0.00069, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99729, -0.06526, 0.03402 ], [ -0.06766, -0.99489, 0.07495 ], [ 0.02896, -0.07705, -0.99661 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 48 }, "api_seconds": 11.009487826377153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.17 }, "note": "Shift right-in-image mapping: move -y toward estimated spatula location." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.03039, 0.16224, 0.28658, -1.11289, 0.01564, 1.32422, 0.38325 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54896, 0.17113, 1.1487 ], "tcp_roll_pitch_yaw": [ -0.00035, 0.00062, -0.00017 ], "tcp_rotation_matrix": [ [ 0.99727, -0.06552, 0.03411 ], [ -0.06792, -0.99488, 0.07489 ], [ 0.02903, -0.077, -0.99661 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 47 }, "api_seconds": 8.807751784101129, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.555, "y": 0.125, "z": 1.05 }, "note": "Center over candidate spatula and descend for closer look." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04127, 0.00378, 0.23398, -1.57546, 0.06625, 1.62669, 0.25755 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55494, 0.12548, 1.05106 ], "tcp_roll_pitch_yaw": [ -0.0004, 0.0009, -0.00028 ], "tcp_rotation_matrix": [ [ 0.99727, -0.06564, 0.03384 ], [ -0.06802, -0.99487, 0.07484 ], [ 0.02876, -0.07694, -0.99662 ] ], "simulated_seconds_remaining": 17.754, "calls_remaining_including_this": 46 }, "api_seconds": 13.81208499521017, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.49 }, "note": "Test -x move to resolve vertical image mapping ambiguity." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.03994, -0.20189, 0.22582, -1.80131, 0.11274, 1.65117, 0.24296 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49127, 0.12553, 1.05117 ], "tcp_roll_pitch_yaw": [ -0.00042, 0.00072, -0.00018 ], "tcp_rotation_matrix": [ [ 0.99727, -0.06553, 0.03402 ], [ -0.06793, -0.99488, 0.07482 ], [ 0.02894, -0.07693, -0.99662 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 45 }, "api_seconds": 19.216468451544642, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Shift to estimated spatula y to center it under the gripper." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.05771, -0.21509, 0.19677, -1.81548, 0.11166, 1.648, 0.19645 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4913, 0.10102, 1.05118 ], "tcp_roll_pitch_yaw": [ -0.00041, 0.00071, -0.00038 ], "tcp_rotation_matrix": [ [ 0.99726, -0.06573, 0.03404 ], [ -0.06813, -0.99487, 0.07482 ], [ 0.02894, -0.07694, -0.99662 ] ], "simulated_seconds_remaining": 16.566, "calls_remaining_including_this": 44 }, "api_seconds": 13.011036468669772, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Descend to gauge counter height and get closer view of the utensil." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.05177, -0.22376, 0.20626, -2.13041, 0.12337, 1.95336, 0.17391 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49125, 0.10101, 0.93119 ], "tcp_roll_pitch_yaw": [ -0.00044, 0.00105, -0.00037 ], "tcp_rotation_matrix": [ [ 0.99727, -0.06575, 0.0337 ], [ -0.06812, -0.99487, 0.0748 ], [ 0.02861, -0.07689, -0.99663 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 43 }, "api_seconds": 4.804422070272267, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Continue descending toward counter surface." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04844, -0.16505, 0.21652, -2.27928, 0.12469, 2.15988, 0.16596 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49119, 0.101, 0.85114 ], "tcp_roll_pitch_yaw": [ -0.00046, 0.00139, -0.00037 ], "tcp_rotation_matrix": [ [ 0.99728, -0.06577, 0.03336 ], [ -0.06811, -0.99487, 0.07477 ], [ 0.02827, -0.07684, -0.99664 ] ], "simulated_seconds_remaining": 14.586, "calls_remaining_including_this": 42 }, "api_seconds": 16.01377554051578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79 }, "note": "Descend further to find the support surface height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04689, -0.086, 0.22389, -2.35991, 0.11863, 2.31835, 0.16489 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49112, 0.10099, 0.7911 ], "tcp_roll_pitch_yaw": [ -0.00049, 0.00172, -0.00037 ], "tcp_rotation_matrix": [ [ 0.99729, -0.0658, 0.03303 ], [ -0.06811, -0.99487, 0.07475 ], [ 0.02794, -0.07679, -0.99666 ] ], "simulated_seconds_remaining": 13.86, "calls_remaining_including_this": 41 }, "api_seconds": 12.614110936410725, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "y": 0.15, "z": 0.9 }, "note": "Reposition above estimated spatula location at moderate height." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.00765, -0.20957, 0.26542, -2.19742, 0.13333, 2.04269, 0.26278 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48018, 0.14954, 0.89894 ], "tcp_roll_pitch_yaw": [ -0.00044, 0.0014, -0.00026 ], "tcp_rotation_matrix": [ [ 0.99728, -0.06567, 0.03334 ], [ -0.06801, -0.99488, 0.07479 ], [ 0.02825, -0.07686, -0.99664 ] ], "simulated_seconds_remaining": 12.738, "calls_remaining_including_this": 40 }, "api_seconds": 14.61624248418957, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.462, "y": 0.168 }, "note": "Half-step to align utensil with finger position in wrist view." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.01204, -0.24754, 0.28721, -2.23372, 0.14791, 2.04536, 0.29519 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46276, 0.16728, 0.89896 ], "tcp_roll_pitch_yaw": [ -0.00047, 0.00135, -8e-05 ], "tcp_rotation_matrix": [ [ 0.9973, -0.06548, 0.03337 ], [ -0.06782, -0.99489, 0.07478 ], [ 0.02831, -0.07684, -0.99664 ] ], "simulated_seconds_remaining": 12.276, "calls_remaining_including_this": 39 }, "api_seconds": 9.00858315359801, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.454, "y": 0.2 }, "note": "Align spatula blade with the gripper finger gap." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.03712, -0.24137, 0.32772, -2.2253, 0.15263, 2.04943, 0.35798 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45427, 0.19898, 0.89897 ], "tcp_roll_pitch_yaw": [ -0.00049, 0.00133, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99731, -0.06526, 0.03338 ], [ -0.0676, -0.99491, 0.07476 ], [ 0.02833, -0.07681, -0.99664 ] ], "simulated_seconds_remaining": 11.748, "calls_remaining_including_this": 38 }, "api_seconds": 17.614492534659803, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.785 }, "note": "Rotate gripper 45° so fingers close perpendicular to the utensil's long axis." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.10686, -0.19262, 0.25322, -2.16899, 0.14159, 1.97827, -0.4145 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45427, 0.19898, 0.89896 ], "tcp_roll_pitch_yaw": [ -0.00049, 0.00137, 0.78027 ], "tcp_rotation_matrix": [ [ 0.75646, 0.6534, -0.02888 ], [ 0.65343, -0.7531, 0.07659 ], [ 0.0283, -0.07681, -0.99664 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 37 }, "api_seconds": 7.807512355037034, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Descend toward the utensil for grasp; check alignment." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.10933, -0.14208, 0.26183, -2.2688, 0.13987, 2.1274, -0.41911 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4542, 0.19895, 0.84124 ], "tcp_roll_pitch_yaw": [ -0.00031, 0.00168, 0.78028 ], "tcp_rotation_matrix": [ [ 0.75647, 0.65338, -0.02923 ], [ 0.65343, -0.75311, 0.0765 ], [ 0.02797, -0.07697, -0.99664 ] ], "simulated_seconds_remaining": 9.768, "calls_remaining_including_this": 36 }, "api_seconds": 13.4103320306167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.785 }, "note": "Descend to counter level to surround the utensil with fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.11102, -0.06802, 0.26921, -2.341, 0.13117, 2.27202, -0.41873 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45413, 0.19892, 0.78618 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00199, 0.78027 ], "tcp_rotation_matrix": [ [ 0.75648, 0.65335, -0.02957 ], [ 0.65343, -0.75312, 0.07641 ], [ 0.02765, -0.07713, -0.99664 ] ], "simulated_seconds_remaining": 9.108, "calls_remaining_including_this": 35 }, "api_seconds": 5.805490802973509, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Rise to see where the utensil is relative to gripper." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.10396, -0.21421, 0.24669, -2.06296, 0.13938, 1.85081, -0.40719 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4542, 0.19895, 0.94877 ], "tcp_roll_pitch_yaw": [ -0.0003, 0.00167, 0.78026 ], "tcp_rotation_matrix": [ [ 0.75648, 0.65337, -0.02923 ], [ 0.65342, -0.75312, 0.07651 ], [ 0.02798, -0.07698, -0.99664 ] ], "simulated_seconds_remaining": 7.722, "calls_remaining_including_this": 34 }, "api_seconds": 12.610784039832652, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.09 }, "note": "Move toward the clearly identified spatula (dark handle + white blade) seen at left edge of wrist view." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.00037, -0.00485, 0.12887, -1.83236, 0.08269, 1.80752, -0.60422 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54914, 0.09089, 0.94872 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.00173, 0.77999 ], "tcp_rotation_matrix": [ [ 0.75666, 0.65315, -0.0293 ], [ 0.65321, -0.7533, 0.07653 ], [ 0.02792, -0.07705, -0.99664 ] ], "simulated_seconds_remaining": 6.468, "calls_remaining_including_this": 33 }, "api_seconds": 16.81525121908635, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "y": 0.02 }, "note": "Shift so the spatula handle lies between the fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.06186, 0.01459, 0.06684, -1.80676, 0.07767, 1.79167, -0.72611 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55983, 0.02109, 0.94871 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00175, 0.77969 ], "tcp_rotation_matrix": [ [ 0.75685, 0.65293, -0.02929 ], [ 0.65299, -0.75349, 0.07653 ], [ 0.0279, -0.07705, -0.99664 ] ], "simulated_seconds_remaining": 5.676, "calls_remaining_including_this": 32 }, "api_seconds": 19.618936588987708, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06 }, "note": "Single-axis y shift to bring handle into finger gap per mapping estimate." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.11828, 0.03331, 0.01709, -1.78581, 0.07183, 1.77132, -0.86257 ], "gripper_open": 1.0, "tcp_xyz": [ 0.55986, -0.0396, 0.94637 ], "tcp_roll_pitch_yaw": [ 0.0054, 0.00748, 0.81249 ], "tcp_rotation_matrix": [ [ 0.73525, 0.67663, -0.03979 ], [ 0.67744, -0.73172, 0.07524 ], [ 0.0218, -0.08227, -0.99637 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 31 }, "api_seconds": 8.608032281510532, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0 }, "note": "Move back onto the counter after overshooting toward the edge." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.08388, 0.02502, 0.04962, -1.79721, 0.07429, 1.77926, -0.79625 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.55993, -0.00158, 0.94634 ], "tcp_roll_pitch_yaw": [ 0.00536, 0.00744, 0.81214 ], "tcp_rotation_matrix": [ [ 0.73549, 0.67637, -0.0397 ], [ 0.67719, -0.73195, 0.07525 ], [ 0.02184, -0.08223, -0.99637 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 30 }, "api_seconds": 16.814114151522517, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.549, "y": -0.036, "z": 0.79 }, "note": "Final alignment and descent onto the spatula handle before closing gripper." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.11232, 0.10715, 0.02444, -2.09517, 0.08306, 2.15863, -0.88373 ], "gripper_open": 0.9999, "tcp_xyz": [ 0.55042, -0.03415, 0.7932 ], "tcp_roll_pitch_yaw": [ 0.00206, 0.00444, 0.81509 ], "tcp_rotation_matrix": [ [ 0.73337, 0.67891, -0.03548 ], [ 0.67937, -0.72995, 0.07506 ], [ 0.02506, -0.07915, -0.99655 ] ], "simulated_seconds_remaining": 2.904, "calls_remaining_including_this": 29 }, "api_seconds": 7.006665801629424, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on presumed spatula handle position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.11232, 0.10715, 0.02444, -2.09517, 0.08306, 2.15863, -0.88373 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55042, -0.03416, 0.79318 ], "tcp_roll_pitch_yaw": [ 0.00206, 0.00445, 0.81508 ], "tcp_rotation_matrix": [ [ 0.73337, 0.6789, -0.03549 ], [ 0.67937, -0.72995, 0.07505 ], [ 0.02505, -0.07915, -0.99655 ] ], "simulated_seconds_remaining": 1.98, "calls_remaining_including_this": 28 }, "api_seconds": 3.0062894662842155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lift to check whether the spatula was grasped." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.11513, -0.00188, 0.0216, -1.82372, 0.07311, 1.77921, -0.85838 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55049, -0.03417, 0.94877 ], "tcp_roll_pitch_yaw": [ 0.00176, 0.00421, 0.81507 ], "tcp_rotation_matrix": [ [ 0.73337, 0.67893, -0.03511 ], [ 0.67936, -0.72996, 0.07503 ], [ 0.02531, -0.07887, -0.99656 ] ], "simulated_seconds_remaining": 0.66, "calls_remaining_including_this": 27 }, "api_seconds": 6.2053985968232155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Ran out of simulated motion time; grasp attempt missed the spatula, which remains on the counter." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 007 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 7, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 29, "api_calls": 31, "wall_seconds": 271.02687907218933, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 28868, "cache_read_input_tokens": 459849, "output_tokens": 12562 }, "estimated_cost_usd": 0.7247095 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezdhvUM8j18Lv8rJ9MEB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019Nk5Axj1N4i75vZvKsaxWT", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "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_011CezdiKWBxCLecCb7XA1ii", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QPZQmj3CHfqVdRbmvt8pYX", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lowering to get a better downward view of the counter and locate the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 529, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 529, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 490, "output_tokens_details": { "thinking_tokens": 392 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezdizAd7tUiWj5qmTdev", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CafE8PLAQLw3ERqKASKrr3", "name": "move_to", "input": { "targets": { "z": 1.15 }, "note": "Raising to get a wider downward wrist view to locate the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 984, "cache_read_input_tokens": 2287, "cache_creation": { "ephemeral_5m_input_tokens": 984, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 351, "output_tokens_details": { "thinking_tokens": 254 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezdjWH7eokP2dqUEC81w", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016aWVnjEUaf6m32RrkHp3Q5", "name": "move_to", "input": { "targets": { "x": 0.35 }, "note": "Test move +x 0.055 to calibrate how the spoon shifts in the wrist image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 3271, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 728, "output_tokens_details": { "thinking_tokens": 623 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezdkRasdr3equ9EMPXfv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CuGfmTgobHTkeoGc9NrZRX", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Test +y move to calibrate image horizontal direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1219, "cache_read_input_tokens": 4118, "cache_creation": { "ephemeral_5m_input_tokens": 1219, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 296, "output_tokens_details": { "thinking_tokens": 203 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezdkqU44v3aSSpgSj7r5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Vp71cs3a7We4sGDNWguD7d", "name": "move_to", "input": { "targets": { "y": -0.06 }, "note": "Moving -y (spoon appears image-right which maps to -y) to center the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 789, "cache_read_input_tokens": 5337, "cache_creation": { "ephemeral_5m_input_tokens": 789, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 775, "output_tokens_details": { "thinking_tokens": 672 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezdn4JkQCvRUr6mWQWck", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014u9p48D63y3q7yonh7hCg6", "name": "move_to", "input": { "targets": { "y": 0.14 }, "note": "Calibrated: image-right = +y, spoon at y≈0.14. Moving there to center it horizontally." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1267, "cache_read_input_tokens": 6126, "cache_creation": { "ephemeral_5m_input_tokens": 1267, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 722, "output_tokens_details": { "thinking_tokens": 611 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezdnvGqDk5NkYRi66Znj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019emSA2K2yWaqnz7xaD3gGA", "name": "move_to", "input": { "targets": { "x": 0.3, "z": 1.05 }, "note": "Spoon nearly centered horizontally, slightly below center → reduce x; also descend to 1.05 for closer view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1221, "cache_read_input_tokens": 7393, "cache_creation": { "ephemeral_5m_input_tokens": 1221, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 390, "output_tokens_details": { "thinking_tokens": 268 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezdoUCxyHBGysDoXTfTV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BgeNuSAbtmRjSz1URfEuwg", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Descending further; spoon appears near 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": 884, "cache_read_input_tokens": 8614, "cache_creation": { "ephemeral_5m_input_tokens": 884, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 476, "output_tokens_details": { "thinking_tokens": 384 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezdp7VYt5C1Bg82VCVts", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HUUhmRoTWno1wRFY2M6ADe", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Spoon hidden behind fingers; descending toward the counter to gauge height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 970, "cache_read_input_tokens": 9498, "cache_creation": { "ephemeral_5m_input_tokens": 970, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 308, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezdpa9AxG1e83BAHyGmW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014aG5AC3osqVVwYGGfYBhvb", "name": "move_to", "input": { "targets": { "x": 0.33, "z": 0.83 }, "note": "Nudging +x toward estimated spoon position and descending closer to the counter." }, "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": 10468, "cache_creation": { "ephemeral_5m_input_tokens": 802, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 736, "output_tokens_details": { "thinking_tokens": 628 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezdqT3ZVNJ1ECphgFv9d", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017YjR49SnVwEvgAbukeLz4h", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Raising back to 1.05 where the spoon was visible, to re-measure its offset relative to 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": 1230, "cache_read_input_tokens": 11270, "cache_creation": { "ephemeral_5m_input_tokens": 1230, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 337, "output_tokens_details": { "thinking_tokens": 226 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezdrJarJohKGmBRtrnDq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F3raUkAYzqa71MhqQu5Ybt", "name": "move_to", "input": { "targets": { "x": 0.37, "y": 0.122 }, "note": "Spoon sits above-left of the finger gap; moving +x and slightly -y to align it with the gap." }, "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": 12500, "cache_creation": { "ephemeral_5m_input_tokens": 831, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 362, "output_tokens_details": { "thinking_tokens": 245 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezdrpUwqH9wZE6PJHqbM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TThRtiZQNKrVRmLBVkntQq", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Descending toward the counter surface to find its height before grasping." }, "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": 13331, "cache_creation": { "ephemeral_5m_input_tokens": 861, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 462, "output_tokens_details": { "thinking_tokens": 368 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezdsV5QzuhM41QzqjyDY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01V2FQh9peBUaPTL8Q1ToDN5", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Continuing slow descent to locate counter surface height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 956, "cache_read_input_tokens": 14192, "cache_creation": { "ephemeral_5m_input_tokens": 956, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 345 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezdtPvNhgcsE2i7v9di2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XxidGQ2HNGKjSUbjGEBcSS", "name": "move_to", "input": { "targets": { "y": 0.18, "z": 0.79 }, "note": "Test +y move to calibrate the exterior camera direction relative to base y." }, "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": 15148, "cache_creation": { "ephemeral_5m_input_tokens": 935, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 603, "output_tokens_details": { "thinking_tokens": 496 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezduBwath8D5rBMANb6p", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QFSgjHdZiHCE8WBKPNKBGi", "name": "move_to", "input": { "targets": { "y": 0.14, "z": 0.72 }, "note": "Returning to the wrist-derived spoon position and descending to near counter level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1097, "cache_read_input_tokens": 16083, "cache_creation": { "ephemeral_5m_input_tokens": 1097, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 945, "output_tokens_details": { "thinking_tokens": 838 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezdvNnyUXakjbZRcBHf6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FaShzkTye5oudV1QVQD3Ak", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "At counter level; closing gripper to test whether the spoon 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": 1441, "cache_read_input_tokens": 17180, "cache_creation": { "ephemeral_5m_input_tokens": 1441, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 355, "output_tokens_details": { "thinking_tokens": 255 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezdwYTvSXFSQdii16nMU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013gJ3dZVe8j3MRfAQja3ooc", "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": 847, "cache_read_input_tokens": 18621, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 88, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezdwsKjXfJpJxPzrw1Sw", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_019HkoZ9Tuj7YeE4YPzZLaCF", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.9 }, "note": "Closing fully and lifting to check whether the spoon 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": 524, "cache_read_input_tokens": 19468, "cache_creation": { "ephemeral_5m_input_tokens": 524, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 104, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezdxRgA4UwBRXkGMUDko", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01528YNRLjZqzibr1fWiEz11", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Grasp was empty; raising with closed (thin) gripper to see the spoon and re-localize it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 595, "cache_read_input_tokens": 19992, "cache_creation": { "ephemeral_5m_input_tokens": 595, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 375, "output_tokens_details": { "thinking_tokens": 267 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezdy8141gHbM25DYPUew", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H3PwSS5Bxzb2MNFHmW6Rq9", "name": "move_to", "input": { "targets": { "x": 0.415, "y": 0.09 }, "note": "Spoon appears up-left of the closed gripper tip; moving +x and -y per calibration to align over it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 866, "cache_read_input_tokens": 20587, "cache_creation": { "ephemeral_5m_input_tokens": 866, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 469, "output_tokens_details": { "thinking_tokens": 351 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezdyjEsG3ohAfMtSkQjg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016dhNH3quzgCXbDqUx8rUTj", "name": "move_to", "input": { "targets": { "x": 0.44, "gripper": 1 }, "note": "Spoon just above the gripper tip; nudging +x and opening 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": 960, "cache_read_input_tokens": 21453, "cache_creation": { "ephemeral_5m_input_tokens": 960, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 257, "output_tokens_details": { "thinking_tokens": 148 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezdz75meeCgH7ht1tNQC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W83KaJtMHu1Ms71ojfwe3F", "name": "move_to", "input": { "targets": { "y": 0.1, "z": 0.78 }, "note": "Spoon handle now inside the finger gap; slight +y correction and descending to counter level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 749, "cache_read_input_tokens": 22413, "cache_creation": { "ephemeral_5m_input_tokens": 749, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 267, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezdzZMaWnEqAoXuMtyo7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Uf5o4r4XWPHyUEWLonFxb1", "name": "move_to", "input": { "targets": { "z": 0.755, "gripper": 0 }, "note": "Spoon centered in finger gap; descending slightly and closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 759, "cache_read_input_tokens": 23162, "cache_creation": { "ephemeral_5m_input_tokens": 759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 342, "output_tokens_details": { "thinking_tokens": 234 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Ceze18LxT9q5TU8JMh7zS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014MP1FEhH8GA93Fb72ZGN52", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lifting to check if the spoon came 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": 834, "cache_read_input_tokens": 23921, "cache_creation": { "ephemeral_5m_input_tokens": 834, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 176, "output_tokens_details": { "thinking_tokens": 83 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Ceze1TEkc36VmPRNLtwPw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HZUj62rVhtNGhzfTY1NHxn", "name": "move_to", "input": { "targets": { "x": 0.465, "z": 0.79, "gripper": 1 }, "note": "Missed; spoon still slightly beyond gripper tip. Opening and shifting +x while descending." }, "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": 24755, "cache_creation": { "ephemeral_5m_input_tokens": 667, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 542, "output_tokens_details": { "thinking_tokens": 418 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Ceze2E6FjD6UsuWVobw4F", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R6DL64ocF1b4CxiKK8zDFW", "name": "move_to", "input": { "targets": { "z": 0.757, "gripper": 0 }, "note": "Spoon bowl centered between fingers; descending to counter and closing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1034, "cache_read_input_tokens": 25422, "cache_creation": { "ephemeral_5m_input_tokens": 1034, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 236, "output_tokens_details": { "thinking_tokens": 130 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011Ceze2dKFyiz8M1C1EtphB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01D9rs3JyxXMdg63ateG6pDR", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Lifting to check whether the spoon is grasped." }, "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": 26456, "cache_creation": { "ephemeral_5m_input_tokens": 728, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 166, "output_tokens_details": { "thinking_tokens": 74 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Ceze2xNinFh4f8vrgEMSB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017BRRC2jdmYk27Nsu5Ro7em", "name": "move_to", "input": { "targets": { "x": 0.478, "y": 0.112, "z": 0.757, "gripper": 1 }, "note": "Empty again; spoon lies slightly +x/+y of fingertips. Opening and repositioning right at counter level." }, "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": 27184, "cache_creation": { "ephemeral_5m_input_tokens": 657, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 535, "output_tokens_details": { "thinking_tokens": 398 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011Ceze3gPq75veDoPqcMZyd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KxzZ7Ae64nozbgN9EEHu6G", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.82 }, "note": "Final attempt: closing on the spoon and lifting." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1027, "cache_read_input_tokens": 27841, "cache_creation": { "ephemeral_5m_input_tokens": 1027, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 137, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.03316, -0.82293, -0.04181, -2.38443, 0.03547, 1.5581, -0.02172 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29477, 0.00768, 1.01243 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02674, -0.00415 ], [ 0.02695, -0.99745, 0.06605 ], [ -0.00238, -0.06613, -0.99781 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 14.011886611580849, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lowering to get a better downward view of the counter and locate the spoon." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.03038, -0.85335, -0.04336, -2.55848, 0.03371, 1.70125, -0.02941 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29473, 0.00768, 0.95118 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00024, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02673, -0.00439 ], [ 0.02696, -0.99745, 0.06604 ], [ -0.00262, -0.06613, -0.99781 ] ], "simulated_seconds_remaining": 29.304, "calls_remaining_including_this": 56 }, "api_seconds": 6.2052246276289225, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Raising to get a wider downward wrist view to locate the spoon." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.04134, -0.669, -0.0426, -1.92121, 0.04186, 1.24923, -0.00575 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29476, 0.00768, 1.14873 ], "tcp_roll_pitch_yaw": [ 1e-05, 4e-05, 0.0 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02674, -0.0042 ], [ 0.02696, -0.99745, 0.06605 ], [ -0.00242, -0.06614, -0.99781 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 55 }, "api_seconds": 12.008777938783169, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35 }, "note": "Test move +x 0.055 to calibrate how the spoon shifts in the wrist image." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.04489, -0.52211, -0.04787, -1.82098, 0.0439, 1.29542, -0.01157 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34875, 0.00768, 1.14865 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00027, -0.0 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02672, -0.00442 ], [ 0.02695, -0.99745, 0.06605 ], [ -0.00264, -0.06614, -0.99781 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 54 }, "api_seconds": 5.2042018715292215, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Test +y move to calibrate image horizontal direction." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.06774, -0.51613, 0.02879, -1.81862, 0.08331, 1.30526, 0.0877 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34875, 0.05886, 1.14865 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00027, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02693, -0.00443 ], [ 0.02716, -0.99745, 0.066 ], [ -0.00265, -0.06609, -0.99781 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 53 }, "api_seconds": 15.614686219953, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06 }, "note": "Moving -y (spoon appears image-right which maps to -y) to center the spoon." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.01616, -0.50568, -0.14839, -1.79984, -0.00678, 1.28693, -0.14216 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34876, -0.0588, 1.14865 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00027, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02669, -0.00442 ], [ 0.02693, -0.99745, 0.06605 ], [ -0.00265, -0.06614, -0.99781 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 52 }, "api_seconds": 11.20973202213645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.14 }, "note": "Calibrated: image-right = +y, spoon at y≈0.14. Moving there to center it horizontally." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.10285, -0.47432, 0.14852, -1.78215, 0.13701, 1.32568, 0.24266 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34875, 0.13875, 1.14863 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00029, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02693, -0.00446 ], [ 0.02717, -0.99745, 0.06599 ], [ -0.00267, -0.06609, -0.99781 ] ], "simulated_seconds_remaining": 23.562, "calls_remaining_including_this": 51 }, "api_seconds": 6.8058138052001595, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "z": 1.05 }, "note": "Spoon nearly centered horizontally, slightly below center → reduce x; also descend to 1.05 for closer view." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12592, -0.71668, 0.16234, -2.2158, 0.17167, 1.51845, 0.2324 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30054, 0.13877, 1.05114 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00039, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02698, -0.00455 ], [ 0.02722, -0.99745, 0.06593 ], [ -0.00276, -0.06603, -0.99781 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 50 }, "api_seconds": 8.206615123897791, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Descending further; spoon appears near the finger gap." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.13703, -0.76595, 0.18704, -2.50176, 0.19738, 1.7544, 0.21112 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3005, 0.13876, 0.95121 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00064, 0.00028 ], "tcp_rotation_matrix": [ [ 0.99962, 0.02697, -0.00481 ], [ 0.02723, -0.99746, 0.06585 ], [ -0.00302, -0.06596, -0.99782 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 49 }, "api_seconds": 5.804965306073427, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Spoon hidden behind fingers; descending toward the counter to gauge height." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.1468, -0.75032, 0.21125, -2.66979, 0.22282, 1.93729, 0.19687 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30046, 0.13875, 0.88116 ], "tcp_roll_pitch_yaw": [ -0.00027, 0.00091, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99962, 0.02697, -0.00508 ], [ 0.02724, -0.99746, 0.06578 ], [ -0.0033, -0.06589, -0.99782 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 48 }, "api_seconds": 11.407905614934862, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.83 }, "note": "Nudging +x toward estimated spoon position and descending closer to the counter." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.1287, -0.59945, 0.22608, -2.70313, 0.2244, 2.11983, 0.1732 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32926, 0.13872, 0.8311 ], "tcp_roll_pitch_yaw": [ -0.00033, 0.00127, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99962, 0.0269, -0.00543 ], [ 0.0272, -0.99747, 0.06571 ], [ -0.00365, -0.06584, -0.99782 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 47 }, "api_seconds": 10.611812859773636, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Raising back to 1.05 where the spoon was visible, to re-measure its offset relative to the finger gap." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.10599, -0.63576, 0.16596, -2.16963, 0.16347, 1.55147, 0.21746 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3293, 0.13873, 1.04875 ], "tcp_roll_pitch_yaw": [ -0.00025, 0.00101, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99962, 0.02692, -0.00518 ], [ 0.0272, -0.99746, 0.0658 ], [ -0.0034, -0.06591, -0.99782 ] ], "simulated_seconds_remaining": 18.282, "calls_remaining_including_this": 46 }, "api_seconds": 6.809231325984001, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.37, "y": 0.122 }, "note": "Spoon sits above-left of the finger gap; moving +x and slightly -y to align it with the gap." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.08412, -0.53236, 0.13905, -2.09794, 0.13599, 1.57796, 0.17703 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3689, 0.12242, 1.0487 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.00116, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02679, -0.00532 ], [ 0.02708, -0.99746, 0.06583 ], [ -0.00354, -0.06595, -0.99782 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 45 }, "api_seconds": 8.20704523846507, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descending toward the counter surface to find its height before grasping." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.10063, -0.43291, 0.18845, -2.66228, 0.18349, 2.24022, 0.1318 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36883, 0.12241, 0.80123 ], "tcp_roll_pitch_yaw": [ -0.00028, 0.00152, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99963, 0.02677, -0.00568 ], [ 0.02709, -0.99747, 0.06576 ], [ -0.0039, -0.06589, -0.99782 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 44 }, "api_seconds": 12.012261413037777, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Continuing slow descent to locate counter surface height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.1021, -0.355, 0.19834, -2.71273, 0.19136, 2.36801, 0.12502 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36876, 0.12239, 0.76105 ], "tcp_roll_pitch_yaw": [ -0.00033, 0.00182, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99962, 0.02675, -0.00597 ], [ 0.02709, -0.99747, 0.06571 ], [ -0.0042, -0.06585, -0.99782 ] ], "simulated_seconds_remaining": 15.114, "calls_remaining_including_this": 43 }, "api_seconds": 10.20927461143583, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.18, "z": 0.79 }, "note": "Test +y move to calibrate the exterior camera direction relative to base y." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.15084, -0.35333, 0.27486, -2.62249, 0.20922, 2.29153, 0.24577 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36879, 0.17891, 0.78946 ], "tcp_roll_pitch_yaw": [ -0.00033, 0.00167, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99962, 0.02695, -0.00584 ], [ 0.02728, -0.99747, 0.06572 ], [ -0.00405, -0.06585, -0.99782 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 42 }, "api_seconds": 15.622366514988244, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.14, "z": 0.72 }, "note": "Returning to the wrist-derived spoon position and descending to near counter level." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12706, -0.3052, 0.24803, -2.71387, 0.24105, 2.45419, 0.16248 ], "gripper_open": 1.0, "tcp_xyz": [ 0.37207, 0.1539, 0.74833 ], "tcp_roll_pitch_yaw": [ 0.02526, -0.02277, -0.00838 ], "tcp_rotation_matrix": [ [ 0.9996, 0.02047, 0.01929 ], [ 0.01863, -0.99567, 0.09106 ], [ 0.02107, -0.09067, -0.99566 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 41 }, "api_seconds": 15.613102590665221, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At counter level; closing gripper to test whether the spoon is between the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.1257, -0.31122, 0.24623, -2.71303, 0.23983, 2.44882, 0.16388 ], "gripper_open": 0.9387, "tcp_xyz": [ 0.37253, 0.15281, 0.75055 ], "tcp_roll_pitch_yaw": [ 0.02516, -0.0243, -0.01143 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01757, 0.02109 ], [ 0.01558, -0.99574, 0.09089 ], [ 0.0226, -0.09053, -0.99564 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 40 }, "api_seconds": 11.209259583614767, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.9 }, "note": "Closing fully and lifting to check whether the spoon was grasped." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.11557, -0.52885, 0.20371, -2.48358, 0.20203, 2.00342, 0.19655 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37262, 0.15284, 0.89879 ], "tcp_roll_pitch_yaw": [ 0.02526, -0.02462, -0.01143 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01759, 0.02141 ], [ 0.01557, -0.99573, 0.09099 ], [ 0.02292, -0.09062, -0.99562 ] ], "simulated_seconds_remaining": 11.286, "calls_remaining_including_this": 39 }, "api_seconds": 8.807802324183285, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Grasp was empty; raising with closed (thin) gripper to see the spoon and re-localize it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.10669, -0.54682, 0.18059, -2.2431, 0.17866, 1.74596, 0.21938 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37267, 0.15286, 0.9988 ], "tcp_roll_pitch_yaw": [ 0.02535, -0.0249, -0.01144 ], "tcp_rotation_matrix": [ [ 0.99961, 0.01761, 0.02169 ], [ 0.01557, -0.99572, 0.09107 ], [ 0.0232, -0.0907, -0.99561 ] ], "simulated_seconds_remaining": 10.296, "calls_remaining_including_this": 38 }, "api_seconds": 7.807259893044829, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.415, "y": 0.09 }, "note": "Spoon appears up-left of the closed gripper tip; moving +x and -y per calibration to align over it." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05542, -0.46043, 0.08863, -2.17955, 0.12897, 1.75315, 0.09777 ], "gripper_open": 0.0, "tcp_xyz": [ 0.41429, 0.09103, 0.99878 ], "tcp_roll_pitch_yaw": [ 0.02541, -0.02482, -0.01167 ], "tcp_rotation_matrix": [ [ 0.99961, 0.01738, 0.02163 ], [ 0.01534, -0.99572, 0.09113 ], [ 0.02312, -0.09076, -0.9956 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 37 }, "api_seconds": 4.603979873470962, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "gripper": 1 }, "note": "Spoon just above the gripper tip; nudging +x and opening the gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05104, -0.38507, 0.08776, -2.11494, 0.12279, 1.76347, 0.09498 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.43896, 0.09102, 0.99876 ], "tcp_roll_pitch_yaw": [ 0.02541, -0.02478, -0.01168 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01737, 0.02159 ], [ 0.01533, -0.99572, 0.09113 ], [ 0.02308, -0.09077, -0.9956 ] ], "simulated_seconds_remaining": 8.58, "calls_remaining_including_this": 36 }, "api_seconds": 5.405105150304735, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "z": 0.78 }, "note": "Spoon handle now inside the finger gap; slight +y correction and descending to counter level." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.06883, -0.21328, 0.12201, -2.52753, 0.1565, 2.34777, 0.06414 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43887, 0.09994, 0.78121 ], "tcp_roll_pitch_yaw": [ 0.02537, -0.02441, -0.01166 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01735, 0.02122 ], [ 0.01535, -0.99572, 0.09109 ], [ 0.02271, -0.09073, -0.99562 ] ], "simulated_seconds_remaining": 6.798, "calls_remaining_including_this": 35 }, "api_seconds": 7.406719486229122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.755, "gripper": 0 }, "note": "Spoon centered in finger gap; descending slightly and closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.07032, -0.17225, 0.12413, -2.55087, 0.16066, 2.41571, 0.05799 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.43956, 0.10004, 0.75941 ], "tcp_roll_pitch_yaw": [ 0.02585, -0.02812, -0.0115 ], "tcp_rotation_matrix": [ [ 0.99953, 0.01786, 0.0249 ], [ 0.01551, -0.99568, 0.09154 ], [ 0.02643, -0.09111, -0.99549 ] ], "simulated_seconds_remaining": 5.874, "calls_remaining_including_this": 34 }, "api_seconds": 3.8033013362437487, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lifting to check if the spoon came with the gripper." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.06243, -0.35674, 0.1091, -2.34557, 0.13859, 2.02719, 0.08985 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43965, 0.10005, 0.8988 ], "tcp_roll_pitch_yaw": [ 0.02591, -0.02847, -0.01151 ], "tcp_rotation_matrix": [ [ 0.99952, 0.01788, 0.02525 ], [ 0.0155, -0.99568, 0.09159 ], [ 0.02678, -0.09116, -0.99548 ] ], "simulated_seconds_remaining": 4.62, "calls_remaining_including_this": 33 }, "api_seconds": 10.007687777280807, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.465, "z": 0.79, "gripper": 1 }, "note": "Missed; spoon still slightly beyond gripper tip. Opening and shifting +x while descending." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0611, -0.15703, 0.11766, -2.43998, 0.14248, 2.31983, 0.06576 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46463, 0.10004, 0.79115 ], "tcp_roll_pitch_yaw": [ 0.02588, -0.02811, -0.01152 ], "tcp_rotation_matrix": [ [ 0.99953, 0.01784, 0.02489 ], [ 0.01549, -0.99568, 0.09156 ], [ 0.02642, -0.09113, -0.99549 ] ], "simulated_seconds_remaining": 3.564, "calls_remaining_including_this": 32 }, "api_seconds": 5.0045307176187634, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.757, "gripper": 0 }, "note": "Spoon bowl centered between fingers; descending to counter and closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.06274, -0.10157, 0.12017, -2.47275, 0.14639, 2.4099, 0.05855 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.46504, 0.10008, 0.75952 ], "tcp_roll_pitch_yaw": [ 0.02611, -0.03016, -0.01147 ], "tcp_rotation_matrix": [ [ 0.99947, 0.01809, 0.02693 ], [ 0.01555, -0.99566, 0.09177 ], [ 0.02847, -0.0913, -0.99542 ] ], "simulated_seconds_remaining": 2.64, "calls_remaining_including_this": 31 }, "api_seconds": 4.203872201964259, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Lifting to check whether the spoon is grasped." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05929, -0.21165, 0.11442, -2.39187, 0.13809, 2.21973, 0.07338 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46513, 0.1001, 0.82888 ], "tcp_roll_pitch_yaw": [ 0.02615, -0.0305, -0.01147 ], "tcp_rotation_matrix": [ [ 0.99946, 0.01811, 0.02727 ], [ 0.01554, -0.99566, 0.09181 ], [ 0.02881, -0.09134, -0.9954 ] ], "simulated_seconds_remaining": 1.848, "calls_remaining_including_this": 30 }, "api_seconds": 9.408492763526738, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.478, "y": 0.112, "z": 0.757, "gripper": 1 }, "note": "Empty again; spoon lies slightly +x/+y of fingertips. Opening and repositioning right at counter level." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.06957, -0.05774, 0.1322, -2.42696, 0.13828, 2.40998, 0.08374 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.47774, 0.11182, 0.75795 ], "tcp_roll_pitch_yaw": [ 0.02612, -0.03022, -0.01145 ], "tcp_rotation_matrix": [ [ 0.99947, 0.01811, 0.02699 ], [ 0.01556, -0.99566, 0.09178 ], [ 0.02853, -0.09131, -0.99541 ] ], "simulated_seconds_remaining": 0.924, "calls_remaining_including_this": 29 }, "api_seconds": 3.2032049912959337, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.82 }, "note": "Final attempt: closing on the spoon and lifting." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 008 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 8, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "api_calls": 31, "wall_seconds": 345.03772139549255, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 34004, "cache_read_input_tokens": 530733, "output_tokens": 17598 }, "estimated_cost_usd": 0.9181515 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezdttLucASNm1WnaJdo6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X6PTfySR9sbEdVpZjY4wsf", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 134, "output_tokens_details": { "thinking_tokens": 110 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezdu8aRUJYLZM88svhKw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NPG6fE8n4HSKUYTbzEWVoJ", "name": "move_to", "input": { "targets": { "z": 1.12, "x": 0.25 }, "note": "Raise and retreat for a wider view to locate the kettle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 567, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 567, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 215, "output_tokens_details": { "thinking_tokens": 112 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezdubvj64H8fg7N45qp5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014ihk4nzU1FCEWNeJPc2WJs", "name": "move_to", "input": { "targets": { "x": 0.32 }, "note": "Small forward move to calibrate how wrist image shifts with +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 712, "cache_read_input_tokens": 2324, "cache_creation": { "ephemeral_5m_input_tokens": 712, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 423, "output_tokens_details": { "thinking_tokens": 326 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezdvP3LrYxKo3Pk7z9Ag", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011SBY8Am4B3yFKR8HDUhSeK", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Test +/-y shift in wrist image for calibration." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 916, "cache_read_input_tokens": 3036, "cache_creation": { "ephemeral_5m_input_tokens": 916, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 307, "output_tokens_details": { "thinking_tokens": 214 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezdvscKnHQVbL3cWmdR6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013f7nG3Vb6vB64xTtNRxhBF", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Descend to see kettle relative to fingers." }, "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": 3952, "cache_creation": { "ephemeral_5m_input_tokens": 801, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 390, "output_tokens_details": { "thinking_tokens": 300 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezdwUdUjqWoHbQrmCWJw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012JAQ3hqYEBUnQbtWZixnST", "name": "move_to", "input": { "targets": { "y": -0.12 }, "note": "Shift further -y based on wrist offset estimate; checking whether kettle centers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 883, "cache_read_input_tokens": 4753, "cache_creation": { "ephemeral_5m_input_tokens": 883, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 523, "output_tokens_details": { "thinking_tokens": 421 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezdxAgkUxkjM3JRdyoNm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Wx9NaR8NmtRCjgKgXipB29", "name": "move_to", "input": { "targets": { "z": 0.98 }, "note": "Lower further to judge finger alignment relative to kettle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1017, "cache_read_input_tokens": 5636, "cache_creation": { "ephemeral_5m_input_tokens": 1017, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 665, "output_tokens_details": { "thinking_tokens": 571 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezdy3xEKrSXDsUGSfDex", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CXRVUx1HnCbEtz4e5NqV5q", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Large +y move to clearly calibrate wrist image direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1159, "cache_read_input_tokens": 6653, "cache_creation": { "ephemeral_5m_input_tokens": 1159, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1041, "output_tokens_details": { "thinking_tokens": 946 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezdzMGo1oVUVmdJAfKEt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tip7DXEqEjM7JJGUvF8e2m", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.08, "z": 1.03 }, "note": "Move forward/left to bring kettle toward the finger gap (bottom-center of wrist view), slightly higher to avoid collision." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1534, "cache_read_input_tokens": 7812, "cache_creation": { "ephemeral_5m_input_tokens": 1534, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1518, "output_tokens_details": { "thinking_tokens": 1384 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Ceze26iVt1vo3uisnxYSh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XPVByRk5jPCHfS3ZogDL8j", "name": "move_to", "input": { "targets": { "y": 0.14 }, "note": "Pure +y move to cleanly calibrate horizontal image direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2011, "cache_read_input_tokens": 9346, "cache_creation": { "ephemeral_5m_input_tokens": 2011, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 718, "output_tokens_details": { "thinking_tokens": 620 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Ceze2yibhATbVeqmpKFrV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012XL6624qiwuV5tqNamUSP3", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.03 }, "note": "Move toward estimated kettle position (0.24,0.03); first step to x=0.30,y=0.03 to verify image motion prediction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1209, "cache_read_input_tokens": 11357, "cache_creation": { "ephemeral_5m_input_tokens": 1209, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 737, "output_tokens_details": { "thinking_tokens": 609 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Ceze3vBYnHAwodbBDzRwt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JxParZuBc1voGb5gEJs8m9", "name": "move_to", "input": { "targets": { "x": 0.22, "y": 0.07 }, "note": "Move to latest kettle estimate (0.22,0.07) keeping z=1.03 to check finger alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1235, "cache_read_input_tokens": 12566, "cache_creation": { "ephemeral_5m_input_tokens": 1235, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 536, "output_tokens_details": { "thinking_tokens": 416 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Ceze4gY2ueDAqgSYH8xBX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F99kEQkWKSzPWgGKGqQ5P6", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.06 }, "note": "Kettle appears far ahead (top of wrist view); advancing +x to approach it." }, "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": 13801, "cache_creation": { "ephemeral_5m_input_tokens": 1029, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 960, "output_tokens_details": { "thinking_tokens": 849 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Ceze5sug9uZbvAyj7ZA5V", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BuPNESobCjMHJg9sQft4Xu", "name": "move_to", "input": { "targets": { "z": 0.97 }, "note": "Exterior shows gripper roughly above kettle; descending to check alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1453, "cache_read_input_tokens": 14830, "cache_creation": { "ephemeral_5m_input_tokens": 1453, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 389, "output_tokens_details": { "thinking_tokens": 289 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Ceze6TXkFA9PBbs1u5PBW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WEAZ7nmVLeL4e7uRZvKNen", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Continue slow descent toward kettle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 16283, "cache_creation": { "ephemeral_5m_input_tokens": 882, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 255, "output_tokens_details": { "thinking_tokens": 167 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Ceze6tuEKrqPBbdVSEwCN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019eRgCUrp2MaUhMWtX7qcCV", "name": "move_to", "input": { "targets": { "x": 0.56 }, "note": "Kettle still ahead in wrist view; advancing x further." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 753, "cache_read_input_tokens": 17165, "cache_creation": { "ephemeral_5m_input_tokens": 753, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 311, "output_tokens_details": { "thinking_tokens": 216 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Ceze7LjVaeTpMTqLnksE1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SpPTFgyCJ5vBvUu5Gyynxa", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Descend at x=0.56 to see if kettle enters finger region." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 17918, "cache_creation": { "ephemeral_5m_input_tokens": 803, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1441, "output_tokens_details": { "thinking_tokens": 1344 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Ceze96V4AABp9jGPnmHKv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01C9og5m59a3T4RZFBbfDLfq", "name": "move_to", "input": { "targets": { "y": -0.02 }, "note": "Kettle appears left in wrist view; moving -y (expect it to shift right/toward center)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1933, "cache_read_input_tokens": 18721, "cache_creation": { "ephemeral_5m_input_tokens": 1933, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 244, "output_tokens_details": { "thinking_tokens": 139 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Ceze9Xh8365sYD5M3r98H", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019VQbRdBNsMWRrq9PFwy9qV", "name": "move_to", "input": { "targets": { "x": 0.66, "y": -0.01, "z": 0.92 }, "note": "Testing further forward reach: if kettle is ahead at larger x it should approach finger region." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 742, "cache_read_input_tokens": 20654, "cache_creation": { "ephemeral_5m_input_tokens": 742, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1037, "output_tokens_details": { "thinking_tokens": 917 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezeAsRnnXRoBw4fTERz9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UHijGmFTS5kcq9TTLfw1EQ", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.05, "z": 1.15 }, "note": "Retreat to a high vantage for a clean overhead wrist view of the scene." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1531, "cache_read_input_tokens": 21396, "cache_creation": { "ephemeral_5m_input_tokens": 1531, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1979, "output_tokens_details": { "thinking_tokens": 1862 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezeDHpZ1ckKtKChSXYkk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GdbQkTW6kM7Hd69vuCcoWN", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.05, "z": 0.95 }, "note": "Treating wrist image center as the TCP projection: kettle slightly ahead (+x). Approaching for top-down grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2477, "cache_read_input_tokens": 22927, "cache_creation": { "ephemeral_5m_input_tokens": 2477, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 938, "output_tokens_details": { "thinking_tokens": 806 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezeEWnBwR4cEcLEPHXdt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GDTgUmCRFvxY7E9CtEXC9k", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.015, "z": 0.95 }, "note": "Bracketing: kettle y≈0.015 and moving -x should bring it to wrist 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": 1436, "cache_read_input_tokens": 25404, "cache_creation": { "ephemeral_5m_input_tokens": 1436, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 817, "output_tokens_details": { "thinking_tokens": 694 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezeFaSERSdAJcY5vZZg2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T5bZeLWEo82Msk8vYXtCw9", "name": "move_to", "input": { "targets": { "y": 0.035, "z": 0.9 }, "note": "Kettle now centered in wrist view, slightly right; nudge +y and descend toward its handle/top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1310, "cache_read_input_tokens": 26840, "cache_creation": { "ephemeral_5m_input_tokens": 1310, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 325, "output_tokens_details": { "thinking_tokens": 208 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezeGENGdj1LYQ7nNNiu6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014jWaeKWLLM6Cnk9ukSfbDa", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Descend to straddle the kettle body 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": 819, "cache_read_input_tokens": 28150, "cache_creation": { "ephemeral_5m_input_tokens": 819, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 211, "output_tokens_details": { "thinking_tokens": 120 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezeGeBEgvUCoAvt6wpn6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BrG79r25CigkWwWpsBpWS4", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at kettle location." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 28969, "cache_creation": { "ephemeral_5m_input_tokens": 705, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 189, "output_tokens_details": { "thinking_tokens": 103 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezeH4LYhK1gj1Wew49Dj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NzqRhRJHtAdHj2zmQ92AuW", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lift to check whether kettle 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": 682, "cache_read_input_tokens": 29674, "cache_creation": { "ephemeral_5m_input_tokens": 682, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 154, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezeHQ6CCxhzRFoURva3o", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VsxUo3U58eS3eKDVg4DRJa", "name": "move_to", "input": { "targets": { "y": 0.005, "z": 0.86, "gripper": 1 }, "note": "Kettle sits left of the closed fingers; reopen, shift -y and descend to straddle it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 30356, "cache_creation": { "ephemeral_5m_input_tokens": 647, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 309, "output_tokens_details": { "thinking_tokens": 186 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezeHxMuX3Ttk6QuHStFC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DxaDCbDLe4mhVmmMCwJrDY", "name": "move_to", "input": { "targets": { "z": 0.83, "gripper": 0 }, "note": "Kettle centered between fingers; descend slightly and close to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 31003, "cache_creation": { "ephemeral_5m_input_tokens": 803, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 103 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezeJNf93Vf4rXXoxKf5n", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mk1rtRh2E2Bfh4njiCmPXc", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lift to verify grasp of the kettle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 31806, "cache_creation": { "ephemeral_5m_input_tokens": 702, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 136, "output_tokens_details": { "thinking_tokens": 46 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezeJp28gJYU2uduay3MS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G7cAwa1xLNDtW2vxvbXRvR", "name": "move_to", "input": { "targets": { "y": -0.025, "z": 0.84, "gripper": 1 }, "note": "Last attempt: kettle still appears offset to -y; reopen and reposition lower/left." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 628, "cache_read_input_tokens": 32508, "cache_creation": { "ephemeral_5m_input_tokens": 628, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 374, "output_tokens_details": { "thinking_tokens": 253 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezeKYhfiDQdES5G8XfvR", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YDnsxzkwQG6HC28anPxNCq", "name": "give_up", "input": { "note": "Ran out of simulated motion time. Localizing the kettle from the ambiguous wrist view took too many calibration moves; two grasp attempts closed just beside the kettle body and no time remained to retry and lift." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 868, "cache_read_input_tokens": 33136, "cache_creation": { "ephemeral_5m_input_tokens": 868, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 113, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.0174, -0.78188, 0.02902, -2.38988, 0.04329, 1.57619, -0.02869 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30162, 0.02455, 0.99879 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99734, 0.065, -0.03283 ], [ 0.06573, -0.9976, 0.02161 ], [ -0.03134, -0.02371, -0.99923 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.007663964293897, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.12, "x": 0.25 }, "note": "Raise and retreat for a wider view to locate the kettle." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01945, -0.80618, 0.02441, -2.07711, 0.04273, 1.23959, -0.01612 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25055, 0.02456, 1.11887 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.00029, 0.0 ], "tcp_rotation_matrix": [ [ 0.99735, 0.06502, -0.03254 ], [ 0.06574, -0.9976, 0.02163 ], [ -0.03105, -0.02372, -0.99924 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 10.00873139873147, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.32 }, "note": "Small forward move to calibrate how wrist image shifts with +x." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01606, -0.61987, 0.02374, -1.96779, 0.03779, 1.31625, -0.02133 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31881, 0.02455, 1.1188 ], "tcp_roll_pitch_yaw": [ 2e-05, -8e-05, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99735, 0.06499, -0.03274 ], [ 0.06572, -0.9976, 0.02163 ], [ -0.03126, -0.02373, -0.99923 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 55 }, "api_seconds": 6.205115945078433, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Test +/-y shift in wrist image for calibration." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.0145, -0.61199, -0.09084, -1.95884, -0.03453, 1.31437, -0.16142 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31881, -0.04876, 1.1188 ], "tcp_roll_pitch_yaw": [ 8e-05, -8e-05, -0.00023 ], "tcp_rotation_matrix": [ [ 0.99736, 0.06478, -0.03274 ], [ 0.0655, -0.99762, 0.0217 ], [ -0.03126, -0.02379, -0.99923 ] ], "simulated_seconds_remaining": 27.258, "calls_remaining_including_this": 54 }, "api_seconds": 7.806355443783104, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Descend to see kettle relative to fingers." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.01914, -0.6835, -0.094, -2.18925, -0.04087, 1.47312, -0.15956 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31879, -0.04877, 1.05131 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.00017, -0.00023 ], "tcp_rotation_matrix": [ [ 0.99735, 0.06477, -0.03299 ], [ 0.0655, -0.99762, 0.02172 ], [ -0.0315, -0.02382, -0.99922 ] ], "simulated_seconds_remaining": 26.532, "calls_remaining_including_this": 53 }, "api_seconds": 8.808165810070932, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.12 }, "note": "Shift further -y based on wrist offset estimate; checking whether kettle centers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.05325, -0.64295, -0.20624, -2.15026, -0.10935, 1.48093, -0.28973 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31879, -0.11881, 1.05131 ], "tcp_roll_pitch_yaw": [ 0.00017, 0.00017, -0.00042 ], "tcp_rotation_matrix": [ [ 0.99737, 0.06458, -0.03299 ], [ 0.06532, -0.99763, 0.02179 ], [ -0.0315, -0.02389, -0.99922 ] ], "simulated_seconds_remaining": 25.74, "calls_remaining_including_this": 52 }, "api_seconds": 11.609424972906709, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.98 }, "note": "Lower further to judge finger alignment relative to kettle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.06236, -0.68157, -0.22032, -2.35651, -0.12489, 1.64858, -0.28489 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31876, -0.1188, 0.98118 ], "tcp_roll_pitch_yaw": [ 0.00021, 0.00042, -0.00042 ], "tcp_rotation_matrix": [ [ 0.99736, 0.06457, -0.03324 ], [ 0.06532, -0.99763, 0.02184 ], [ -0.03175, -0.02395, -0.99921 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 51 }, "api_seconds": 16.814400638453662, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Large +y move to clearly calibrate wrist image direction." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.05506, -0.72771, 0.05441, -2.40228, 0.06117, 1.64411, 0.02451 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31877, 0.04873, 0.98118 ], "tcp_roll_pitch_yaw": [ 0.00014, 0.00041, -0.00023 ], "tcp_rotation_matrix": [ [ 0.99735, 0.06476, -0.03323 ], [ 0.0655, -0.99762, 0.02176 ], [ -0.03174, -0.02388, -0.99921 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 50 }, "api_seconds": 23.22228184528649, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.08, "z": 1.03 }, "note": "Move forward/left to bring kettle toward the finger gap (bottom-center of wrist view), slightly higher to avoid collision." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.05587, -0.38831, 0.09223, -2.02282, 0.06112, 1.60599, 0.07246 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41883, 0.07964, 1.02941 ], "tcp_roll_pitch_yaw": [ 0.00013, 0.00046, -0.00022 ], "tcp_rotation_matrix": [ [ 0.99734, 0.06477, -0.03328 ], [ 0.06552, -0.99761, 0.02175 ], [ -0.03179, -0.02387, -0.99921 ] ], "simulated_seconds_remaining": 22.44, "calls_remaining_including_this": 49 }, "api_seconds": 11.410154880024493, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.14 }, "note": "Pure +y move to cleanly calibrate horizontal image direction." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.09407, -0.35028, 0.16974, -1.98514, 0.08743, 1.61245, 0.18264 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41882, 0.13888, 1.0294 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00047, 0.0 ], "tcp_rotation_matrix": [ [ 0.99733, 0.065, -0.0333 ], [ 0.06574, -0.9976, 0.0217 ], [ -0.03181, -0.02383, -0.99921 ] ], "simulated_seconds_remaining": 21.714, "calls_remaining_including_this": 48 }, "api_seconds": 12.010413909330964, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.03 }, "note": "Move toward estimated kettle position (0.24,0.03); first step to x=0.30,y=0.03 to verify image motion prediction." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.05425, -0.76151, 0.01672, -2.2985, 0.03549, 1.50544, 0.00259 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30098, 0.03085, 1.02946 ], "tcp_roll_pitch_yaw": [ 0.00011, 0.00033, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99734, 0.06489, -0.03315 ], [ 0.06563, -0.99761, 0.02173 ], [ -0.03166, -0.02385, -0.99921 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 47 }, "api_seconds": 9.808602663688362, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.22, "y": 0.07 }, "note": "Move to latest kettle estimate (0.22,0.07) keeping z=1.03 to check finger alignment." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.08893, -0.99109, 0.09294, -2.40847, 0.10551, 1.39055, 0.0908 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.22113, 0.06948, 1.02952 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.00015, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99734, 0.06499, -0.03298 ], [ 0.06572, -0.9976, 0.02171 ], [ -0.03149, -0.02382, -0.99922 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 46 }, "api_seconds": 15.217783389613032, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.06 }, "note": "Kettle appears far ahead (top of wrist view); advancing +x to approach it." } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.03279, -0.15278, 0.06731, -1.79151, 0.03515, 1.60818, 0.03193 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49866, 0.06002, 1.02944 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.00033, -7e-05 ], "tcp_rotation_matrix": [ [ 0.99734, 0.06493, -0.03316 ], [ 0.06567, -0.99761, 0.02171 ], [ -0.03167, -0.02383, -0.99921 ] ], "simulated_seconds_remaining": 17.226, "calls_remaining_including_this": 45 }, "api_seconds": 7.406096110120416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Exterior shows gripper roughly above kettle; descending to check alignment." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.03351, -0.16506, 0.06825, -1.95376, 0.03679, 1.75783, 0.02789 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49863, 0.06002, 0.97108 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00063, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99733, 0.06493, -0.03345 ], [ 0.06567, -0.99761, 0.02168 ], [ -0.03197, -0.02382, -0.99921 ] ], "simulated_seconds_remaining": 16.5, "calls_remaining_including_this": 44 }, "api_seconds": 5.6045388942584395, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Continue slow descent toward kettle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.0341, -0.15788, 0.0693, -2.04815, 0.03743, 1.85909, 0.02579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49859, 0.06001, 0.93103 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00091, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99732, 0.06492, -0.03373 ], [ 0.06568, -0.99761, 0.02166 ], [ -0.03224, -0.02381, -0.9992 ] ], "simulated_seconds_remaining": 15.906, "calls_remaining_including_this": 43 }, "api_seconds": 5.605222676880658, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56 }, "note": "Kettle still ahead in wrist view; advancing x further." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.03023, 0.02633, 0.067, -1.8356, 0.02388, 1.8302, 0.02541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55878, 0.05999, 0.93097 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00102, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99732, 0.06488, -0.03385 ], [ 0.06564, -0.99761, 0.02166 ], [ -0.03236, -0.02382, -0.99919 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 42 }, "api_seconds": 23.420771565288305, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Descend at x=0.56 to see if kettle enters finger region." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.03075, 0.04817, 0.06737, -1.93693, 0.02332, 1.953, 0.02372 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55873, 0.05999, 0.88105 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00134, -9e-05 ], "tcp_rotation_matrix": [ [ 0.99731, 0.06488, -0.03416 ], [ 0.06564, -0.99761, 0.02163 ], [ -0.03268, -0.02382, -0.99918 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 41 }, "api_seconds": 5.404987012036145, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.02 }, "note": "Kettle appears left in wrist view; moving -y (expect it to shift right/toward center)." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.04212, 0.04172, 0.0001, -1.94413, 0.02172, 1.95072, -0.11547 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55873, -0.0189, 0.88105 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00134, -0.0004 ], "tcp_rotation_matrix": [ [ 0.99733, 0.06458, -0.03416 ], [ 0.06534, -0.99763, 0.02163 ], [ -0.03268, -0.0238, -0.99918 ] ], "simulated_seconds_remaining": 13.662, "calls_remaining_including_this": 40 }, "api_seconds": 17.613434999249876, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "y": -0.01, "z": 0.92 }, "note": "Testing further forward reach: if kettle is ahead at larger x it should approach finger region." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.02984, 0.35504, 0.00831, -1.41799, 0.01825, 1.73833, -0.09041 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65874, -0.0101, 0.91946 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00136, -0.00037 ], "tcp_rotation_matrix": [ [ 0.99733, 0.0646, -0.03417 ], [ 0.06536, -0.99763, 0.02164 ], [ -0.0327, -0.02381, -0.99918 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 39 }, "api_seconds": 31.62387077603489, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.05, "z": 1.15 }, "note": "Retreat to a high vantage for a clean overhead wrist view of the scene." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.02387, -0.18764, 0.05899, -1.50818, 0.0368, 1.28909, 0.02619 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45091, 0.04978, 1.14914 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00098, -0.0003 ], "tcp_rotation_matrix": [ [ 0.99733, 0.06468, -0.0338 ], [ 0.06544, -0.99762, 0.02166 ], [ -0.03232, -0.02382, -0.99919 ] ], "simulated_seconds_remaining": 10.296, "calls_remaining_including_this": 38 }, "api_seconds": 15.820226609706879, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.05, "z": 0.95 }, "note": "Treating wrist image center as the TCP projection: kettle slightly ahead (+x). Approaching for top-down grasp." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.02199, -0.10146, 0.05974, -1.93454, 0.03122, 1.80084, 0.0086 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51952, 0.04999, 0.95112 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00136, -0.00031 ], "tcp_rotation_matrix": [ [ 0.99732, 0.06467, -0.03418 ], [ 0.06543, -0.99762, 0.02164 ], [ -0.0327, -0.02382, -0.99918 ] ], "simulated_seconds_remaining": 8.58, "calls_remaining_including_this": 37 }, "api_seconds": 13.810945799574256, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.015, "z": 0.95 }, "note": "Bracketing: kettle y≈0.015 and moving -x should bring it to wrist image center." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.00164, -0.47155, 0.01919, -2.29755, 0.03176, 1.79229, -0.05398 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40129, 0.01535, 0.95008 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00125, -0.00036 ], "tcp_rotation_matrix": [ [ 0.99733, 0.06462, -0.03407 ], [ 0.06538, -0.99763, 0.02163 ], [ -0.03259, -0.0238, -0.99919 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 36 }, "api_seconds": 8.41110977716744, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.035, "z": 0.9 }, "note": "Kettle now centered in wrist view, slightly right; nudge +y and descend toward its handle/top." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01802, -0.45188, 0.04793, -2.40656, 0.04747, 1.92178, -0.02141 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40124, 0.03457, 0.90107 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00153, -0.00028 ], "tcp_rotation_matrix": [ [ 0.99731, 0.06469, -0.03434 ], [ 0.06546, -0.99762, 0.0216 ], [ -0.03287, -0.02379, -0.99918 ] ], "simulated_seconds_remaining": 6.798, "calls_remaining_including_this": 35 }, "api_seconds": 5.2048554653301835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Descend to straddle the kettle body before closing." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01885, -0.41176, 0.05087, -2.50356, 0.04997, 2.05857, -0.02418 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40118, 0.03457, 0.85109 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00182, -0.00027 ], "tcp_rotation_matrix": [ [ 0.9973, 0.06469, -0.03464 ], [ 0.06546, -0.99762, 0.02158 ], [ -0.03316, -0.02379, -0.99917 ] ], "simulated_seconds_remaining": 6.138, "calls_remaining_including_this": 34 }, "api_seconds": 5.004679303616285, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at kettle location." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01885, -0.41176, 0.05087, -2.50356, 0.04997, 2.05857, -0.02418 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40118, 0.03457, 0.85108 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00182, -0.00027 ], "tcp_rotation_matrix": [ [ 0.9973, 0.06469, -0.03464 ], [ 0.06546, -0.99762, 0.02158 ], [ -0.03316, -0.02379, -0.99917 ] ], "simulated_seconds_remaining": 5.214, "calls_remaining_including_this": 33 }, "api_seconds": 4.206147487275302, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lift to check whether kettle was grasped." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01716, -0.46876, 0.04541, -2.29842, 0.0452, 1.79682, -0.01867 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40126, 0.03457, 0.94872 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00147, -0.00028 ], "tcp_rotation_matrix": [ [ 0.99732, 0.0647, -0.03429 ], [ 0.06546, -0.99762, 0.02161 ], [ -0.03281, -0.02379, -0.99918 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 32 }, "api_seconds": 7.006254597567022, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.005, "z": 0.86, "gripper": 1 }, "note": "Kettle sits left of the closed fingers; reopen, shift -y and descend to straddle it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00665, -0.42465, 0.00765, -2.48812, 0.02763, 2.02871, -0.07746 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.40121, 0.00539, 0.86115 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00179, -0.00034 ], "tcp_rotation_matrix": [ [ 0.99731, 0.06462, -0.03461 ], [ 0.06539, -0.99763, 0.02162 ], [ -0.03313, -0.02383, -0.99917 ] ], "simulated_seconds_remaining": 3.366, "calls_remaining_including_this": 31 }, "api_seconds": 5.204710160382092, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83, "gripper": 0 }, "note": "Kettle centered between fingers; descend slightly and close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00624, -0.39173, 0.00803, -2.54027, 0.02888, 2.11367, -0.0793 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40118, 0.00539, 0.83109 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00189, -0.00034 ], "tcp_rotation_matrix": [ [ 0.99731, 0.06462, -0.0347 ], [ 0.06539, -0.99763, 0.02162 ], [ -0.03322, -0.02383, -0.99916 ] ], "simulated_seconds_remaining": 2.442, "calls_remaining_including_this": 30 }, "api_seconds": 5.009372414089739, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lift to verify grasp of the kettle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00734, -0.47144, 0.00644, -2.30058, 0.02513, 1.79464, -0.07273 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40126, 0.00539, 0.94881 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00157, -0.00034 ], "tcp_rotation_matrix": [ [ 0.99732, 0.06462, -0.03439 ], [ 0.06539, -0.99763, 0.02163 ], [ -0.03291, -0.02382, -0.99917 ] ], "simulated_seconds_remaining": 1.32, "calls_remaining_including_this": 29 }, "api_seconds": 9.607612282037735, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.025, "z": 0.84, "gripper": 1 }, "note": "Last attempt: kettle still appears offset to -y; reopen and reposition lower/left." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.03301, -0.40051, -0.0365, -2.52014, 0.00583, 2.08377, -0.13435 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40119, -0.02466, 0.84117 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.0019, -0.0004 ], "tcp_rotation_matrix": [ [ 0.99731, 0.06456, -0.03472 ], [ 0.06534, -0.99763, 0.02166 ], [ -0.03324, -0.02387, -0.99916 ] ], "simulated_seconds_remaining": 0.264, "calls_remaining_including_this": 28 }, "api_seconds": 10.809000462293625, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Ran out of simulated motion time. Localizing the kettle from the ambiguous wrist view took too many calibration moves; two grasp attempts closed just beside the kettle body and no time remained to retry and lift." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 009 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 9, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 34, "api_calls": 35, "wall_seconds": 474.37233710289, "usage": { "input_tokens": 70, "cache_creation_input_tokens": 34040, "cache_read_input_tokens": 613011, "output_tokens": 17947 }, "estimated_cost_usd": 0.9682805 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Ceze5rSs6iycjjpdDCQzy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QBU1KHHFXe7zdyos2uHWhr", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 116, "output_tokens_details": { "thinking_tokens": 92 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Ceze65zxPFRsSQGxd3PTd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EsL28yDcV9Uvh47FLP3REV", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move forward and up to survey table with downward wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 549, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 549, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 270, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Ceze6eMdMVTE98YFyfrPf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DyuMzfVp2JaW1jWjNtL35X", "name": "move_to", "input": { "targets": { "y": 0.08 }, "note": "Test move +y to calibrate image axes relative to world." }, "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": 2306, "cache_creation": { "ephemeral_5m_input_tokens": 761, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 377, "output_tokens_details": { "thinking_tokens": 284 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Ceze7GaxtG9VMNpSuuzRj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0117vY3FC2pw98wBEJ6wAPdM", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.0 }, "note": "Test +x move to calibrate wrist image axes." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 875, "cache_read_input_tokens": 3067, "cache_creation": { "ephemeral_5m_input_tokens": 875, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 501, "output_tokens_details": { "thinking_tokens": 401 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Ceze83Fp4rqNEfWCXEk96", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DUQHkii6dTd4hDVv714CH7", "name": "move_to", "input": { "targets": { "x": 0.63, "y": 0.057, "z": 1.05 }, "note": "Move over estimated mug position, lowering slightly to refine view." }, "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": 3942, "cache_creation": { "ephemeral_5m_input_tokens": 994, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 874, "output_tokens_details": { "thinking_tokens": 762 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Ceze9ANDdqwk1EfGfDQRw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A17LECZnsXt4oPuLwbMpNv", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.03, "z": 0.97 }, "note": "Descend toward mug, slight adjust, to get closer view for centering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1366, "cache_read_input_tokens": 4936, "cache_creation": { "ephemeral_5m_input_tokens": 1366, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 398, "output_tokens_details": { "thinking_tokens": 284 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Ceze9yG1JmZD5SeY4UjMG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RTKGujiKttMubT18ntMB1N", "name": "move_to", "input": { "targets": { "x": 0.63, "z": 0.9 }, "note": "Lower toward table and shift x slightly forward to align mug with fingers." }, "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": 6302, "cache_creation": { "ephemeral_5m_input_tokens": 891, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 365, "output_tokens_details": { "thinking_tokens": 258 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezeAtptAnbpHkKs1vF76", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016fPR7n1wpESgrA53RmT9ud", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Descend closer to mug height to judge alignment with fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 858, "cache_read_input_tokens": 7193, "cache_creation": { "ephemeral_5m_input_tokens": 858, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 333, "output_tokens_details": { "thinking_tokens": 238 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezeBaAVtpQHVEERwaFiC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0167G5w5LH41QPQM5tG25P57", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.01, "z": 0.81 }, "note": "Adjust left/back per wrist image (mug appears up-left) and drop to 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": 826, "cache_read_input_tokens": 8051, "cache_creation": { "ephemeral_5m_input_tokens": 826, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 610, "output_tokens_details": { "thinking_tokens": 489 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezeCXtMbo7EQnEbvyBLY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012REwxeyPhHYdb4VHNCiqRq", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Mug appears between fingers; 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": 1108, "cache_read_input_tokens": 8877, "cache_creation": { "ephemeral_5m_input_tokens": 1108, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 270, "output_tokens_details": { "thinking_tokens": 176 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezeD28jW82nXTZmR2KMx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01V3TR1tnz9tpfwqqrnp64nf", "name": "move_to", "input": { "targets": { "gripper": 1.0, "z": 0.88 }, "note": "Empty grasp; reopen and raise to reposition without hitting mug." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 762, "cache_read_input_tokens": 9985, "cache_creation": { "ephemeral_5m_input_tokens": 762, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 268, "output_tokens_details": { "thinking_tokens": 159 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezeDSWBJLLXt9Ckcw8p5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PGSbdte4k4GHUiKKmpE8wq", "name": "move_to", "input": { "targets": { "y": -0.02, "x": 0.615 }, "note": "Shift right in world -y (mug appeared image-left at close range) and slightly forward." }, "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": 10747, "cache_creation": { "ephemeral_5m_input_tokens": 761, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 908, "output_tokens_details": { "thinking_tokens": 797 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezeEeFPgBsYH28EPvwJE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UejanCuGoZXyF4eVxxG1uj", "name": "move_to", "input": { "targets": { "y": 0.0, "z": 0.83 }, "note": "Re-center y and descend to just above mug height to inspect finger alignment closely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1402, "cache_read_input_tokens": 11508, "cache_creation": { "ephemeral_5m_input_tokens": 1402, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 979, "output_tokens_details": { "thinking_tokens": 870 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezeFwyXThyBaTxe3qGGt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017CDSmkZJYdWaW67jJiKjub", "name": "move_to", "input": { "targets": { "x": 0.655 }, "note": "Mug projects above finger gap → it's farther forward; move +x by 4 cm." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1472, "cache_read_input_tokens": 12910, "cache_creation": { "ephemeral_5m_input_tokens": 1472, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 691, "output_tokens_details": { "thinking_tokens": 588 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezeH53hrgcxBZWWWuMDv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ja7od3djZfhU1vsvftQtDN", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Try grasp at new position; check gripper_open for object presence." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1189, "cache_read_input_tokens": 14382, "cache_creation": { "ephemeral_5m_input_tokens": 1189, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 284, "output_tokens_details": { "thinking_tokens": 187 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezeHiGLMRa6FvZX7v9wo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S4y87QxhVDSB73UmuA9H9H", "name": "move_to", "input": { "targets": { "gripper": 1.0, "z": 0.77 }, "note": "Open and descend lower; suspect gripper was above mug height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 15571, "cache_creation": { "ephemeral_5m_input_tokens": 776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 332 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezeM1pMPAZdR3bC2Tj7Y", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015ut5nDWNDEei39Ke3k8Vsq", "name": "move_to", "input": { "targets": { "x": 0.7, "z": 0.845 }, "note": "Table appears at z~0.80; move forward 4cm more at mid-mug height, watching mug sink toward 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": 0, "cache_read_input_tokens": 17275, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 548, "output_tokens_details": { "thinking_tokens": 425 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezeNJ8QCrtKtKUmv1qn9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G3f7rqudYBY9b6YfWWPnKC", "name": "move_to", "input": { "targets": { "x": 0.57 }, "note": "Moving +x pushed mug image upward; retreat to x=0.57 to test if mug moves down toward fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1039, "cache_read_input_tokens": 17275, "cache_creation": { "ephemeral_5m_input_tokens": 1039, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 552, "output_tokens_details": { "thinking_tokens": 439 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezeP8fuPeyzuGfazLRSg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XMtCG7Ey2F4dNqFXABasPJ", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.018 }, "note": "Mug now near finger gap but slightly left; shift -y 1.8cm and back 2cm to center it." }, "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": 18314, "cache_creation": { "ephemeral_5m_input_tokens": 1049, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 382, "output_tokens_details": { "thinking_tokens": 264 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezePtokc4Lc4KdAjRXkA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RLWWxQaFuikyEFWgLdEgDz", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Attempt grasp at x=0.55; mug appears within 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": 875, "cache_read_input_tokens": 19363, "cache_creation": { "ephemeral_5m_input_tokens": 875, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 255, "output_tokens_details": { "thinking_tokens": 154 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezeQT7hewPZ52dgZtak4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M8kxvRXUVGpSwwL8HQYH9c", "name": "move_to", "input": { "targets": { "gripper": 1.0, "z": 0.95 }, "note": "Open and rise to re-plan a vertical descent alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 747, "cache_read_input_tokens": 20238, "cache_creation": { "ephemeral_5m_input_tokens": 747, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 831, "output_tokens_details": { "thinking_tokens": 726 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezeUnLxbbDJit6mJvzon", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gc7kAwqdUZyBWad5VU4Gix", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Pure vertical descent to observe whether mug image position drifts (indicating lateral misalignment)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 0, "cache_read_input_tokens": 22309, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 164, "output_tokens_details": { "thinking_tokens": 57 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezeVPGfLdDo5sHnioTCg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HmNuj2j4AWLdNMXYYXgAaA", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Mug stays fixed during descent (aligned); go lower to grasp near table since cup may be short." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 656, "cache_read_input_tokens": 22309, "cache_creation": { "ephemeral_5m_input_tokens": 656, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 646, "output_tokens_details": { "thinking_tokens": 539 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezeWcEnv7dhNiZuT7A8M", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01Fxi5dQ3tyhANGUSW3GrARW", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Close at lower height z=0.82 to grasp cup body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1139, "cache_read_input_tokens": 22965, "cache_creation": { "ephemeral_5m_input_tokens": 1139, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 96, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezeX1YG75L3kYvYoUHcv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JB5t23vjDNwGz48aa96VTn", "name": "move_to", "input": { "targets": { "gripper": 1.0, "z": 0.9, "x": 0.48 }, "note": "Retreat -x and up to test in exterior view which direction moves gripper toward mug." }, "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": 24104, "cache_creation": { "ephemeral_5m_input_tokens": 588, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 602, "output_tokens_details": { "thinking_tokens": 481 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezeXxZxACqFWtE5os19m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XX5QhG6YmPf9TLH9Gkj96h", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Test +y motion to map exterior image directions." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1095, "cache_read_input_tokens": 24692, "cache_creation": { "ephemeral_5m_input_tokens": 1095, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 301, "output_tokens_details": { "thinking_tokens": 211 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezeYZiZ6V1eFhsxNGUay", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P19r4Zxs58KkmMstMhevw3", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.015, "z": 0.86 }, "note": "Hypothesis: camera is ahead of TCP, so mug is ~5cm closer than assumed; move to x=0.50 and check mug position 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": 793, "cache_read_input_tokens": 25787, "cache_creation": { "ephemeral_5m_input_tokens": 793, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 3114, "output_tokens_details": { "thinking_tokens": 2970 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezecH2ZDRGGKeroJHeFs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FNxQYNKqk3H9Efu54eTuNg", "name": "move_to", "input": { "targets": { "x": 0.47, "z": 0.83 }, "note": "Mug sinking toward finger gap; nudge 3cm closer and lower to 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": 3612, "cache_read_input_tokens": 26580, "cache_creation": { "ephemeral_5m_input_tokens": 3612, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 185, "output_tokens_details": { "thinking_tokens": 71 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezecbkCgesfMgfC4aaH2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BxVYJy5wf5CeZEDK23ZmSJ", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Mug now under the gripper (out of view below fingers); close to grasp." }, "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": 30192, "cache_creation": { "ephemeral_5m_input_tokens": 683, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 173, "output_tokens_details": { "thinking_tokens": 72 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezecx1qqkzYaD6s5Z1Wd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AMYkXYHis8XHsu2oyq2y3n", "name": "move_to", "input": { "targets": { "gripper": 1.0, "x": 0.55, "y": -0.06, "z": 0.85 }, "note": "Suspect lateral y error; try y=-0.06 (mug appeared well left of plate which is at 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": 665, "cache_read_input_tokens": 30875, "cache_creation": { "ephemeral_5m_input_tokens": 665, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1049, "output_tokens_details": { "thinking_tokens": 909 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezeeM1jHcWkfTDUsHfny", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SPfTYcXn99SxW7n7KFHiqp", "name": "move_to", "input": { "targets": { "x": 0.52, "y": -0.045, "z": 0.815 }, "note": "Split the difference of best-looking alignments and go to low 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": 1542, "cache_read_input_tokens": 31540, "cache_creation": { "ephemeral_5m_input_tokens": 1542, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 600, "output_tokens_details": { "thinking_tokens": 487 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezefZdHgtqJ9vN3WFFeY", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_012SU5CNusCbQRw5fJm3LKFV", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Close gripper at this low pose to attempt grasp of mug." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1098, "cache_read_input_tokens": 33082, "cache_creation": { "ephemeral_5m_input_tokens": 1098, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 97, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011CezefmgKkd3uwbcg6vyJA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BmdC46YfizRGnwctWhcbmK", "name": "move_to", "input": { "targets": { "gripper": 1.0, "y": -0.01, "z": 0.82 }, "note": "Mug appears at right edge of wrist view (+y side); shift +y 3.5cm, reopening gripper." }, "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": 34180, "cache_creation": { "ephemeral_5m_input_tokens": 589, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 366, "output_tokens_details": { "thinking_tokens": 236 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 34, "response": { "model": "claude-opus-5", "id": "msg_011CezegK2UNgcVxp1JjJSPc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GQk5cD7WrpiVzq9zrqnk6z", "name": "move_to", "input": { "targets": { "gripper": 0.0, "z": 0.9 }, "note": "Final attempt: close gripper and lift." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 34769, "cache_creation": { "ephemeral_5m_input_tokens": 859, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 172, "output_tokens_details": { "thinking_tokens": 73 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 35, "response": { "model": "claude-opus-5", "id": "msg_011Cezegc6tJcJFQJsJ7QKYc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GawXLZjKFpLRxdGMQcEyxH", "name": "give_up", "input": { "note": "Unable to localize the mug accurately with the wrist camera's ambiguous projection; multiple grasp attempts closed on empty air 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": 664, "cache_read_input_tokens": 35628, "cache_creation": { "ephemeral_5m_input_tokens": 664, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 133, "output_tokens_details": { "thinking_tokens": 34 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.02797, -0.77436, -0.00371, -2.37533, -0.03218, 1.58171, 0.02135 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30739, -0.00086, 1.00393 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99982, 0.00493, -0.01849 ], [ 0.00437, -0.99954, -0.03006 ], [ -0.01863, 0.02997, -0.99938 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.608455182053149, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move forward and up to survey table with downward wrist camera." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.02644, -0.27701, -0.00676, -1.74029, -0.03179, 1.4442, 0.01159 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44891, -1e-05, 1.09923 ], "tcp_roll_pitch_yaw": [ 0.0, 5e-05, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99982, 0.00492, -0.01854 ], [ 0.00436, -0.99954, -0.03006 ], [ -0.01868, 0.02997, -0.99938 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 7.80664477404207, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08 }, "note": "Test move +y to calibrate image axes relative to world." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.0808, -0.25296, 0.08937, -1.71421, -0.00428, 1.43892, 0.16166 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44891, 0.07886, 1.09922 ], "tcp_roll_pitch_yaw": [ -2e-05, 6e-05, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99981, 0.00518, -0.01854 ], [ 0.00463, -0.99954, -0.03008 ], [ -0.01869, 0.02999, -0.99938 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 55 }, "api_seconds": 9.807055530138314, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.0 }, "note": "Test +x move to calibrate wrist image axes." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.01144, 0.05034, 0.00517, -1.37255, -0.03045, 1.40371, 0.00712 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54894, 0.00076, 1.09912 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00027, 5e-05 ], "tcp_rotation_matrix": [ [ 0.99981, 0.00498, -0.01876 ], [ 0.00442, -0.99954, -0.03008 ], [ -0.0189, 0.02999, -0.99937 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 54 }, "api_seconds": 14.612231659702957, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "y": 0.057, "z": 1.05 }, "note": "Move over estimated mug position, lowering slightly to refine view." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.07011, 0.32031, 0.04222, -1.1325, -0.04152, 1.4304, 0.10015 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62906, 0.0564, 1.05041 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00058, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99981, 0.00512, -0.01906 ], [ 0.00454, -0.99954, -0.03009 ], [ -0.01921, 0.03, -0.99937 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 53 }, "api_seconds": 10.411452109925449, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.03, "z": 0.97 }, "note": "Descend toward mug, slight adjust, to get closer view for centering." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.03843, 0.14226, 0.02617, -1.58764, -0.03285, 1.70856, 0.06447 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60039, 0.03032, 0.97106 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00082, 9e-05 ], "tcp_rotation_matrix": [ [ 0.9998, 0.00505, -0.01931 ], [ 0.00447, -0.99954, -0.03013 ], [ -0.01945, 0.03004, -0.99936 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 52 }, "api_seconds": 12.01296171080321, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "z": 0.9 }, "note": "Lower toward table and shift x slightly forward to align mug with fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.0373, 0.24464, 0.02452, -1.62663, -0.03624, 1.84951, 0.06675 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62944, 0.03031, 0.90106 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00121, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99979, 0.00505, -0.0197 ], [ 0.00445, -0.99954, -0.03016 ], [ -0.01984, 0.03006, -0.99935 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 51 }, "api_seconds": 8.80694914702326, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Descend closer to mug height to judge alignment with fingers." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.03697, 0.27588, 0.02382, -1.73714, -0.03879, 1.99085, 0.07141 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62938, 0.0303, 0.84106 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00156, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99979, 0.00505, -0.02005 ], [ 0.00445, -0.99953, -0.03018 ], [ -0.02019, 0.03009, -0.99934 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 50 }, "api_seconds": 12.609919178299606, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.01, "z": 0.81 }, "note": "Adjust left/back per wrist image (mug appears up-left) and drop to grasp height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.01653, 0.21386, 0.01204, -1.90534, -0.03723, 2.09777, 0.04275 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60077, 0.01048, 0.81079 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00176, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99978, 0.00495, -0.02026 ], [ 0.00433, -0.99953, -0.03021 ], [ -0.0204, 0.03011, -0.99934 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 49 }, "api_seconds": 6.004955179058015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Mug appears between fingers; attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.01653, 0.21386, 0.01204, -1.90534, -0.03723, 2.09777, 0.04275 ], "gripper_open": 0.0, "tcp_xyz": [ 0.60076, 0.01048, 0.81078 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00176, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99978, 0.00495, -0.02025 ], [ 0.00433, -0.99953, -0.03021 ], [ -0.02039, 0.03011, -0.99934 ] ], "simulated_seconds_remaining": 21.582, "calls_remaining_including_this": 48 }, "api_seconds": 5.204501952044666, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "z": 0.88 }, "note": "Empty grasp; reopen and raise to reposition without hitting mug." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.01672, 0.16001, 0.01278, -1.8003, -0.03391, 1.93923, 0.03727 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.60082, 0.01048, 0.87862 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00149, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99979, 0.00494, -0.01998 ], [ 0.00434, -0.99953, -0.0302 ], [ -0.02012, 0.0301, -0.99934 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 47 }, "api_seconds": 15.812285371124744, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.02, "x": 0.615 }, "note": "Shift right in world -y (mug appeared image-left at close range) and slightly forward." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.01265, 0.20244, -0.00765, -1.74316, -0.03102, 1.92601, -0.0135 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61452, -0.0191, 0.87859 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00153, -0.00027 ], "tcp_rotation_matrix": [ [ 0.99979, 0.0047, -0.02003 ], [ 0.0041, -0.99953, -0.03022 ], [ -0.02016, 0.03013, -0.99934 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 46 }, "api_seconds": 17.415557315573096, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0, "z": 0.83 }, "note": "Re-center y and descend to just above mug height to inspect finger alignment closely." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.00619, 0.23497, 0.00415, -1.82191, -0.03466, 2.03599, 0.02161 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61446, -0.00039, 0.83099 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00184, -0.00017 ], "tcp_rotation_matrix": [ [ 0.99978, 0.00481, -0.02033 ], [ 0.0042, -0.99953, -0.03022 ], [ -0.02047, 0.03012, -0.99934 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 45 }, "api_seconds": 14.61169248726219, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.655 }, "note": "Mug projects above finger gap → it's farther forward; move +x by 4 cm." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.00633, 0.35786, 0.00388, -1.64391, -0.03421, 1.98084, 0.01945 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65388, -0.00039, 0.83094 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00191, -0.00018 ], "tcp_rotation_matrix": [ [ 0.99978, 0.00481, -0.02041 ], [ 0.00419, -0.99953, -0.03022 ], [ -0.02054, 0.03012, -0.99934 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 44 }, "api_seconds": 8.406834547407925, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Try grasp at new position; check gripper_open for object presence." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.00633, 0.35786, 0.00388, -1.64391, -0.03421, 1.98084, 0.01945 ], "gripper_open": 0.0, "tcp_xyz": [ 0.65389, -0.00039, 0.83094 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00191, -0.00018 ], "tcp_rotation_matrix": [ [ 0.99978, 0.00481, -0.0204 ], [ 0.00419, -0.99953, -0.03022 ], [ -0.02054, 0.03012, -0.99934 ] ], "simulated_seconds_remaining": 17.952, "calls_remaining_including_this": 43 }, "api_seconds": 9.807280163280666, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "z": 0.77 }, "note": "Open and descend lower; suspect gripper was above mug height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.00599, 0.37059, 0.00213, -1.70798, -0.03852, 2.10587, 0.02535 ], "gripper_open": 1.0, "tcp_xyz": [ 0.66222, -0.00158, 0.80366 ], "tcp_roll_pitch_yaw": [ -0.00201, -0.04642, -0.00208 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00136, 0.02783 ], [ 0.00225, -0.99948, -0.03213 ], [ 0.02777, 0.03218, -0.9991 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 42 }, "api_seconds": 51.239013304933906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "z": 0.845 }, "note": "Table appears at z~0.80; move forward 4cm more at mid-mug height, watching mug sink toward finger gap." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.00631, 0.4635, 0.00243, -1.46018, -0.03603, 1.95126, 0.01959 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.69919, -0.00158, 0.84411 ], "tcp_roll_pitch_yaw": [ -0.00201, -0.04664, -0.00209 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00135, 0.02806 ], [ 0.00225, -0.99948, -0.03212 ], [ 0.028, 0.03217, -0.99909 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 41 }, "api_seconds": 10.607991769909859, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57 }, "note": "Moving +x pushed mug image upward; retreat to x=0.57 to test if mug moves down toward fingers." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.00601, 0.06208, 0.00309, -2.0301, -0.03819, 2.1197, 0.02676 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57131, -0.00157, 0.84418 ], "tcp_roll_pitch_yaw": [ -0.00201, -0.04671, -0.00207 ], "tcp_rotation_matrix": [ [ 0.9996, 0.00136, 0.02812 ], [ 0.00226, -0.99948, -0.03213 ], [ 0.02806, 0.03218, -0.99909 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 40 }, "api_seconds": 10.008065746165812, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.018 }, "note": "Mug now near finger gap but slightly left; shift -y 1.8cm and back 2cm to center it." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00893, 0.00288, -0.01078, -2.10415, -0.03735, 2.13551, -0.00184 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55092, -0.01736, 0.84421 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.04674, -0.00221 ], "tcp_rotation_matrix": [ [ 0.9996, 0.00122, 0.02815 ], [ 0.00213, -0.99948, -0.03214 ], [ 0.0281, 0.03219, -0.99909 ] ], "simulated_seconds_remaining": 14.718, "calls_remaining_including_this": 39 }, "api_seconds": 7.005702120251954, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Attempt grasp at x=0.55; mug appears within finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00893, 0.00288, -0.01078, -2.10415, -0.03735, 2.13551, -0.00184 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55091, -0.01737, 0.84421 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.04674, -0.00221 ], "tcp_rotation_matrix": [ [ 0.9996, 0.00123, 0.02815 ], [ 0.00213, -0.99948, -0.03214 ], [ 0.0281, 0.03219, -0.99909 ] ], "simulated_seconds_remaining": 13.794, "calls_remaining_including_this": 38 }, "api_seconds": 15.812125521712005, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "z": 0.95 }, "note": "Open and rise to re-plan a vertical descent alignment." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00799, -0.05913, -0.00981, -1.90599, -0.03377, 1.8758, -0.00979 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55099, -0.01736, 0.9488 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.04712, -0.0022 ], "tcp_rotation_matrix": [ [ 0.99959, 0.00122, 0.02853 ], [ 0.00213, -0.99948, -0.03214 ], [ 0.02847, 0.03219, -0.99908 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 37 }, "api_seconds": 50.03841679915786, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Pure vertical descent to observe whether mug image position drifts (indicating lateral misalignment)." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00866, -0.02085, -0.01051, -2.06113, -0.03622, 2.06878, -0.004 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55093, -0.01737, 0.87123 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.04673, -0.00221 ], "tcp_rotation_matrix": [ [ 0.9996, 0.00123, 0.02814 ], [ 0.00213, -0.99948, -0.03214 ], [ 0.02809, 0.03219, -0.99909 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 36 }, "api_seconds": 16.212867440655828, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Mug stays fixed during descent (aligned); go lower to grasp near table since cup may be short." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00916, 0.02756, -0.01102, -2.1364, -0.03847, 2.19208, 0.0001 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55086, -0.01737, 0.82106 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.04641, -0.00221 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00123, 0.02782 ], [ 0.00213, -0.99948, -0.03214 ], [ 0.02776, 0.03219, -0.9991 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 35 }, "api_seconds": 5.003957046195865, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Close at lower height z=0.82 to grasp cup body." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00916, 0.02756, -0.01102, -2.1364, -0.03847, 2.19208, 0.0001 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55086, -0.01737, 0.82105 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.04641, -0.00221 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00123, 0.02782 ], [ 0.00213, -0.99948, -0.03214 ], [ 0.02777, 0.03219, -0.9991 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 34 }, "api_seconds": 12.209358118474483, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "z": 0.9, "x": 0.48 }, "note": "Retreat -x and up to test in exterior view which direction moves gripper toward mug." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00962, -0.25101, -0.01123, -2.24159, -0.03813, 2.01912, -0.00618 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48096, -0.01737, 0.89913 ], "tcp_roll_pitch_yaw": [ -0.00203, -0.04673, -0.0022 ], "tcp_rotation_matrix": [ [ 0.9996, 0.00123, 0.02814 ], [ 0.00213, -0.99948, -0.03215 ], [ 0.02809, 0.03219, -0.99909 ] ], "simulated_seconds_remaining": 9.438, "calls_remaining_including_this": 33 }, "api_seconds": 7.806210929527879, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Test +y motion to map exterior image directions." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the mug.", "joint_positions": [ 0.05157, -0.23792, 0.08038, -2.22646, -0.0184, 2.01297, 0.13563 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48097, 0.05876, 0.89913 ], "tcp_roll_pitch_yaw": [ -0.00206, -0.04673, -0.00192 ], "tcp_rotation_matrix": [ [ 0.9996, 0.00151, 0.02815 ], [ 0.00242, -0.99948, -0.03217 ], [ 0.02809, 0.03223, -0.99909 ] ], "simulated_seconds_remaining": 8.646, "calls_remaining_including_this": 32 }, "api_seconds": 49.84021033998579, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.015, "z": 0.86 }, "note": "Hypothesis: camera is ahead of TCP, so mug is ~5cm closer than assumed; move to x=0.50 and check mug position in wrist view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.01017, -0.1636, -0.00436, -2.25215, -0.03798, 2.1167, 0.00306 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49968, -0.01395, 0.86054 ], "tcp_roll_pitch_yaw": [ -0.00203, -0.04657, -0.00217 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00127, 0.02798 ], [ 0.00217, -0.99948, -0.03215 ], [ 0.02792, 0.03219, -0.99909 ] ], "simulated_seconds_remaining": 7.788, "calls_remaining_including_this": 31 }, "api_seconds": 4.003964051604271, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "z": 0.83 }, "note": "Mug sinking toward finger gap; nudge 3cm closer and lower to grasp height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.01108, -0.21782, -0.00507, -2.39002, -0.04058, 2.20015, 0.00566 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47077, -0.01395, 0.83079 ], "tcp_roll_pitch_yaw": [ -0.00203, -0.04639, -0.00217 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00128, 0.0278 ], [ 0.00217, -0.99948, -0.03215 ], [ 0.02775, 0.0322, -0.9991 ] ], "simulated_seconds_remaining": 7.194, "calls_remaining_including_this": 30 }, "api_seconds": 4.204158375971019, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Mug now under the gripper (out of view below fingers); close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.01108, -0.21782, -0.00507, -2.39002, -0.04058, 2.20015, 0.00566 ], "gripper_open": 0.0, "tcp_xyz": [ 0.47076, -0.01395, 0.83078 ], "tcp_roll_pitch_yaw": [ -0.00203, -0.04639, -0.00217 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00128, 0.02781 ], [ 0.00217, -0.99948, -0.03215 ], [ 0.02775, 0.0322, -0.9991 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 29 }, "api_seconds": 18.414493574760854, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "x": 0.55, "y": -0.06, "z": 0.85 }, "note": "Suspect lateral y error; try y=-0.06 (mug appeared well left of plate which is at y~+0.06)." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.0464, -0.00103, -0.05039, -2.09463, -0.03451, 2.12414, -0.08069 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.5489, -0.05941, 0.84972 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.0464, -0.0023 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00114, 0.02781 ], [ 0.00204, -0.99948, -0.03214 ], [ 0.02776, 0.03219, -0.9991 ] ], "simulated_seconds_remaining": 5.346, "calls_remaining_including_this": 28 }, "api_seconds": 16.216428969055414, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": -0.045, "z": 0.815 }, "note": "Split the difference of best-looking alignments and go to low grasp height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.0361, -0.04842, -0.03932, -2.24357, -0.04016, 2.22474, -0.0531 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52075, -0.04536, 0.81588 ], "tcp_roll_pitch_yaw": [ -0.00201, -0.04618, -0.00223 ], "tcp_rotation_matrix": [ [ 0.99962, 0.00122, 0.02759 ], [ 0.00211, -0.99948, -0.03213 ], [ 0.02753, 0.03218, -0.9991 ] ], "simulated_seconds_remaining": 4.752, "calls_remaining_including_this": 27 }, "api_seconds": 2.202513144351542, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Close gripper at this low pose to attempt grasp of mug." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.0361, -0.04842, -0.03932, -2.24357, -0.04016, 2.22474, -0.0531 ], "gripper_open": 0.0, "tcp_xyz": [ 0.52074, -0.04536, 0.81587 ], "tcp_roll_pitch_yaw": [ -0.00201, -0.04618, -0.00223 ], "tcp_rotation_matrix": [ [ 0.99962, 0.00122, 0.02759 ], [ 0.00211, -0.99948, -0.03213 ], [ 0.02754, 0.03218, -0.9991 ] ], "simulated_seconds_remaining": 3.828, "calls_remaining_including_this": 26 }, "api_seconds": 6.8060194393619895, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "y": -0.01, "z": 0.82 }, "note": "Mug appears at right edge of wrist view (+y side); shift +y 3.5cm, reopening gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00444, -0.05744, -0.00407, -2.24255, -0.04013, 2.21262, 0.01331 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.52074, -0.01072, 0.81992 ], "tcp_roll_pitch_yaw": [ -0.00202, -0.0462, -0.00212 ], "tcp_rotation_matrix": [ [ 0.99962, 0.00133, 0.02761 ], [ 0.00221, -0.99948, -0.03213 ], [ 0.02755, 0.03218, -0.9991 ] ], "simulated_seconds_remaining": 2.904, "calls_remaining_including_this": 25 }, "api_seconds": 3.4030731981620193, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0, "z": 0.9 }, "note": "Final attempt: close gripper and lift." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "pick up the mug.", "joint_positions": [ -0.00352, -0.13027, -0.00339, -2.11445, -0.03582, 2.01209, 0.00619 ], "gripper_open": 0.0, "tcp_xyz": [ 0.52081, -0.01072, 0.89899 ], "tcp_roll_pitch_yaw": [ -0.00201, -0.0465, -0.00212 ], "tcp_rotation_matrix": [ [ 0.99961, 0.00132, 0.02791 ], [ 0.00221, -0.99948, -0.03213 ], [ 0.02786, 0.03218, -0.99909 ] ], "simulated_seconds_remaining": 1.98, "calls_remaining_including_this": 24 }, "api_seconds": 3.203324321657419, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Unable to localize the mug accurately with the wrist camera's ambiguous projection; multiple grasp attempts closed on empty air and simulated time is exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 010 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 10, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 33, "api_calls": 33, "wall_seconds": 354.6236083507538, "usage": { "input_tokens": 66, "cache_creation_input_tokens": 35220, "cache_read_input_tokens": 577378, "output_tokens": 17799 }, "estimated_cost_usd": 0.954119 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezeNHnK5JQmkPwzuEC8a", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01V6eoWvvMPQx79bya4QcbbY", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lowering to get a better view of the white pot in the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 262, "output_tokens_details": { "thinking_tokens": 165 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezeNiNfcYMUuiUsk3Weq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QacEDei4nBNqPWY8ikpAD2", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Continue lowering to see the pot's position relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 753, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 753, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 596, "output_tokens_details": { "thinking_tokens": 501 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezeQ4TvaE9hxSVN3o5p5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PM8tQoygi5FvwmLWvJspKn", "name": "move_to", "input": { "targets": { "y": 0.03 }, "note": "Test move +y to learn image direction mapping while looking for the pot." }, "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": 2511, "cache_creation": { "ephemeral_5m_input_tokens": 1087, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 258, "output_tokens_details": { "thinking_tokens": 161 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezeQVybmDqpUebFkffW6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NBV1Tkx2YgMXMsguaMaimS", "name": "move_to", "input": { "targets": { "y": 0.12, "x": 0.38 }, "note": "+y moves left in image toward pot; moving left and forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 751, "cache_read_input_tokens": 3598, "cache_creation": { "ephemeral_5m_input_tokens": 751, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 230, "output_tokens_details": { "thinking_tokens": 128 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezeQvH5cZreUjkCUpdqR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LCVufUrYXwzSee9QngiqVW", "name": "move_to", "input": { "targets": { "y": 0.17 }, "note": "Pot still slightly left in both views; nudge further +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 723, "cache_read_input_tokens": 4349, "cache_creation": { "ephemeral_5m_input_tokens": 723, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 203, "output_tokens_details": { "thinking_tokens": 109 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezeRJY3UQ4h5g6rexgh2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TQhPppBJVovamf8zgbyppU", "name": "move_to", "input": { "targets": { "y": 0.22 }, "note": "Pot appears at left edge of wrist view; continue +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 5072, "cache_creation": { "ephemeral_5m_input_tokens": 696, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 186, "output_tokens_details": { "thinking_tokens": 91 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezeRdpuW2RtbL5rEEDsg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CfKTAWrcsfgpttNAqRTLGx", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Raise for a wider wrist view to localize the pot properly." }, "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": 5768, "cache_creation": { "ephemeral_5m_input_tokens": 679, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 672, "output_tokens_details": { "thinking_tokens": 577 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezeSZVEhVNodiBrHJmbU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GweDw7Dj5coVLyFhd6GNQ3", "name": "move_to", "input": { "targets": { "y": 0.16 }, "note": "Test -y to see if the white object centers in the wrist view (disambiguating mapping)." }, "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": 6447, "cache_creation": { "ephemeral_5m_input_tokens": 1165, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 367, "output_tokens_details": { "thinking_tokens": 264 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezeT7ECrnx64FeJiPwHT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EzkUYdLgLyz9ZtXcpZhupU", "name": "move_to", "input": { "targets": { "y": 0.11 }, "note": "White object moved toward center when y decreased; continue -y to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 860, "cache_read_input_tokens": 7612, "cache_creation": { "ephemeral_5m_input_tokens": 860, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 790, "output_tokens_details": { "thinking_tokens": 694 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezeUArmW6SpKza4bTqwY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014MvZjbT4Pxb15Bb6FgA5sz", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Descending to inspect the white object under the gripper closely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1283, "cache_read_input_tokens": 8472, "cache_creation": { "ephemeral_5m_input_tokens": 1283, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 407, "output_tokens_details": { "thinking_tokens": 314 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezeUqrJ49W2aX5BCWjwE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ap93fXQD6bG64tfpfL383A", "name": "move_to", "input": { "targets": { "y": 0.2, "z": 0.9 }, "note": "Exterior suggests pot is ~0.1 m to the left; moving to y=0.20 near table height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 900, "cache_read_input_tokens": 9755, "cache_creation": { "ephemeral_5m_input_tokens": 900, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 870, "output_tokens_details": { "thinking_tokens": 753 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezeVuS8LHJPVyr1wFEQp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CiMSbdR8HiUdP11y769r9f", "name": "move_to", "input": { "targets": { "y": 0.1 }, "note": "Clean -y test at constant x,z to resolve which side the pot is on." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1363, "cache_read_input_tokens": 10655, "cache_creation": { "ephemeral_5m_input_tokens": 1363, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1148, "output_tokens_details": { "thinking_tokens": 1049 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezeXMcVk1RyhPLBjGTMv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017mn7oyMbKenhitoSRgLNfa", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Descending onto the white object which appears directly beneath 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": 1641, "cache_read_input_tokens": 12018, "cache_creation": { "ephemeral_5m_input_tokens": 1641, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 564, "output_tokens_details": { "thinking_tokens": 468 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezeYMrR6e2ByUik8wU43", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Eqi5mQV4diCDdNYg1xGphr", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper at estimated pot location to test grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1057, "cache_read_input_tokens": 13659, "cache_creation": { "ephemeral_5m_input_tokens": 1057, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1436, "output_tokens_details": { "thinking_tokens": 1342 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezea7P5Gi9wAAqjK6KPo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QA88CvPjnzcoGUkoNWJhyA", "name": "move_to", "input": { "targets": { "y": 0.0, "z": 0.92, "gripper": 1 }, "note": "Empty grasp; both views suggest pot is at smaller y. Sweeping to y=0 while open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1928, "cache_read_input_tokens": 14716, "cache_creation": { "ephemeral_5m_input_tokens": 1928, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1235, "output_tokens_details": { "thinking_tokens": 1110 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezebhRyZRbgk3RTYjarN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0185s7iUkJkqDJ7zYtvZmVug", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Object appears right of center at y=0 and left of center at y=0.10, so target y≈0.05." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1728, "cache_read_input_tokens": 16644, "cache_creation": { "ephemeral_5m_input_tokens": 1728, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 476, "output_tokens_details": { "thinking_tokens": 369 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezecJoUkfXCkiQNwEFPE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VwHiM2n8JMKYaonX7YrepZ", "name": "move_to", "input": { "targets": { "y": 0.03, "z": 1.02 }, "note": "Raising to reduce finger occlusion and refine x,y estimate of the pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 974, "cache_read_input_tokens": 18372, "cache_creation": { "ephemeral_5m_input_tokens": 974, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 221, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezeckQrFSyG2TSWs1xNo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011bgaqbJwmZ71gqrHKr9Y6v", "name": "move_to", "input": { "targets": { "x": 0.33 }, "note": "Testing -x to calibrate vertical image direction relative to base x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 19346, "cache_creation": { "ephemeral_5m_input_tokens": 714, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 292, "output_tokens_details": { "thinking_tokens": 195 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezedGy7dytpZLcYbh9kM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VFTvTVZoZ3vP2au77P3KMp", "name": "move_to", "input": { "targets": { "x": 0.36, "y": 0.03, "z": 0.89 }, "note": "Aligning over the pot (appears between fingers) and descending toward rim height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 20060, "cache_creation": { "ephemeral_5m_input_tokens": 790, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 921, "output_tokens_details": { "thinking_tokens": 805 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezeeW3wiVWTsZuPbB2dz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YWdZidHhG3Fs1YeqH526As", "name": "move_to", "input": { "targets": { "y": -0.05, "z": 0.93 }, "note": "Testing y=-0.05: check in exterior whether gripper approaches the pot horizontally." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1419, "cache_read_input_tokens": 20850, "cache_creation": { "ephemeral_5m_input_tokens": 1419, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 650, "output_tokens_details": { "thinking_tokens": 536 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezefPue2n4QX7eLoDUAb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NtCJ82DLzKqimr5p2jMKAz", "name": "move_to", "input": { "targets": { "y": 0.25 }, "note": "Exterior tracking shows image-left = +y, so pot needs larger y; trying y=0.25." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1148, "cache_read_input_tokens": 22269, "cache_creation": { "ephemeral_5m_input_tokens": 1148, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 831, "output_tokens_details": { "thinking_tokens": 723 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezegTELdUMU58PGsv9aa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WgusggL99ydt91njECmpai", "name": "move_to", "input": { "targets": { "y": 0.28, "z": 0.9 }, "note": "Gripper now nearly over the pot in exterior; nudge +y and descend." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1324, "cache_read_input_tokens": 23417, "cache_creation": { "ephemeral_5m_input_tokens": 1324, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 302, "output_tokens_details": { "thinking_tokens": 193 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezegvUvnED283wCuERo3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018Zvd1gFQ9misf1CgzQWBxj", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempting grasp at current pose where fingers overlap the pot 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": 800, "cache_read_input_tokens": 24741, "cache_creation": { "ephemeral_5m_input_tokens": 800, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 219, "output_tokens_details": { "thinking_tokens": 117 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezehMkDTNukzNGHQ7WbH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UpfvWxbWQt9qh4jEdM5yG9", "name": "move_to", "input": { "targets": { "gripper": 1, "y": 0.34 }, "note": "Empty again; testing further +y to see if pot centers 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": 711, "cache_read_input_tokens": 25541, "cache_creation": { "ephemeral_5m_input_tokens": 711, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 759, "output_tokens_details": { "thinking_tokens": 653 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezeiRF6FiUha34wpgmVS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FuNk9KH3YgdnpAvpKwdYP7", "name": "move_to", "input": { "targets": { "x": 0.36, "y": 0.03, "z": 0.86 }, "note": "Returning to the pose where the pot appeared between the fingers, now lower to 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": 1252, "cache_read_input_tokens": 26252, "cache_creation": { "ephemeral_5m_input_tokens": 1252, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1380, "output_tokens_details": { "thinking_tokens": 1260 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezekEP3jNuchtKRCThZ2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JLVP9EFdtata2FGvPqoxaK", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.05 }, "note": "Wrist image appears 180°-rotated: pot below center means larger x. Moving forward to x=0.44." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1879, "cache_read_input_tokens": 27504, "cache_creation": { "ephemeral_5m_input_tokens": 1879, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1010, "output_tokens_details": { "thinking_tokens": 891 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezemXdPhgzrTshUSYRcy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017ve4kvgeCiLL1m3CkFAx2S", "name": "move_to", "input": { "targets": { "x": 0.46, "y": 0.065 }, "note": "Pot looks closer and slightly right/below center; small forward-left adjustment 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": 1509, "cache_read_input_tokens": 29383, "cache_creation": { "ephemeral_5m_input_tokens": 1509, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 259, "output_tokens_details": { "thinking_tokens": 147 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezemz5rwoucZMhxQPpX7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ARsj516yYepwhHjPxCmyaR", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Pot now fills the space between fingers; closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 753, "cache_read_input_tokens": 30892, "cache_creation": { "ephemeral_5m_input_tokens": 753, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 137, "output_tokens_details": { "thinking_tokens": 42 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezenKVg4vir6QEbtGWuG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NokHFsJyyFQ3niU7Kqf3YJ", "name": "move_to", "input": { "targets": { "gripper": 1, "y": 0.035, "z": 0.85 }, "note": "Missed again; pot appears slightly left (smaller y) and I lower slightly for rim grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 630, "cache_read_input_tokens": 31645, "cache_creation": { "ephemeral_5m_input_tokens": 630, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 485, "output_tokens_details": { "thinking_tokens": 361 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezeo3BvteH1LiUsps3oj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BnyHfbs758EMF8VRmSRgKS", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Pot between fingers at lower height; closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 979, "cache_read_input_tokens": 32275, "cache_creation": { "ephemeral_5m_input_tokens": 979, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 159, "output_tokens_details": { "thinking_tokens": 65 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezeoMZUVxUrUfhGdoxCR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017DYDtCXrZRGqe6rymSguB9", "name": "move_to", "input": { "targets": { "gripper": 1, "y": -0.01 }, "note": "Last attempt: pot sits left in wrist view (smaller y), shifting -y with gripper open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 652, "cache_read_input_tokens": 33254, "cache_creation": { "ephemeral_5m_input_tokens": 652, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 237, "output_tokens_details": { "thinking_tokens": 121 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezeooEKcsUFeQWaJhhJC", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WJWdrgUDqJbKzdmixt1YCC", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Pot now centered between fingers; final close attempt." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 731, "cache_read_input_tokens": 33906, "cache_creation": { "ephemeral_5m_input_tokens": 731, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 91, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011Cezep6go3897qhFhFTjHH", "type": "message", "role": "assistant", "content": [ { "type": "text", "text": "I was unable to grasp the pot — the gripper closed empty each time and simulated time is exhausted. The ambiguous camera-to-base axis mapping made localization too slow." }, { "type": "tool_use", "id": "toolu_01CTcs63QafRWz5RHmpq9exL", "name": "give_up", "input": { "note": "Out of simulated motion time; repeated grasp attempts closed on empty space due to unresolved depth/lateral offset of the pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 583, "cache_read_input_tokens": 34637, "cache_creation": { "ephemeral_5m_input_tokens": 583, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 146, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.03889, -0.81645, -0.00406, -2.3356, -0.04888, 1.61628, -0.03719 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31761, -0.02622, 1.03977 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99546, -0.00712, 0.09491 ], [ -0.00239, -0.99875, -0.04987 ], [ 0.09515, 0.04942, -0.99424 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.004032357595861, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lowering to get a better view of the white pot in the wrist camera." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.03899, -0.86371, -0.00692, -2.58958, -0.05262, 1.82257, -0.02832 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31758, -0.02622, 0.95118 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00025, -0.0 ], "tcp_rotation_matrix": [ [ 0.99548, -0.00711, 0.09466 ], [ -0.00239, -0.99875, -0.04987 ], [ 0.09489, 0.04942, -0.99426 ] ], "simulated_seconds_remaining": 29.106, "calls_remaining_including_this": 56 }, "api_seconds": 17.814330283552408, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Continue lowering to see the pot's position relative to fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.04062, -0.85426, -0.0093, -2.76306, -0.05777, 2.00509, -0.02052 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31753, -0.02622, 0.88116 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00053, -0.0 ], "tcp_rotation_matrix": [ [ 0.99551, -0.0071, 0.09438 ], [ -0.0024, -0.99875, -0.04987 ], [ 0.09462, 0.04942, -0.99429 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 55 }, "api_seconds": 5.404935993254185, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03 }, "note": "Test move +y to learn image direction mapping while looking for the pot." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02718, -0.84805, 0.09352, -2.75586, 0.0128, 1.99966, 0.09208 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31755, 0.02872, 0.88117 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00052, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99551, -0.00694, 0.0944 ], [ -0.00223, -0.99875, -0.04993 ], [ 0.09463, 0.0495, -0.99428 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 54 }, "api_seconds": 5.006546192802489, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12, "x": 0.38 }, "note": "+y moves left in image toward pot; moving left and forward." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.07067, -0.55757, 0.25013, -2.55563, 0.06496, 2.08802, 0.2637 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37927, 0.11894, 0.88116 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00055, 0.00026 ], "tcp_rotation_matrix": [ [ 0.99551, -0.00684, 0.09437 ], [ -0.00212, -0.99875, -0.04999 ], [ 0.0946, 0.04957, -0.99428 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 53 }, "api_seconds": 4.804308666847646, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.17 }, "note": "Pot still slightly left in both views; nudge further +y." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.1004, -0.5009, 0.33075, -2.50021, 0.08496, 2.08915, 0.36295 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37927, 0.16886, 0.88116 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00054, 0.00043 ], "tcp_rotation_matrix": [ [ 0.99551, -0.00667, 0.0944 ], [ -0.00194, -0.99875, -0.05003 ], [ 0.09461, 0.04962, -0.99428 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 52 }, "api_seconds": 4.003531466238201, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.22 }, "note": "Pot appears at left edge of wrist view; continue +y." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12042, -0.42896, 0.41095, -2.42899, 0.08922, 2.08953, 0.46477 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37926, 0.21886, 0.88116 ], "tcp_roll_pitch_yaw": [ -0.00025, 0.00053, 0.00061 ], "tcp_rotation_matrix": [ [ 0.99551, -0.00649, 0.09441 ], [ -0.00176, -0.99874, -0.05006 ], [ 0.09462, 0.04966, -0.99427 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 51 }, "api_seconds": 11.809396732598543, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Raise for a wider wrist view to localize the pot properly." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.1125, -0.46755, 0.37137, -2.16044, 0.0797, 1.78405, 0.44206 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37931, 0.21889, 0.99881 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00026, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99549, -0.00649, 0.09468 ], [ -0.00177, -0.99875, -0.04994 ], [ 0.09488, 0.04954, -0.99425 ] ], "simulated_seconds_remaining": 24.156, "calls_remaining_including_this": 50 }, "api_seconds": 7.005588660016656, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.16 }, "note": "Test -y to see if the white object centers in the wrist view (disambiguating mapping)." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.09171, -0.54376, 0.28019, -2.2356, 0.06643, 1.7822, 0.33121 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37935, 0.16129, 0.99883 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00024, 0.00039 ], "tcp_rotation_matrix": [ [ 0.99548, -0.00672, 0.09469 ], [ -0.00199, -0.99875, -0.04993 ], [ 0.09491, 0.04951, -0.99425 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 49 }, "api_seconds": 14.010736026801169, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.11 }, "note": "White object moved toward center when y decreased; continue -y to center it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.06746, -0.59344, 0.20131, -2.28419, 0.04196, 1.78061, 0.23704 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37937, 0.11112, 0.99884 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00023, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99548, -0.00691, 0.09469 ], [ -0.00219, -0.99875, -0.0499 ], [ 0.09492, 0.04947, -0.99426 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 48 }, "api_seconds": 8.607184304855764, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Descending to inspect the white object under the gripper closely." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.07334, -0.59166, 0.21474, -2.45454, 0.05035, 1.95223, 0.24478 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37933, 0.11111, 0.93127 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00054, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99551, -0.0069, 0.09438 ], [ -0.00218, -0.99875, -0.04998 ], [ 0.09461, 0.04955, -0.99428 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 47 }, "api_seconds": 13.812510917894542, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2, "z": 0.9 }, "note": "Exterior suggests pot is ~0.1 m to the left; moving to y=0.20 near table height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12063, -0.47287, 0.36456, -2.42128, 0.0859, 2.03748, 0.42138 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37931, 0.1988, 0.9004 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00062, 0.00039 ], "tcp_rotation_matrix": [ [ 0.99552, -0.0067, 0.09432 ], [ -0.00198, -0.99874, -0.05006 ], [ 0.09453, 0.04965, -0.99428 ] ], "simulated_seconds_remaining": 21.186, "calls_remaining_including_this": 46 }, "api_seconds": 19.015091027133167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Clean -y test at constant x,z to resolve which side the pot is on." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.06613, -0.58608, 0.20841, -2.53129, 0.04831, 2.03462, 0.22978 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37934, 0.10132, 0.90041 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00062, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99552, -0.00693, 0.09431 ], [ -0.00222, -0.99874, -0.05004 ], [ 0.09454, 0.0496, -0.99428 ] ], "simulated_seconds_remaining": 20.262, "calls_remaining_including_this": 45 }, "api_seconds": 13.210504648275673, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Descending onto the white object which appears directly beneath the fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.0666, -0.56347, 0.21657, -2.59125, 0.05004, 2.11672, 0.23532 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3793, 0.1013, 0.87095 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.00084, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99554, -0.00693, 0.09408 ], [ -0.00222, -0.99874, -0.05009 ], [ 0.09431, 0.04966, -0.9943 ] ], "simulated_seconds_remaining": 19.734, "calls_remaining_including_this": 44 }, "api_seconds": 23.220585486851633, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper at estimated pot location to test grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.0666, -0.56347, 0.21657, -2.59125, 0.05004, 2.11672, 0.23532 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3793, 0.1013, 0.87095 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.00084, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99554, -0.00693, 0.09409 ], [ -0.00222, -0.99874, -0.05009 ], [ 0.09432, 0.04966, -0.9943 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 43 }, "api_seconds": 21.01733983308077, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0, "z": 0.92, "gripper": 1 }, "note": "Empty grasp; both views suggest pot is at smaller y. Sweeping to y=0 while open." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.01962, -0.64236, 0.0456, -2.53549, -0.02674, 1.987, 0.03261 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37934, 0.00114, 0.91947 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00071, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99553, -0.00711, 0.0942 ], [ -0.0024, -0.99874, -0.05004 ], [ 0.09444, 0.04959, -0.9943 ] ], "simulated_seconds_remaining": 17.754, "calls_remaining_including_this": 42 }, "api_seconds": 7.80639526527375, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Object appears right of center at y=0 and left of center at y=0.10, so target y≈0.05." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02089, -0.6299, 0.12266, -2.52211, 0.01179, 1.98342, 0.12367 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37935, 0.04871, 0.91948 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.0007, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99553, -0.00691, 0.09422 ], [ -0.00219, -0.99874, -0.05009 ], [ 0.09445, 0.04966, -0.99429 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 41 }, "api_seconds": 5.404356111772358, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03, "z": 1.02 }, "note": "Raising to reduce finger occlusion and refine x,y estimate of the pot." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.00296, -0.63238, 0.08373, -2.27281, -0.00747, 1.73295, 0.07828 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3794, 0.03024, 1.01881 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00043, 0.00015 ], "tcp_rotation_matrix": [ [ 0.9955, -0.00695, 0.09449 ], [ -0.00222, -0.99874, -0.05005 ], [ 0.09472, 0.04962, -0.99427 ] ], "simulated_seconds_remaining": 16.17, "calls_remaining_including_this": 40 }, "api_seconds": 6.8056919584050775, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33 }, "note": "Testing -x to calibrate vertical image direction relative to base x." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01362, -0.78317, 0.08213, -2.36768, 0.00092, 1.67715, 0.07905 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33135, 0.03025, 1.01889 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00025, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99548, -0.00693, 0.09467 ], [ -0.00219, -0.99874, -0.05006 ], [ 0.09489, 0.04963, -0.99425 ] ], "simulated_seconds_remaining": 15.576, "calls_remaining_including_this": 39 }, "api_seconds": 15.81265864148736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "y": 0.03, "z": 0.89 }, "note": "Aligning over the pot (appears between fingers) and descending toward rim height." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01179, -0.69247, 0.09539, -2.63886, 0.00293, 2.03847, 0.09141 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35966, 0.02999, 0.89119 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.0006, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99552, -0.00693, 0.09432 ], [ -0.0022, -0.99874, -0.05009 ], [ 0.09455, 0.04966, -0.99428 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 38 }, "api_seconds": 11.609313496388495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05, "z": 0.93 }, "note": "Testing y=-0.05: check in exterior whether gripper approaches the pot horizontally." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.0627, -0.70787, -0.03883, -2.5545, -0.0712, 1.94517, -0.06591 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3597, -0.04879, 0.92944 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00047, -0.0 ], "tcp_rotation_matrix": [ [ 0.99551, -0.0071, 0.09444 ], [ -0.00238, -0.99874, -0.05004 ], [ 0.09468, 0.04959, -0.99427 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 37 }, "api_seconds": 13.009074966423213, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "Exterior tracking shows image-left = +y, so pot needs larger y; trying y=0.25." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12475, -0.47098, 0.45828, -2.32381, 0.11863, 1.94874, 0.50821 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35969, 0.2487, 0.92943 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.00047, 0.00019 ], "tcp_rotation_matrix": [ [ 0.99551, -0.00691, 0.09445 ], [ -0.00218, -0.99874, -0.05009 ], [ 0.09468, 0.04966, -0.99427 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 36 }, "api_seconds": 6.004821882583201, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.28, "z": 0.9 }, "note": "Gripper now nearly over the pot in exterior; nudge +y and descend." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12829, -0.39826, 0.52308, -2.32865, 0.11032, 2.02488, 0.57979 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35965, 0.27915, 0.90075 ], "tcp_roll_pitch_yaw": [ -0.00035, 0.00062, 0.0003 ], "tcp_rotation_matrix": [ [ 0.99552, -0.00679, 0.09431 ], [ -0.00206, -0.99874, -0.05019 ], [ 0.09453, 0.04977, -0.99428 ] ], "simulated_seconds_remaining": 10.626, "calls_remaining_including_this": 35 }, "api_seconds": 5.404294705018401, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempting grasp at current pose where fingers overlap the pot in exterior view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12829, -0.39826, 0.52308, -2.32865, 0.11032, 2.02488, 0.57979 ], "gripper_open": 0.0, "tcp_xyz": [ 0.35965, 0.27916, 0.90074 ], "tcp_roll_pitch_yaw": [ -0.00035, 0.00062, 0.0003 ], "tcp_rotation_matrix": [ [ 0.99552, -0.0068, 0.09431 ], [ -0.00206, -0.99874, -0.05019 ], [ 0.09453, 0.04977, -0.99428 ] ], "simulated_seconds_remaining": 9.702, "calls_remaining_including_this": 34 }, "api_seconds": 13.813293362036347, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.34 }, "note": "Empty again; testing further +y to see if pot centers in wrist view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12792, -0.26846, 0.62396, -2.20345, 0.06091, 2.01946, 0.7164 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.35963, 0.33871, 0.90073 ], "tcp_roll_pitch_yaw": [ -0.00035, 0.00063, 0.00041 ], "tcp_rotation_matrix": [ [ 0.99552, -0.00668, 0.0943 ], [ -0.00195, -0.99874, -0.05018 ], [ 0.09452, 0.04977, -0.99428 ] ], "simulated_seconds_remaining": 8.778, "calls_remaining_including_this": 33 }, "api_seconds": 23.016444572247565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "y": 0.03, "z": 0.86 }, "note": "Returning to the pose where the pot appeared between the fingers, now lower to grasp height." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.00885, -0.66744, 0.12285, -2.70204, 0.02046, 2.1278, 0.08573 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36001, 0.0313, 0.86017 ], "tcp_roll_pitch_yaw": [ -0.00029, 0.00067, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99552, -0.00689, 0.09425 ], [ -0.00217, -0.99874, -0.05014 ], [ 0.09448, 0.04971, -0.99429 ] ], "simulated_seconds_remaining": 6.402, "calls_remaining_including_this": 32 }, "api_seconds": 17.212812166661024, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.05 }, "note": "Wrist image appears 180°-rotated: pot below center means larger x. Moving forward to x=0.44." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.02711, -0.3883, 0.15938, -2.48628, -0.00155, 2.19002, 0.1286 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43875, 0.0497, 0.86016 ], "tcp_roll_pitch_yaw": [ -0.0003, 0.00073, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99553, -0.00689, 0.09419 ], [ -0.00217, -0.99874, -0.05015 ], [ 0.09442, 0.04972, -0.99429 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 31 }, "api_seconds": 5.805087582208216, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "y": 0.065 }, "note": "Pot looks closer and slightly right/below center; small forward-left adjustment before closing." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.02394, -0.31758, 0.18174, -2.42057, -0.00905, 2.19365, 0.16076 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45908, 0.06436, 0.86015 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.00077, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99553, -0.00682, 0.09416 ], [ -0.0021, -0.99874, -0.05016 ], [ 0.09438, 0.04974, -0.99429 ] ], "simulated_seconds_remaining": 5.082, "calls_remaining_including_this": 30 }, "api_seconds": 3.8035123059526086, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Pot now fills the space between fingers; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.02394, -0.31758, 0.18174, -2.42057, -0.00905, 2.19365, 0.16076 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45909, 0.06436, 0.86015 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.00077, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99553, -0.00682, 0.09416 ], [ -0.0021, -0.99874, -0.05016 ], [ 0.09438, 0.04974, -0.99429 ] ], "simulated_seconds_remaining": 4.158, "calls_remaining_including_this": 29 }, "api_seconds": 9.407653471454978, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.035, "z": 0.85 }, "note": "Missed again; pot appears slightly left (smaller y) and I lower slightly for rim grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.04683, -0.31699, 0.1442, -2.44931, -0.01744, 2.22466, 0.1068 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.45908, 0.03603, 0.85035 ], "tcp_roll_pitch_yaw": [ -0.0003, 0.0008, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99554, -0.00689, 0.09412 ], [ -0.00217, -0.99874, -0.05015 ], [ 0.09435, 0.04973, -0.9943 ] ], "simulated_seconds_remaining": 3.234, "calls_remaining_including_this": 28 }, "api_seconds": 3.805384903214872, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Pot between fingers at lower height; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.04683, -0.31699, 0.1442, -2.44931, -0.01744, 2.22466, 0.1068 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45908, 0.03603, 0.85035 ], "tcp_roll_pitch_yaw": [ -0.00031, 0.0008, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99554, -0.00689, 0.09412 ], [ -0.00217, -0.99874, -0.05015 ], [ 0.09435, 0.04973, -0.9943 ] ], "simulated_seconds_remaining": 2.31, "calls_remaining_including_this": 27 }, "api_seconds": 5.40488429646939, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": -0.01 }, "note": "Last attempt: pot sits left in wrist view (smaller y), shifting -y with gripper open." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08399, -0.32258, 0.08204, -2.45807, -0.03003, 2.23088, 0.01702 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.45908, -0.00905, 0.85035 ], "tcp_roll_pitch_yaw": [ -0.00028, 0.00081, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99554, -0.00701, 0.09411 ], [ -0.00229, -0.99874, -0.05014 ], [ 0.09435, 0.0497, -0.9943 ] ], "simulated_seconds_remaining": 1.386, "calls_remaining_including_this": 26 }, "api_seconds": 3.6031215004622936, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Pot now centered between fingers; final close attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08399, -0.32258, 0.08204, -2.45807, -0.03003, 2.23088, 0.01702 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45908, -0.00905, 0.85035 ], "tcp_roll_pitch_yaw": [ -0.00028, 0.00081, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99554, -0.007, 0.09411 ], [ -0.00229, -0.99874, -0.05014 ], [ 0.09435, 0.0497, -0.9943 ] ], "simulated_seconds_remaining": 0.462, "calls_remaining_including_this": 25 }, "api_seconds": 4.8041883911937475, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Out of simulated motion time; repeated grasp attempts closed on empty space due to unresolved depth/lateral offset of the pot." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 011 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 11, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 34, "api_calls": 35, "wall_seconds": 404.5615680217743, "usage": { "input_tokens": 70, "cache_creation_input_tokens": 40340, "cache_read_input_tokens": 656924, "output_tokens": 21970 }, "estimated_cost_usd": 1.130187 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezeimVkHuw21dBDHpZFY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mn7bfQjyL7rWQkL7LfaaHc", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 120, "output_tokens_details": { "thinking_tokens": 96 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezeizbHjRh6u2TVnrJxb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018ShvfZynuYZ2PYRGaKhDFT", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.02, "z": 0.95 }, "note": "Move forward and down toward tissue box on table to see it better." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 554, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 554, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 189, "output_tokens_details": { "thinking_tokens": 79 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezejTLPDo7TAyHW1g6JH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G2HDQQQvaXD3Thta7QPhNu", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Continue forward/down to center the tissue box 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": 687, "cache_read_input_tokens": 2312, "cache_creation": { "ephemeral_5m_input_tokens": 687, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 166, "output_tokens_details": { "thinking_tokens": 63 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezejoBjN1hEfkppD9GrY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MTqBbhiB5pmmSdM75PEMWN", "name": "move_to", "input": { "targets": { "x": 0.37, "z": 0.88 }, "note": "Object drifted up in wrist view as x increased, so it's at smaller x; back off and descend." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 660, "cache_read_input_tokens": 2999, "cache_creation": { "ephemeral_5m_input_tokens": 660, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 745, "output_tokens_details": { "thinking_tokens": 631 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezekjeBr4MadEhouo6dJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CMB92rV1vV26571kPjrZMa", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Descending closer to table to judge alignment with tissue box." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1244, "cache_read_input_tokens": 3659, "cache_creation": { "ephemeral_5m_input_tokens": 1244, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 377, "output_tokens_details": { "thinking_tokens": 283 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezemmScHpsWmy1tDQ8Pi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011hifXUctkvof9TuRdY9AWe", "name": "move_to", "input": { "targets": { "z": 0.92, "x": 0.4 }, "note": "Rise up to get a clearer top-down view of box for alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 4903, "cache_creation": { "ephemeral_5m_input_tokens": 871, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 347, "output_tokens_details": { "thinking_tokens": 243 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezenJnG5TnjjLx2xB7aF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015sKkgDnPXSWNQLx4mPubrd", "name": "move_to", "input": { "targets": { "x": 0.378, "z": 0.86 }, "note": "Centering over box (box was above center => reduce x) and descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 5774, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 972, "output_tokens_details": { "thinking_tokens": 869 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezeoYoesfZnTtJ2WwwoK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PumJDjCYPZoqEr93fhpzJV", "name": "move_to", "input": { "targets": { "y": 0.07 }, "note": "Testing lateral direction mapping by moving +y 0.05 to see which way box shifts 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": 1465, "cache_read_input_tokens": 6615, "cache_creation": { "ephemeral_5m_input_tokens": 1465, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 317, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezep5iWSACCwttjbv5a5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CAfsxu3XJ6his53KbLGiXa", "name": "move_to", "input": { "targets": { "y": -0.015 }, "note": "+y moved box left in image, so box is at smaller y; move to y=-0.015 to center." }, "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": 8080, "cache_creation": { "ephemeral_5m_input_tokens": 811, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 433, "output_tokens_details": { "thinking_tokens": 328 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezepjufD6BbnA4wVRaTo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W8MavHXeuYDB5jRNTA6FdN", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Box centered in wrist view; descending toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 932, "cache_read_input_tokens": 8891, "cache_creation": { "ephemeral_5m_input_tokens": 932, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 190, "output_tokens_details": { "thinking_tokens": 99 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezeq6rVskVjF8JLxJjCY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0167kXRbyBAgZSSff7uARmvR", "name": "move_to", "input": { "targets": { "x": 0.378, "z": 0.78 }, "note": "Small x correction and further descent to box 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": 682, "cache_read_input_tokens": 9823, "cache_creation": { "ephemeral_5m_input_tokens": 682, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 237, "output_tokens_details": { "thinking_tokens": 138 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezeqTu2yLwRphJm4YwgY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NfPT5GBDaMugcXux5L3y2x", "name": "move_to", "input": { "targets": { "z": 0.95, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Contact seems to be occurring (z not reached, pitch drift). Lift and reset orientation for a clean top-down view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 10505, "cache_creation": { "ephemeral_5m_input_tokens": 729, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 462, "output_tokens_details": { "thinking_tokens": 318 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezerLqtVT41wxSdC5vPg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tt536uAFcisYatX7VEAHEk", "name": "move_to", "input": { "targets": { "y": -0.062 }, "note": "Calibrating lateral scale: moving y by -0.04 to see pixel shift of box 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": 962, "cache_read_input_tokens": 11234, "cache_creation": { "ephemeral_5m_input_tokens": 962, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 888, "output_tokens_details": { "thinking_tokens": 778 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezesS4TD9LHBfa2HxBYT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LMEFm9pd2WN96sqGxWyD2C", "name": "move_to", "input": { "targets": { "x": 0.37, "y": -0.012, "z": 0.87 }, "note": "Using calibrated scale, moving over estimated box center and descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1388, "cache_read_input_tokens": 12196, "cache_creation": { "ephemeral_5m_input_tokens": 1388, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 615, "output_tokens_details": { "thinking_tokens": 503 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezetDbPgu8ej2kA98FTX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TZSevEdLnHkuMm5v22WGL4", "name": "move_to", "input": { "targets": { "z": 0.835 }, "note": "Descending to just above box top, ready to pinch the tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1110, "cache_read_input_tokens": 13584, "cache_creation": { "ephemeral_5m_input_tokens": 1110, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 588, "output_tokens_details": { "thinking_tokens": 493 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezeuBURKdXstnz8kE3cd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ad4DcbozdCxzYRMA2t1u8k", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper at box/tissue height 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": 1083, "cache_read_input_tokens": 14694, "cache_creation": { "ephemeral_5m_input_tokens": 1083, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 172, "output_tokens_details": { "thinking_tokens": 76 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezeuW8q6fT7oyFsWzEUh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Qqf2DTTiab5MknutpgJB88", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.345, "z": 0.86 }, "note": "Empty closure; box appeared ahead-up of finger gap, so shifting to smaller x and reopening." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 666, "cache_read_input_tokens": 15777, "cache_creation": { "ephemeral_5m_input_tokens": 666, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2194, "output_tokens_details": { "thinking_tokens": 2068 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezex8Qhc1eRKUksduArA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PE2nfG4KBv7nvzm3DqZGbZ", "name": "move_to", "input": { "targets": { "x": 0.325, "z": 0.84 }, "note": "Box moving toward finger gap; shift a bit more -x and descend slightly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2689, "cache_read_input_tokens": 16443, "cache_creation": { "ephemeral_5m_input_tokens": 2689, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 334, "output_tokens_details": { "thinking_tokens": 225 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezexeFovd2YK9cRiH27o", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FXzFnZyxe8YfQuUS8Mqk9x", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Descend to straddle box sides 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": 829, "cache_read_input_tokens": 19132, "cache_creation": { "ephemeral_5m_input_tokens": 829, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 433, "output_tokens_details": { "thinking_tokens": 344 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezeyDRr6TYZRttjyJbF2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017BPcJjASBPtqP7fGY1vvxv", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at straddle height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 927, "cache_read_input_tokens": 19961, "cache_creation": { "ephemeral_5m_input_tokens": 927, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 170, "output_tokens_details": { "thinking_tokens": 82 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezeyVobq9RZmSXt9e3Ve", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019DgdryQdNUyf4ghwuECHdT", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.86, "y": 0.02 }, "note": "Empty again; box appears left of jaws in wrist view (image left = +y), so shift +y and retry." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 663, "cache_read_input_tokens": 20888, "cache_creation": { "ephemeral_5m_input_tokens": 663, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 765, "output_tokens_details": { "thinking_tokens": 640 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezezWnQy4tRkNjkB3z6T", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RWXaxG2Dj5V41PYTP7gnAc", "name": "move_to", "input": { "targets": { "z": 0.82, "gripper": 0 }, "note": "Descend and close at y=+0.02 to test this lateral position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1259, "cache_read_input_tokens": 21551, "cache_creation": { "ephemeral_5m_input_tokens": 1259, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 719, "output_tokens_details": { "thinking_tokens": 615 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezf1cnbSPgsMqXkYB7sS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LYXZHbiVrAdoUUkyZqpmLh", "name": "move_to", "input": { "targets": { "z": 0.75 }, "note": "Probing with closed gripper to find blocking height at this XY (identifies box top vs table top)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1211, "cache_read_input_tokens": 22810, "cache_creation": { "ephemeral_5m_input_tokens": 1211, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 4260, "output_tokens_details": { "thinking_tokens": 4155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezf6BBN3TK99YUcUec6D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M6XggKqEq8SjzuCLALEgyt", "name": "move_to", "input": { "targets": { "z": 0.86, "x": 0.39, "y": -0.02 }, "note": "Free descent here means we are off the box; repositioning above previously blocked XY to probe box top height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 4753, "cache_read_input_tokens": 24021, "cache_creation": { "ephemeral_5m_input_tokens": 4753, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1191, "output_tokens_details": { "thinking_tokens": 1069 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezf7gsL19hSVfDkwaRmE", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DXkrXnT7e55gAMo6MoiECY", "name": "move_to", "input": { "targets": { "z": 0.75 }, "note": "Probing descent with closed gripper at x=0.39,y=-0.02 to find contact height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1690, "cache_read_input_tokens": 28774, "cache_creation": { "ephemeral_5m_input_tokens": 1690, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 105, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezf7u2ZqZQmqmXahM7ri", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CYUQ4ZufwcKWB4BdpvpV5n", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.385, "y": -0.015, "z": 0.83, "pitch": 0.0 }, "note": "Contact height ~0.79 means box is low; reopen and reposition above box center to grasp the protruding tissue at lower z." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 599, "cache_read_input_tokens": 30464, "cache_creation": { "ephemeral_5m_input_tokens": 599, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1257, "output_tokens_details": { "thinking_tokens": 1107 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezf9NmTXq6UW18Pppw5v", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019jhY7GjNSjXmbNRHYUe1zY", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Descending with open fingers to straddle the low box / reach the tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1752, "cache_read_input_tokens": 31063, "cache_creation": { "ephemeral_5m_input_tokens": 1752, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 359, "output_tokens_details": { "thinking_tokens": 261 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezf9zS4RVuALoEzzZb3N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018hSefqFPWzisvS6yuSAutw", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing at z=0.80, low enough to engage the tissue/box." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 854, "cache_read_input_tokens": 32815, "cache_creation": { "ephemeral_5m_input_tokens": 854, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 135, "output_tokens_details": { "thinking_tokens": 37 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezfAF3PbKahBznj445vW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01V5scZEkKwQ9vRiqfWmRYH8", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.37, "y": -0.038, "z": 0.805 }, "note": "Box projects left/up of jaws; shifting to smaller y and x per parallax estimate, reopening gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 629, "cache_read_input_tokens": 33669, "cache_creation": { "ephemeral_5m_input_tokens": 629, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1254, "output_tokens_details": { "thinking_tokens": 1118 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezfBi2eFjS53fMTjz7ty", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WdngcdBs9iwd4AxyEuVMrG", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper at corrected pose." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1748, "cache_read_input_tokens": 34298, "cache_creation": { "ephemeral_5m_input_tokens": 1748, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 138, "output_tokens_details": { "thinking_tokens": 50 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezfBxQLd6crdLL7oycya", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PFubCKGUp5x6iViAcMDeLC", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.75 }, "note": "Perhaps still above box top; open and descend further to straddle the box." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 631, "cache_read_input_tokens": 36046, "cache_creation": { "ephemeral_5m_input_tokens": 631, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 667, "output_tokens_details": { "thinking_tokens": 562 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezfCpX68rFPphkVVV9aH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ci78hyBysLenqAD8YWesGJ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing at lowest reachable height to capture the box sides." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1159, "cache_read_input_tokens": 36677, "cache_creation": { "ephemeral_5m_input_tokens": 1159, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 176, "output_tokens_details": { "thinking_tokens": 82 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011CezfD7CSMoikWdGNufGke", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0153oXDCZDLULzEGFtbgmqcQ", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Gripper held at 0.78 opening indicating object grasped; lifting." }, "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": 37836, "cache_creation": { "ephemeral_5m_input_tokens": 670, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 161, "output_tokens_details": { "thinking_tokens": 61 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 34, "response": { "model": "claude-opus-5", "id": "msg_011CezfDRCfmwq6Z78DeDH54", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DWSD36n5BK83MMgt5bZr1a", "name": "move_to", "input": { "targets": { "z": 0.767 }, "note": "Gripper released object; descending again quickly 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": 660, "cache_read_input_tokens": 38506, "cache_creation": { "ephemeral_5m_input_tokens": 660, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 675, "output_tokens_details": { "thinking_tokens": 577 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 35, "response": { "model": "claude-opus-5", "id": "msg_011CezfENmqevfjQ9X5P7z6x", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WqyoAdHESDjpykmzt1rbkw", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.85 }, "note": "Final attempt: close on box while beginning to lift, using 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": 1174, "cache_read_input_tokens": 39166, "cache_creation": { "ephemeral_5m_input_tokens": 1174, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 159, "output_tokens_details": { "thinking_tokens": 53 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02771, -0.78909, 0.01806, -2.35824, 0.00927, 1.55865, -0.04981 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30257, 0.01598, 1.01434 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99588, 0.09013, -0.01043 ], [ 0.0901, -0.99593, -0.00397 ], [ -0.01075, 0.00301, -0.99994 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.207232736982405, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.02, "z": 0.95 }, "note": "Move forward and down toward tissue box on table to see it better." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02355, -0.43423, 0.02199, -2.26975, 0.00593, 1.82475, -0.0483 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4188, 0.01995, 0.95056 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00027, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99587, 0.09012, -0.0107 ], [ 0.09009, -0.99593, -0.00398 ], [ -0.01102, 0.003, -0.99993 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 4.2042548302561045, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.9 }, "note": "Continue forward/down to center the tissue box in wrist view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.0195, -0.16779, 0.02086, -2.14172, -6e-05, 1.96287, -0.05014 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49883, 0.01994, 0.90061 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00053, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99587, 0.0901, -0.01096 ], [ 0.09007, -0.99593, -0.00398 ], [ -0.01127, 0.00298, -0.99993 ] ], "simulated_seconds_remaining": 27.918, "calls_remaining_including_this": 55 }, "api_seconds": 12.410064958967268, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.37, "z": 0.88 }, "note": "Object drifted up in wrist view as x increased, so it's at smaller x; back off and descend." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02815, -0.5587, 0.02464, -2.54995, 0.01047, 1.98026, -0.04548 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37128, 0.01995, 0.88024 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00049, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99587, 0.09013, -0.01092 ], [ 0.09009, -0.99593, -0.00399 ], [ -0.01124, 0.00299, -0.99993 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 54 }, "api_seconds": 13.611111629754305, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Descending closer to table to judge alignment with tissue box." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02824, -0.49617, 0.0267, -2.65954, 0.0111, 2.15207, -0.04474 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37121, 0.01995, 0.82111 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.0008, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99587, 0.09013, -0.01123 ], [ 0.09009, -0.99593, -0.00401 ], [ -0.01155, 0.00298, -0.99993 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 53 }, "api_seconds": 6.805953968316317, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "x": 0.4 }, "note": "Rise up to get a clearer top-down view of box for alignment." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.0253, -0.48577, 0.02288, -2.39358, 0.00759, 1.89678, -0.04723 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39971, 0.01995, 0.91882 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00053, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99587, 0.09012, -0.01096 ], [ 0.09008, -0.99593, -0.00399 ], [ -0.01127, 0.00299, -0.99993 ] ], "simulated_seconds_remaining": 25.014, "calls_remaining_including_this": 52 }, "api_seconds": 16.412681667134166, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.378, "z": 0.86 }, "note": "Centering over box (box was above center => reduce x) and descending." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02742, -0.51807, 0.0251, -2.56918, 0.01006, 2.03984, -0.04568 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37838, 0.01995, 0.8611 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00078, -0.0 ], "tcp_rotation_matrix": [ [ 0.99587, 0.09013, -0.01121 ], [ 0.09009, -0.99593, -0.00401 ], [ -0.01152, 0.00298, -0.99993 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 51 }, "api_seconds": 7.00580486189574, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.07 }, "note": "Testing lateral direction mapping by moving +y 0.05 to see which way box shifts in wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.07486, -0.50064, 0.09826, -2.55335, 0.05039, 2.04251, 0.04724 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37838, 0.06889, 0.8611 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00077, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99585, 0.09032, -0.0112 ], [ 0.09028, -0.99591, -0.00406 ], [ -0.01152, 0.00303, -0.99993 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 50 }, "api_seconds": 8.407358245924115, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.015 }, "note": "+y moved box left in image, so box is at smaller y; move to y=-0.015 to center." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00621, -0.51924, -0.0255, -2.5701, -0.01902, 2.03985, -0.10979 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3784, -0.01375, 0.8611 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00076, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99587, 0.0901, -0.01119 ], [ 0.09006, -0.99593, -0.004 ], [ -0.01151, 0.00298, -0.99993 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 49 }, "api_seconds": 4.8045140998438, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Box centered in wrist view; descending toward it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.01104, -0.4666, -0.03069, -2.65415, -0.02574, 2.21459, -0.10628 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38716, -0.01761, 0.81792 ], "tcp_roll_pitch_yaw": [ -0.00365, -0.03716, -0.00725 ], "tcp_rotation_matrix": [ [ 0.99623, 0.0826, 0.02667 ], [ 0.08284, -0.99653, -0.00782 ], [ 0.02593, 0.01, -0.99961 ] ], "simulated_seconds_remaining": 22.044, "calls_remaining_including_this": 48 }, "api_seconds": 4.603812159970403, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.378, "z": 0.78 }, "note": "Small x correction and further descent to box grasp height." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.01773, -0.50858, -0.03599, -2.71107, -0.03374, 2.32673, -0.1037 ], "gripper_open": 1.0, "tcp_xyz": [ 0.39599, -0.02225, 0.81981 ], "tcp_roll_pitch_yaw": [ -0.0075, -0.13428, -0.01436 ], "tcp_rotation_matrix": [ [ 0.98963, 0.07361, 0.12334 ], [ 0.07581, -0.99703, -0.01324 ], [ 0.122, 0.02245, -0.99228 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 47 }, "api_seconds": 11.40870114043355, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "pitch": 0.0, "roll": 0.0, "yaw": 0.0 }, "note": "Contact seems to be occurring (z not reached, pitch drift). Lift and reset orientation for a clean top-down view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0097, -0.50773, -0.03612, -2.33492, -0.02267, 1.81883, -0.12561 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39608, -0.02225, 0.94878 ], "tcp_roll_pitch_yaw": [ -9e-05, -0.0017, -0.00016 ], "tcp_rotation_matrix": [ [ 0.99591, 0.08997, -0.00873 ], [ 0.08994, -0.99594, -0.00406 ], [ -0.00906, 0.00326, -0.99995 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 46 }, "api_seconds": 14.611959501169622, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.062 }, "note": "Calibrating lateral scale: moving y by -0.04 to see pixel shift of box in wrist view." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03933, -0.49718, -0.09147, -2.32484, -0.05017, 1.82091, -0.19687 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39608, -0.06096, 0.94878 ], "tcp_roll_pitch_yaw": [ -5e-05, -0.0017, -0.00034 ], "tcp_rotation_matrix": [ [ 0.99592, 0.08979, -0.00873 ], [ 0.08976, -0.99596, -0.00401 ], [ -0.00905, 0.00321, -0.99995 ] ], "simulated_seconds_remaining": 19.734, "calls_remaining_including_this": 45 }, "api_seconds": 10.207833238877356, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.37, "y": -0.012, "z": 0.87 }, "note": "Using calibrated scale, moving over estimated box center and descending." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00339, -0.55784, -0.02553, -2.57385, -0.01961, 2.00723, -0.10664 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37032, -0.01265, 0.87103 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.00147, -0.00022 ], "tcp_rotation_matrix": [ [ 0.99591, 0.08991, -0.00896 ], [ 0.08988, -0.99594, -0.00404 ], [ -0.00928, 0.00322, -0.99995 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 44 }, "api_seconds": 12.810013142414391, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.835 }, "note": "Descending to just above box top, ready to pinch the tissue." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00367, -0.5222, -0.02683, -2.63944, -0.02056, 2.10817, -0.10628 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37026, -0.01265, 0.83613 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.00118, -0.00022 ], "tcp_rotation_matrix": [ [ 0.99591, 0.08991, -0.00925 ], [ 0.08988, -0.99594, -0.00404 ], [ -0.00957, 0.00319, -0.99995 ] ], "simulated_seconds_remaining": 18.282, "calls_remaining_including_this": 43 }, "api_seconds": 4.00387951079756, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper at box/tissue height to attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00367, -0.5222, -0.02683, -2.63944, -0.02056, 2.10817, -0.10628 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37026, -0.01265, 0.83612 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.00119, -0.00022 ], "tcp_rotation_matrix": [ [ 0.99591, 0.08991, -0.00924 ], [ 0.08988, -0.99594, -0.00404 ], [ -0.00957, 0.00319, -0.99995 ] ], "simulated_seconds_remaining": 17.358, "calls_remaining_including_this": 42 }, "api_seconds": 35.22564853634685, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.345, "z": 0.86 }, "note": "Empty closure; box appeared ahead-up of finger gap, so shifting to smaller x and reopening." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00561, -0.63419, -0.02588, -2.65935, -0.02173, 2.01618, -0.10696 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.34591, -0.01265, 0.85918 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.00128, -0.00022 ], "tcp_rotation_matrix": [ [ 0.99591, 0.08991, -0.00915 ], [ 0.08988, -0.99594, -0.00404 ], [ -0.00948, 0.0032, -0.99995 ] ], "simulated_seconds_remaining": 16.434, "calls_remaining_including_this": 41 }, "api_seconds": 6.8054611794650555, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.325, "z": 0.84 }, "note": "Box moving toward finger gap; shift a bit more -x and descend slightly." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00781, -0.69129, -0.0267, -2.74537, -0.02396, 2.04501, -0.10729 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32587, -0.01265, 0.8408 ], "tcp_roll_pitch_yaw": [ -8e-05, -0.00118, -0.00021 ], "tcp_rotation_matrix": [ [ 0.99591, 0.08992, -0.00925 ], [ 0.08988, -0.99594, -0.00404 ], [ -0.00957, 0.00319, -0.99995 ] ], "simulated_seconds_remaining": 15.972, "calls_remaining_including_this": 40 }, "api_seconds": 7.606094405986369, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Descend to straddle box sides before closing." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00811, -0.66761, -0.02762, -2.78197, -0.02489, 2.10509, -0.10698 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32582, -0.01265, 0.82137 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.001, -0.00021 ], "tcp_rotation_matrix": [ [ 0.9959, 0.08992, -0.00943 ], [ 0.08989, -0.99594, -0.00404 ], [ -0.00976, 0.00318, -0.99995 ] ], "simulated_seconds_remaining": 15.51, "calls_remaining_including_this": 39 }, "api_seconds": 3.4032474867999554, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at straddle height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00811, -0.66761, -0.02762, -2.78197, -0.02489, 2.10509, -0.10698 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32582, -0.01265, 0.82136 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.001, -0.00021 ], "tcp_rotation_matrix": [ [ 0.9959, 0.08992, -0.00943 ], [ 0.08989, -0.99594, -0.00404 ], [ -0.00976, 0.00318, -0.99995 ] ], "simulated_seconds_remaining": 14.586, "calls_remaining_including_this": 38 }, "api_seconds": 13.41035462450236, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.86, "y": 0.02 }, "note": "Empty again; box appears left of jaws in wrist view (image left = +y), so shift +y and retry." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03278, -0.70738, 0.0263, -2.70715, 0.01482, 1.99038, -0.04348 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.32585, 0.01931, 0.8592 ], "tcp_roll_pitch_yaw": [ -9e-05, -0.00112, -0.00016 ], "tcp_rotation_matrix": [ [ 0.9959, 0.08997, -0.00931 ], [ 0.08994, -0.99594, -0.00406 ], [ -0.00964, 0.0032, -0.99995 ] ], "simulated_seconds_remaining": 13.662, "calls_remaining_including_this": 37 }, "api_seconds": 14.611752070486546, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82, "gripper": 0 }, "note": "Descend and close at y=+0.02 to test this lateral position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03314, -0.66524, 0.02806, -2.78186, 0.01603, 2.10711, -0.04321 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32582, 0.0193, 0.82081 ], "tcp_roll_pitch_yaw": [ -0.0001, -0.001, -0.00016 ], "tcp_rotation_matrix": [ [ 0.9959, 0.08997, -0.00944 ], [ 0.08994, -0.99594, -0.00406 ], [ -0.00976, 0.0032, -0.99995 ] ], "simulated_seconds_remaining": 12.738, "calls_remaining_including_this": 36 }, "api_seconds": 61.446008197031915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Probing with closed gripper to find blocking height at this XY (identifies box top vs table top)." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03297, -0.53123, 0.03177, -2.88738, 0.01766, 2.34628, -0.04221 ], "gripper_open": 0.0, "tcp_xyz": [ 0.32574, 0.0193, 0.75115 ], "tcp_roll_pitch_yaw": [ -0.00012, -0.00064, -0.00016 ], "tcp_rotation_matrix": [ [ 0.9959, 0.08997, -0.00979 ], [ 0.08994, -0.99594, -0.00408 ], [ -0.01012, 0.00319, -0.99994 ] ], "simulated_seconds_remaining": 11.946, "calls_remaining_including_this": 35 }, "api_seconds": 20.015567575581372, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86, "x": 0.39, "y": -0.02 }, "note": "Free descent here means we are off the box; repositioning above previously blocked XY to probe box top height." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.01553, -0.48033, -0.02999, -2.54525, -0.02071, 2.05564, -0.12235 ], "gripper_open": 0.0, "tcp_xyz": [ 0.38943, -0.01962, 0.85897 ], "tcp_roll_pitch_yaw": [ -0.0001, -0.00087, -0.00022 ], "tcp_rotation_matrix": [ [ 0.9959, 0.08992, -0.00956 ], [ 0.08988, -0.99594, -0.00406 ], [ -0.00989, 0.00319, -0.99995 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 34 }, "api_seconds": 2.4025858137756586, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Probing descent with closed gripper at x=0.39,y=-0.02 to find contact height." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02162, -0.39611, -0.04016, -2.68372, -0.02589, 2.38448, -0.12103 ], "gripper_open": 0.0276, "tcp_xyz": [ 0.41002, -0.02524, 0.79389 ], "tcp_roll_pitch_yaw": [ -0.00306, -0.1069, -0.01028 ], "tcp_rotation_matrix": [ [ 0.99224, 0.07873, 0.09624 ], [ 0.07986, -0.99677, -0.00802 ], [ 0.09529, 0.01564, -0.99533 ] ], "simulated_seconds_remaining": 9.702, "calls_remaining_including_this": 33 }, "api_seconds": 19.616583758965135, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.385, "y": -0.015, "z": 0.83, "pitch": 0.0 }, "note": "Contact height ~0.79 means box is low; reopen and reposition above box center to grasp the protruding tissue at lower z." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.01241, -0.46169, -0.02218, -2.60951, -0.02029, 2.13922, -0.10118 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.3854, -0.01514, 0.82954 ], "tcp_roll_pitch_yaw": [ -0.00306, -0.00169, -0.01026 ], "tcp_rotation_matrix": [ [ 0.99676, 0.0799, -0.00881 ], [ 0.07984, -0.99678, -0.00694 ], [ -0.00933, 0.00621, -0.99994 ] ], "simulated_seconds_remaining": 8.778, "calls_remaining_including_this": 32 }, "api_seconds": 8.006844814866781, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descending with open fingers to straddle the low box / reach the tissue." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.01243, -0.42043, -0.02284, -2.65321, -0.02086, 2.22444, -0.10065 ], "gripper_open": 0.9976, "tcp_xyz": [ 0.38547, -0.01502, 0.80144 ], "tcp_roll_pitch_yaw": [ -0.00308, -0.00192, -0.01005 ], "tcp_rotation_matrix": [ [ 0.99675, 0.0801, -0.00858 ], [ 0.08005, -0.99677, -0.00696 ], [ -0.00911, 0.00625, -0.99994 ] ], "simulated_seconds_remaining": 8.316, "calls_remaining_including_this": 31 }, "api_seconds": 3.0031395703554153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing at z=0.80, low enough to engage the tissue/box." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.01243, -0.42043, -0.02284, -2.65321, -0.02086, 2.22444, -0.10065 ], "gripper_open": 0.0, "tcp_xyz": [ 0.38547, -0.01502, 0.80143 ], "tcp_roll_pitch_yaw": [ -0.00308, -0.00193, -0.01005 ], "tcp_rotation_matrix": [ [ 0.99675, 0.0801, -0.00857 ], [ 0.08005, -0.99677, -0.00696 ], [ -0.0091, 0.00625, -0.99994 ] ], "simulated_seconds_remaining": 7.392, "calls_remaining_including_this": 30 }, "api_seconds": 19.614861035719514, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.37, "y": -0.038, "z": 0.805 }, "note": "Box projects left/up of jaws; shifting to smaller y and x per parallax estimate, reopening gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03928, -0.47254, -0.0564, -2.68608, -0.04142, 2.20587, -0.14482 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.37063, -0.03707, 0.80486 ], "tcp_roll_pitch_yaw": [ -0.00306, -0.00195, -0.0101 ], "tcp_rotation_matrix": [ [ 0.99675, 0.08006, -0.00855 ], [ 0.08, -0.99677, -0.00694 ], [ -0.00908, 0.00623, -0.99994 ] ], "simulated_seconds_remaining": 6.468, "calls_remaining_including_this": 29 }, "api_seconds": 3.0028773294761777, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper at corrected pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03928, -0.47254, -0.0564, -2.68608, -0.04142, 2.20587, -0.14482 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37063, -0.03708, 0.80486 ], "tcp_roll_pitch_yaw": [ -0.00306, -0.00195, -0.0101 ], "tcp_rotation_matrix": [ [ 0.99675, 0.08006, -0.00855 ], [ 0.08, -0.99677, -0.00694 ], [ -0.00908, 0.00623, -0.99994 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 28 }, "api_seconds": 11.408763032406569, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.75 }, "note": "Perhaps still above box top; open and descend further to straddle the box." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0398, -0.38206, -0.06032, -2.74461, -0.04396, 2.36255, -0.1419 ], "gripper_open": 1.0, "tcp_xyz": [ 0.37331, -0.03776, 0.75944 ], "tcp_roll_pitch_yaw": [ -0.00439, -0.00954, -0.01275 ], "tcp_rotation_matrix": [ [ 0.997, 0.07735, -0.001 ], [ 0.07734, -0.99697, -0.00835 ], [ -0.00164, 0.00824, -0.99996 ] ], "simulated_seconds_remaining": 4.62, "calls_remaining_including_this": 27 }, "api_seconds": 3.4034392861649394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing at lowest reachable height to capture the box sides." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04363, -0.38989, -0.06345, -2.73557, -0.0478, 2.3631, -0.14143 ], "gripper_open": 0.7804, "tcp_xyz": [ 0.3786, -0.04115, 0.76623 ], "tcp_roll_pitch_yaw": [ -0.00692, -0.02682, -0.01741 ], "tcp_rotation_matrix": [ [ 0.99724, 0.07249, 0.0162 ], [ 0.07267, -0.99729, -0.01117 ], [ 0.01535, 0.01232, -0.99981 ] ], "simulated_seconds_remaining": 3.696, "calls_remaining_including_this": 26 }, "api_seconds": 3.6047037597745657, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Gripper held at 0.78 opening indicating object grasped; lifting." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04145, -0.57701, -0.05089, -2.44452, -0.03945, 1.8853, -0.14512 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37869, -0.04116, 0.92875 ], "tcp_roll_pitch_yaw": [ -0.00693, -0.02716, -0.01741 ], "tcp_rotation_matrix": [ [ 0.99723, 0.07248, 0.01653 ], [ 0.07267, -0.99729, -0.01119 ], [ 0.01568, 0.01236, -0.9998 ] ], "simulated_seconds_remaining": 2.31, "calls_remaining_including_this": 25 }, "api_seconds": 12.608873697929084, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.767 }, "note": "Gripper released object; descending again quickly for a final grasp attempt." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04359, -0.39409, -0.06333, -2.73323, -0.04777, 2.35651, -0.14142 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3786, -0.04115, 0.76823 ], "tcp_roll_pitch_yaw": [ -0.00692, -0.02678, -0.01741 ], "tcp_rotation_matrix": [ [ 0.99724, 0.07249, 0.01615 ], [ 0.07267, -0.99729, -0.01117 ], [ 0.0153, 0.01231, -0.99981 ] ], "simulated_seconds_remaining": 0.924, "calls_remaining_including_this": 24 }, "api_seconds": 3.0028614215552807, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.85 }, "note": "Final attempt: close on box while beginning to lift, using remaining time." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 012 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 12, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 24, "api_calls": 25, "wall_seconds": 216.68144512176514, "usage": { "input_tokens": 50, "cache_creation_input_tokens": 23455, "cache_read_input_tokens": 297466, "output_tokens": 9921 }, "estimated_cost_usd": 0.54360175 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezerJXVXPA7T7RpcAXMb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01U2b7VfxH4xE6Pn3ASnj8XW", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 57, "output_tokens_details": { "thinking_tokens": 33 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezerTL5249czUZyawjtF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GgtDsMVfLskdnqzx4G3vpa", "name": "move_to", "input": { "targets": { "x": 0.25, "y": 0.0, "z": 1.2 }, "note": "Raise to get wider wrist view of table objects to find the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 493, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 493, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 239, "output_tokens_details": { "thinking_tokens": 126 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezerqJvKBcCxDvtAmqLE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LAEqSKZtZF1hVePp2cmbqy", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.15 }, "note": "Move forward over the table to look down at objects." }, "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": 2253, "cache_creation": { "ephemeral_5m_input_tokens": 737, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 137 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezesCvgJMM7rD8rMZzvZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018BgWKzYZUaDuXi71xRjTdG", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.2, "z": 1.15 }, "note": "Scan left side of table for the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 2990, "cache_creation": { "ephemeral_5m_input_tokens": 740, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 461, "output_tokens_details": { "thinking_tokens": 357 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezessCYBdZbdSBx8ycjx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EEcmFcXtzqDvddu9KMu3MH", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.25, "z": 1.15 }, "note": "Scan right side of table for the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 961, "cache_read_input_tokens": 3730, "cache_creation": { "ephemeral_5m_input_tokens": 961, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 266, "output_tokens_details": { "thinking_tokens": 162 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezetKY4zERWzqogGiifn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R8NRX9dnU7TAZt3MorMLhe", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.1, "z": 1.05 }, "note": "Descend for a closer top-down look at the yellow object and surroundings." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 766, "cache_read_input_tokens": 4691, "cache_creation": { "ephemeral_5m_input_tokens": 766, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 398, "output_tokens_details": { "thinking_tokens": 284 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezetvaURUM5h6QAAgQXD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0186T3b1wGU47ahL6bW7avsD", "name": "move_to", "input": { "targets": { "x": 0.6, "y": -0.1, "z": 1.1 }, "note": "Move further forward to check the far part of the table for a bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 892, "cache_read_input_tokens": 5457, "cache_creation": { "ephemeral_5m_input_tokens": 892, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 496, "output_tokens_details": { "thinking_tokens": 386 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezeuoQeZk25PsYiUQLZs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019qZyysbW8aQ4q8PcwzJ42x", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.22, "z": 1.1 }, "note": "Guessing the yellow cylinder (likely the bottle) position; centering wrist over it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 991, "cache_read_input_tokens": 6349, "cache_creation": { "ephemeral_5m_input_tokens": 991, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 924, "output_tokens_details": { "thinking_tokens": 803 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezew3o7QzgR2G2qjc5Yu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XgCX3pruu7ACFRiEbjZY8A", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.1 }, "note": "Estimated yellow cylinder (bottle) at (0.35, 0.0); centering 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": 1425, "cache_read_input_tokens": 7340, "cache_creation": { "ephemeral_5m_input_tokens": 1425, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1617, "output_tokens_details": { "thinking_tokens": 1494 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezextW4gr71dqN9isygd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015tWRwcyyJJVDzszCpPRY7F", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Descend toward the yellow object to inspect shape and refine alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2112, "cache_read_input_tokens": 8765, "cache_creation": { "ephemeral_5m_input_tokens": 2112, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 275, "output_tokens_details": { "thinking_tokens": 177 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezeykGk3VXBs4UuFq82M", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UqewsW72RFu2gvWNx1taZj", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Continue descending; watching whether the yellow object grows/centres 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": 771, "cache_read_input_tokens": 10877, "cache_creation": { "ephemeral_5m_input_tokens": 771, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 303, "output_tokens_details": { "thinking_tokens": 202 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezezEBHLNsVEkv63qphg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011bknTKw73nEhFM6Y56TVMu", "name": "move_to", "input": { "targets": { "x": 0.365, "z": 0.88 }, "note": "Slight forward adjust and lower to grasp height around the object body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 11648, "cache_creation": { "ephemeral_5m_input_tokens": 803, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 414, "output_tokens_details": { "thinking_tokens": 310 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezezpnPk6rkY5MMp1Zpa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y3afyh59pEeJ5bRDNcnuaK", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper attempting to grasp the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 915, "cache_read_input_tokens": 12451, "cache_creation": { "ephemeral_5m_input_tokens": 915, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 203, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezf1cWyjzk4jp9An1nST", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011jFskYnH5ELHa8dcARbHUG", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Reopen and lift slightly to re-observe alignment between fingers and the object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 13366, "cache_creation": { "ephemeral_5m_input_tokens": 698, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 461, "output_tokens_details": { "thinking_tokens": 352 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezf2HehDNckLDU8F4Yz8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SSdzoop9AFc2RPPdqZTNYu", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Object seems directly below; descend lower since previous close at 0.88 missed (likely above object)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 957, "cache_read_input_tokens": 14064, "cache_creation": { "ephemeral_5m_input_tokens": 957, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 905, "output_tokens_details": { "thinking_tokens": 800 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezf3V2KdykSR1UeTRdQK", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EZP9Dv2Da2b9MA9rdZYmUy", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at lower height to grasp the bottle body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1401, "cache_read_input_tokens": 15021, "cache_creation": { "ephemeral_5m_input_tokens": 1401, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 93, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezf3jTjzSYpN9J75ehTj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XVuLnfgmJi1mernUi178Bb", "name": "move_to", "input": { "targets": { "gripper": 1, "y": -0.05, "z": 0.92 }, "note": "Missed again; object appears left of fingers (-y). Reopen, lift slightly and shift -y." }, "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": 16422, "cache_creation": { "ephemeral_5m_input_tokens": 588, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 483, "output_tokens_details": { "thinking_tokens": 359 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezf4PbgHqhPXakBJto5F", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0194MGmazwGi4XfMVEuaCekA", "name": "move_to", "input": { "targets": { "y": -0.075, "z": 0.85 }, "note": "Shift slightly more -y toward object and lower to 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": 979, "cache_read_input_tokens": 17010, "cache_creation": { "ephemeral_5m_input_tokens": 979, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 647, "output_tokens_details": { "thinking_tokens": 543 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezf5L5No9hzrSjQQ7fnA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W4Wh5ihMzuCYPC1muQDG7q", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Object now between the fingers in wrist view; closing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1142, "cache_read_input_tokens": 17989, "cache_creation": { "ephemeral_5m_input_tokens": 1142, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 128, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezf5g1BNhbBQC8gMwgqP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01D6NobyFT21VbnSUFVpPwB4", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.78 }, "note": "Still no contact; table may be lower than assumed. Reopen and descend further." }, "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": 19131, "cache_creation": { "ephemeral_5m_input_tokens": 622, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 358, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezf6GtfY8kutMaEhbmkp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019uMitvrGFFBHprmrquMUtd", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "At lowest reachable height with object between fingers; closing gripper." }, "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": 19753, "cache_creation": { "ephemeral_5m_input_tokens": 852, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 139, "output_tokens_details": { "thinking_tokens": 43 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezf6jnuqpnFgCdeCpYXx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E13BViH8jSSQpFb4XuXgJM", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Gripper stopped at 0.85 indicating object grasped; lifting to clear the table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 634, "cache_read_input_tokens": 20605, "cache_creation": { "ephemeral_5m_input_tokens": 634, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 129, "output_tokens_details": { "thinking_tokens": 24 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezf71vXGKwDv4TJfh1bL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Phd99oUyJ99r2Xpe9YiiyW", "name": "move_to", "input": { "targets": { "z": 0.8, "gripper": 0 }, "note": "Lost object because gripper reopened; descending back with gripper commanded closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 629, "cache_read_input_tokens": 21239, "cache_creation": { "ephemeral_5m_input_tokens": 629, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 318, "output_tokens_details": { "thinking_tokens": 210 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezf7YUZVuNsKdNCW2GbU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TJpSsBu1Gxc29WPYsJY2dK", "name": "move_to", "input": { "targets": { "gripper": 1 }, "note": "Reopen fingers at grasp height so I can close around the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 21868, "cache_creation": { "ephemeral_5m_input_tokens": 819, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 272, "output_tokens_details": { "thinking_tokens": 175 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezf82scMxfW2JWVQgP8E", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MnogD5XLLQgouex3yLbt6E", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Final attempt: close on the bottle with the 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": 768, "cache_read_input_tokens": 22687, "cache_creation": { "ephemeral_5m_input_tokens": 768, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 93, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -2e-05, -0.7878, -0.04217, -2.37787, -0.03722, 1.55638, 0.01015 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.2984, -0.02142, 1.00437 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99864, -0.03917, -0.03431 ], [ -0.03941, -0.9992, -0.00633 ], [ -0.03404, 0.00767, -0.99939 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.805923237465322, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "y": 0.0, "z": 1.2 }, "note": "Raise to get wider wrist view of table objects to find the bottle." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.0082, -0.66664, -0.00052, -1.75495, -0.00734, 1.05419, 0.04357 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25035, -0.00014, 1.19875 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00024, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99865, -0.03916, -0.03408 ], [ -0.03939, -0.9992, -0.00632 ], [ -0.0338, 0.00766, -0.9994 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 4.403985153883696, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.15 }, "note": "Move forward over the table to look down at objects." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00784, -0.1982, -0.00322, -1.51594, -0.00709, 1.28333, 0.04211 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4487, -1e-05, 1.1502 ], "tcp_roll_pitch_yaw": [ -0.0, 7e-05, 0.0 ], "tcp_rotation_matrix": [ [ 0.99864, -0.03917, -0.03438 ], [ -0.03941, -0.9992, -0.00633 ], [ -0.03411, 0.00768, -0.99939 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 55 }, "api_seconds": 8.207443532533944, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.2, "z": 1.15 }, "note": "Scan left side of table for the bottle." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.16719, -0.05757, 0.23068, -1.35743, 0.02161, 1.26721, 0.44242 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44997, 0.19877, 1.14997 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00014, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99865, -0.03889, -0.03445 ], [ -0.03913, -0.99921, -0.00635 ], [ -0.03418, 0.00769, -0.99939 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 54 }, "api_seconds": 5.2044451823458076, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.25, "z": 1.15 }, "note": "Scan right side of table for the bottle." } } } ] } } ] }, "execution": { "steps": 50, "motion_seconds": 3.3000000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.20453, 0.01734, -0.2932, -1.27075, -0.0179, 1.26003, -0.46368 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44997, -0.24874, 1.14995 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00025, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99863, -0.03918, -0.03456 ], [ -0.03942, -0.9992, -0.00632 ], [ -0.03428, 0.00767, -0.99938 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 53 }, "api_seconds": 7.606511231511831, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.1, "z": 1.05 }, "note": "Descend for a closer top-down look at the yellow object and surroundings." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.07965, -0.26833, -0.11206, -1.85433, -0.04231, 1.55469, -0.14814 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45002, -0.101, 1.0507 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00037, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99864, -0.03895, -0.03468 ], [ -0.03919, -0.99921, -0.00631 ], [ -0.03441, 0.00766, -0.99938 ] ], "simulated_seconds_remaining": 20.262, "calls_remaining_including_this": 52 }, "api_seconds": 11.408801479265094, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": -0.1, "z": 1.1 }, "note": "Move further forward to check the far part of the table for a bottle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.08254, 0.31941, -0.1092, -0.99714, 0.02251, 1.28171, -0.14168 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59875, -0.10001, 1.09946 ], "tcp_roll_pitch_yaw": [ 6e-05, 0.00057, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99863, -0.03894, -0.03488 ], [ -0.03918, -0.99921, -0.00628 ], [ -0.03461, 0.00764, -0.99937 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 51 }, "api_seconds": 16.413414633832872, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.22, "z": 1.1 }, "note": "Guessing the yellow cylinder (likely the bottle) position; centering wrist over it." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.22444, 0.2445, -0.18579, -1.10941, 0.02596, 1.32035, -0.36003 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55044, -0.21894, 1.10001 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00058, -8e-05 ], "tcp_rotation_matrix": [ [ 0.99862, -0.03925, -0.03489 ], [ -0.03949, -0.9992, -0.00633 ], [ -0.03461, 0.0077, -0.99937 ] ], "simulated_seconds_remaining": 17.754, "calls_remaining_including_this": 50 }, "api_seconds": 24.221978361718357, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.1 }, "note": "Estimated yellow cylinder (bottle) at (0.35, 0.0); centering above it." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.06355, -0.55151, 0.0431, -1.97, 0.01554, 1.38437, 0.0146 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35093, -0.00094, 1.10008 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00041, 0.00011 ], "tcp_rotation_matrix": [ [ 0.99863, -0.03906, -0.03472 ], [ -0.0393, -0.99921, -0.00636 ], [ -0.03444, 0.00772, -0.99938 ] ], "simulated_seconds_remaining": 15.51, "calls_remaining_including_this": 49 }, "api_seconds": 11.010668836534023, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Descend toward the yellow object to inspect shape and refine alignment." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.06084, -0.62471, 0.04573, -2.28261, 0.01956, 1.62356, 0.01362 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3509, -0.00094, 1.0012 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00067, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99862, -0.03905, -0.03499 ], [ -0.0393, -0.99921, -0.00636 ], [ -0.03471, 0.00773, -0.99937 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 48 }, "api_seconds": 6.4054617481306195, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Continue descending; watching whether the yellow object grows/centres in wrist view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0589, -0.6305, 0.04986, -2.49069, 0.0231, 1.82556, 0.01385 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35086, -0.00094, 0.92118 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00096, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99861, -0.03905, -0.03527 ], [ -0.03929, -0.99921, -0.00636 ], [ -0.035, 0.00774, -0.99936 ] ], "simulated_seconds_remaining": 13.662, "calls_remaining_including_this": 47 }, "api_seconds": 7.80592490080744, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.365, "z": 0.88 }, "note": "Slight forward adjust and lower to grasp height around the object body." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.05949, -0.56405, 0.05406, -2.5461, 0.02368, 1.94713, 0.01579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36456, -0.00095, 0.88105 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00126, 0.00012 ], "tcp_rotation_matrix": [ [ 0.9986, -0.03905, -0.03558 ], [ -0.0393, -0.99921, -0.00636 ], [ -0.0353, 0.00775, -0.99935 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 46 }, "api_seconds": 10.408631439320743, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper attempting to grasp the bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.05949, -0.56405, 0.05406, -2.5461, 0.02368, 1.94713, 0.01579 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36457, -0.00095, 0.88104 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00126, 0.00012 ], "tcp_rotation_matrix": [ [ 0.9986, -0.03905, -0.03557 ], [ -0.0393, -0.99921, -0.00636 ], [ -0.03529, 0.00775, -0.99935 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 45 }, "api_seconds": 8.806907633319497, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Reopen and lift slightly to re-observe alignment between fingers and the object." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0607, -0.58921, 0.04993, -2.39142, 0.0211, 1.7675, 0.01504 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.36461, -0.00095, 0.94857 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00104, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99861, -0.03905, -0.03536 ], [ -0.0393, -0.99921, -0.00636 ], [ -0.03508, 0.00774, -0.99935 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 44 }, "api_seconds": 15.81222337577492, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Object seems directly below; descend lower since previous close at 0.88 missed (likely above object)." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.05918, -0.52771, 0.05701, -2.62343, 0.0249, 2.06064, 0.01666 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36454, -0.00095, 0.84128 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.0014, 0.00012 ], "tcp_rotation_matrix": [ [ 0.9986, -0.03904, -0.03572 ], [ -0.03929, -0.99921, -0.00635 ], [ -0.03544, 0.00775, -0.99934 ] ], "simulated_seconds_remaining": 10.23, "calls_remaining_including_this": 43 }, "api_seconds": 3.0027261963114142, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at lower height to grasp the bottle body." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.05918, -0.52771, 0.05701, -2.62343, 0.0249, 2.06064, 0.01666 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36454, -0.00095, 0.84127 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.0014, 0.00012 ], "tcp_rotation_matrix": [ [ 0.9986, -0.03904, -0.03571 ], [ -0.03929, -0.99921, -0.00635 ], [ -0.03543, 0.00775, -0.99934 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 42 }, "api_seconds": 8.607248297892511, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": -0.05, "z": 0.92 }, "note": "Missed again; object appears left of fingers (-y). Reopen, lift slightly and shift -y." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.10657, -0.57244, -0.01765, -2.45543, -0.02095, 1.84856, -0.07587 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.36461, -0.04934, 0.91897 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00114, 2e-05 ], "tcp_rotation_matrix": [ [ 0.9986, -0.03914, -0.03545 ], [ -0.03939, -0.9992, -0.00634 ], [ -0.03518, 0.00773, -0.99935 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 41 }, "api_seconds": 12.409806844778359, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.075, "z": 0.85 }, "note": "Shift slightly more -y toward object and lower to grasp height." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.13107, -0.51374, -0.0588, -2.58667, -0.04654, 2.03917, -0.12073 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36455, -0.07456, 0.85112 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00144, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99859, -0.0392, -0.03576 ], [ -0.03945, -0.9992, -0.00628 ], [ -0.03548, 0.00768, -0.99934 ] ], "simulated_seconds_remaining": 7.59, "calls_remaining_including_this": 40 }, "api_seconds": 4.203570270910859, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Object now between the fingers in wrist view; closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.13107, -0.51374, -0.0588, -2.58667, -0.04654, 2.03917, -0.12073 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36455, -0.07457, 0.8511 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00144, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99859, -0.0392, -0.03575 ], [ -0.03945, -0.9992, -0.00628 ], [ -0.03548, 0.00768, -0.99934 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 39 }, "api_seconds": 7.806660559028387, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.78 }, "note": "Still no contact; table may be lower than assumed. Reopen and descend further." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.13149, -0.43923, -0.06513, -2.68146, -0.04786, 2.21488, -0.1223 ], "gripper_open": 1.0, "tcp_xyz": [ 0.36554, -0.07478, 0.79516 ], "tcp_roll_pitch_yaw": [ 0.00117, -0.00522, 0.00081 ], "tcp_rotation_matrix": [ [ 0.99884, -0.0384, -0.02909 ], [ -0.03857, -0.99924, -0.00518 ], [ -0.02887, 0.00629, -0.99956 ] ], "simulated_seconds_remaining": 5.742, "calls_remaining_including_this": 38 }, "api_seconds": 5.804931795224547, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At lowest reachable height with object between fingers; closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.12857, -0.44657, -0.06246, -2.67565, -0.04445, 2.21183, -0.12364 ], "gripper_open": 0.8518, "tcp_xyz": [ 0.36852, -0.07295, 0.8002 ], "tcp_roll_pitch_yaw": [ 0.00113, -0.01548, 0.00521 ], "tcp_rotation_matrix": [ [ 0.99924, -0.03406, -0.01881 ], [ -0.03417, -0.9994, -0.0053 ], [ -0.01862, 0.00594, -0.99981 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 37 }, "api_seconds": 3.2026019766926765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Gripper stopped at 0.85 indicating object grasped; lifting to clear the table." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.12505, -0.56317, -0.04877, -2.24796, -0.03452, 1.66788, -0.1283 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36858, -0.07296, 0.99876 ], "tcp_roll_pitch_yaw": [ 0.00108, -0.01578, 0.00521 ], "tcp_rotation_matrix": [ [ 0.99925, -0.03407, -0.01851 ], [ -0.03417, -0.9994, -0.00534 ], [ -0.01832, 0.00597, -0.99981 ] ], "simulated_seconds_remaining": 3.168, "calls_remaining_including_this": 36 }, "api_seconds": 6.405494557693601, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "gripper": 0 }, "note": "Lost object because gripper reopened; descending back with gripper commanded closed." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.12919, -0.46127, -0.06262, -2.6632, -0.04481, 2.19349, -0.1238 ], "gripper_open": 0.0003, "tcp_xyz": [ 0.37046, -0.07387, 0.80965 ], "tcp_roll_pitch_yaw": [ -0.00041, -0.0241, 0.00435 ], "tcp_rotation_matrix": [ [ 0.99934, -0.03501, -0.01019 ], [ -0.03508, -0.99936, -0.00678 ], [ -0.00995, 0.00713, -0.99993 ] ], "simulated_seconds_remaining": 1.518, "calls_remaining_including_this": 35 }, "api_seconds": 6.205243011005223, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1 }, "note": "Reopen fingers at grasp height so I can close around the bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.12919, -0.46127, -0.06262, -2.6632, -0.04481, 2.19349, -0.1238 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.37047, -0.07387, 0.80966 ], "tcp_roll_pitch_yaw": [ -0.00041, -0.02412, 0.00434 ], "tcp_rotation_matrix": [ [ 0.99934, -0.03501, -0.01017 ], [ -0.03508, -0.99936, -0.00678 ], [ -0.00992, 0.00713, -0.99993 ] ], "simulated_seconds_remaining": 0.594, "calls_remaining_including_this": 34 }, "api_seconds": 3.6030961675569415, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Final attempt: close on the bottle with the remaining time." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 013 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 13, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 30, "api_calls": 31, "wall_seconds": 325.26362776756287, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 33584, "cache_read_input_tokens": 531989, "output_tokens": 17239 }, "estimated_cost_usd": 0.9071795 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezfA86gcYPwgqpPcuoqX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01V6nUKKTqPdw9B7CTgNqV6Z", "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": 1756, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 119, "output_tokens_details": { "thinking_tokens": 95 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezfANw9p7atF6ijAUEue", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PXySf7je48u2Qxpp8wNWgk", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move forward and up to survey counter with wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 551, "cache_read_input_tokens": 1756, "cache_creation": { "ephemeral_5m_input_tokens": 551, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 339, "output_tokens_details": { "thinking_tokens": 230 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezfAsj2EZbaso8bTAGCD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SQ3mY4RMwufZbJCcDmyh2M", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Descend toward pot to judge alignment." }, "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": 2307, "cache_creation": { "ephemeral_5m_input_tokens": 831, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 282, "output_tokens_details": { "thinking_tokens": 193 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezfBKCxCGX3jK7N5JCeE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015qJxf5X4FYe8h7FJyAZt31", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Test mapping: move forward 5cm and see how pot shifts 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": 774, "cache_read_input_tokens": 3138, "cache_creation": { "ephemeral_5m_input_tokens": 774, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 529, "output_tokens_details": { "thinking_tokens": 427 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezfC1FyXYwJT3RWvB2iD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016hz3harBF37ExCsMXG9zif", "name": "move_to", "input": { "targets": { "z": 0.94 }, "note": "Descend closer to the pot to assess grasp geometry." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1020, "cache_read_input_tokens": 3912, "cache_creation": { "ephemeral_5m_input_tokens": 1020, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 509, "output_tokens_details": { "thinking_tokens": 415 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezfCh29ThtnrGcL3oJGR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014yZAF6m7Ycj1wrLFfV5pG2", "name": "move_to", "input": { "targets": { "z": 0.89 }, "note": "Continue descending toward pot rim." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1000, "cache_read_input_tokens": 4932, "cache_creation": { "ephemeral_5m_input_tokens": 1000, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 460, "output_tokens_details": { "thinking_tokens": 373 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezfDHQcNHNSVxi6rwzuZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R78HvZcsNwafWNFN5Ro1oZ", "name": "move_to", "input": { "targets": { "y": 0.04, "z": 0.95 }, "note": "Lift slightly and shift +y to learn horizontal image mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 950, "cache_read_input_tokens": 5932, "cache_creation": { "ephemeral_5m_input_tokens": 950, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 759, "output_tokens_details": { "thinking_tokens": 653 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezfEGtdKqmvCLXKQGPM6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WK1p44NbpAp8qLryTveWug", "name": "move_to", "input": { "targets": { "x": 0.47, "y": 0.08 }, "note": "Shift further +y and back in x to center pot 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": 1251, "cache_read_input_tokens": 6882, "cache_creation": { "ephemeral_5m_input_tokens": 1251, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 504, "output_tokens_details": { "thinking_tokens": 401 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezfEymWqH4ekqmBSnkAY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mze4GDPiJYS4fDZDUJzy5p", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.015 }, "note": "Using learned mapping (image right=+y, down=+x), recenter over pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 996, "cache_read_input_tokens": 8133, "cache_creation": { "ephemeral_5m_input_tokens": 996, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1283, "output_tokens_details": { "thinking_tokens": 1174 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezfGVA8JX8B6YAL4c6cq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017MJupRPhFGQTZScK1tSeXw", "name": "move_to", "input": { "targets": { "y": -0.035 }, "note": "Calibrate pixel scale at this height by moving -5cm in y; also heading toward left rim for a wall grasp." }, "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": 9129, "cache_creation": { "ephemeral_5m_input_tokens": 1780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 802, "output_tokens_details": { "thinking_tokens": 688 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezfHXdVAt6B94yvNKSzs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QoWcBh8xVKn3tHFZ9vvu8b", "name": "move_to", "input": { "targets": { "x": 0.539, "y": 0.096 }, "note": "Position above the pot's left rim (fingers will straddle the wall there)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1295, "cache_read_input_tokens": 10909, "cache_creation": { "ephemeral_5m_input_tokens": 1295, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 715, "output_tokens_details": { "thinking_tokens": 609 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezfJUENP39ESwJ7nEagy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011VSMMwR2xr6gpWENnGTnBj", "name": "move_to", "input": { "targets": { "x": 0.551, "y": 0.126 }, "note": "Center gripper exactly over left rim wall (pot center ~y=0.006, radius ~0.12)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1212, "cache_read_input_tokens": 12204, "cache_creation": { "ephemeral_5m_input_tokens": 1212, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 910, "output_tokens_details": { "thinking_tokens": 793 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezfKdj9Wd8VzEyhryNGm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019zKp8NLrZNfrXT3Kfz3C2E", "name": "move_to", "input": { "targets": { "x": 0.551, "y": 0.148, "yaw": 1.57 }, "note": "Align over the pot's near-left handle with fingers rotated 90° to straddle 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": 1402, "cache_read_input_tokens": 13416, "cache_creation": { "ephemeral_5m_input_tokens": 1402, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1413, "output_tokens_details": { "thinking_tokens": 1290 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezfMMUuFYNL5ykD6nvV8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JRBM7QmwvZm2iFpvdi1H3N", "name": "move_to", "input": { "targets": { "x": 0.432, "y": -0.009 }, "note": "Reposition over the near rim wall (handle-free), fingers now open along base x to straddle the wall." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1911, "cache_read_input_tokens": 14818, "cache_creation": { "ephemeral_5m_input_tokens": 1911, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1328, "output_tokens_details": { "thinking_tokens": 1212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezfNy7oRraEB4t9vKiZ2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0143XyNTEGq4GAr3ATz2TTVf", "name": "move_to", "input": { "targets": { "x": 0.482 }, "note": "Move 5cm forward so the near rim edge comes to 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": 1822, "cache_read_input_tokens": 16729, "cache_creation": { "ephemeral_5m_input_tokens": 1822, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 567, "output_tokens_details": { "thinking_tokens": 471 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezfPkPMVdM7WkPwV48zS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012PaX6PHQBLjNyBcMtnDyaA", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Shift -y to test vertical image mapping and center pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1064, "cache_read_input_tokens": 18551, "cache_creation": { "ephemeral_5m_input_tokens": 1064, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 462, "output_tokens_details": { "thinking_tokens": 368 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezfQP8hnMtezH5mq3PiJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CurjoHsKYuUtpcw7SkWiBz", "name": "move_to", "input": { "targets": { "z": 1.08, "y": 0.0, "x": 0.5 }, "note": "Back off upward for a wider wrist view to re-localize the pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 960, "cache_read_input_tokens": 19615, "cache_creation": { "ephemeral_5m_input_tokens": 960, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 284, "output_tokens_details": { "thinking_tokens": 171 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezfQrZDSfUkENieGAENY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Uvu7JMSQqErGcuWc6nMZr3", "name": "move_to", "input": { "targets": { "x": 0.6, "y": -0.07 }, "note": "Move to estimated pot center (image left=+x, up=-y under yaw=90 mapping) to verify mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 778, "cache_read_input_tokens": 20575, "cache_creation": { "ephemeral_5m_input_tokens": 778, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 741, "output_tokens_details": { "thinking_tokens": 620 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezfRp3BnCqpviC8YG2nH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018LPke8TRf4Q6uaxmafs9VC", "name": "move_to", "input": { "targets": { "x": 0.505, "y": -0.1, "z": 1.0 }, "note": "Move above the near rim wall of the pot (fingers open along x to straddle wall)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1235, "cache_read_input_tokens": 21353, "cache_creation": { "ephemeral_5m_input_tokens": 1235, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1203, "output_tokens_details": { "thinking_tokens": 1085 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezfTJ3T6sgqato1MtEdN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013DihegCXMv2Z13z8gmUiDi", "name": "move_to", "input": { "targets": { "y": -0.115, "z": 0.93 }, "note": "Fine-align y with pot center and descend toward rim height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1696, "cache_read_input_tokens": 22588, "cache_creation": { "ephemeral_5m_input_tokens": 1696, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 418, "output_tokens_details": { "thinking_tokens": 316 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezfTrkxRG5GmH3f7JnXN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EX4gHU48KScoZQ6t121mCU", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Continue descending to bring fingers alongside the rim." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 912, "cache_read_input_tokens": 24284, "cache_creation": { "ephemeral_5m_input_tokens": 912, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 206, "output_tokens_details": { "thinking_tokens": 113 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezfUCsvpgqRocpdiMhyV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CQX1NXK4qwHxeQPLH9aWed", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Descend further; expect fingers to reach rim level soon." }, "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": 25196, "cache_creation": { "ephemeral_5m_input_tokens": 700, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 346, "output_tokens_details": { "thinking_tokens": 252 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezfUgdGxpTnPWzKPM9Fe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012TZETciTNqFaGMXwrpwsmb", "name": "move_to", "input": { "targets": { "x": 0.535 }, "note": "Nudge forward so the rim wall sits 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": 840, "cache_read_input_tokens": 25896, "cache_creation": { "ephemeral_5m_input_tokens": 840, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 539, "output_tokens_details": { "thinking_tokens": 444 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezfVRzzN8qzjQzWxjigf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0155iWsrRvCA5PSqMPSNT8oE", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to clamp the pot rim wall." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1032, "cache_read_input_tokens": 26736, "cache_creation": { "ephemeral_5m_input_tokens": 1032, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 342, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezfW6Yya5xK8UEe5gPhF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DMq32QSPHf1Upyvme9hYXF", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.79, "x": 0.55 }, "note": "Reopen, descend lower and nudge forward toward the rim wall." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 837, "cache_read_input_tokens": 27768, "cache_creation": { "ephemeral_5m_input_tokens": 837, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 431, "output_tokens_details": { "thinking_tokens": 317 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezfWqA3EkAjDegEAKS1y", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TdpNFCrACLayh8tfzRkJxn", "name": "move_to", "input": { "targets": { "x": 0.58 }, "note": "Push forward another 3cm to bring the pot wall 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": 926, "cache_read_input_tokens": 28605, "cache_creation": { "ephemeral_5m_input_tokens": 926, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 429, "output_tokens_details": { "thinking_tokens": 331 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezfXVqUZ1UXZme86XHGC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018AmxAqGL3FUh53LtMXTu1t", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on the rim wall at this deeper, lower pose." }, "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": 29531, "cache_creation": { "ephemeral_5m_input_tokens": 923, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 545, "output_tokens_details": { "thinking_tokens": 451 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezfYLHmrDTWVAnUhfpo7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017n7wLF5GqmSE693j3dDcSh", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Gripper stopped at 0.58 indicating an object is held; lift to check." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1040, "cache_read_input_tokens": 30454, "cache_creation": { "ephemeral_5m_input_tokens": 1040, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 153, "output_tokens_details": { "thinking_tokens": 52 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezfYsh9tck4wddcqvohA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016DaBBpaZvC2rdFB2J3s11P", "name": "move_to", "input": { "targets": { "z": 0.795, "gripper": 1 }, "note": "Return to the successful grasp height (gripper reopened inadvertently)." }, "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": 31494, "cache_creation": { "ephemeral_5m_input_tokens": 646, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 372, "output_tokens_details": { "thinking_tokens": 266 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezfZRzLxcYY3GZjJEA8H", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TN8im9rGdWnQmMSsPz2X3r", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on pot rim again." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 866, "cache_read_input_tokens": 32140, "cache_creation": { "ephemeral_5m_input_tokens": 866, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 83, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezfZnhnakeuskjuHh5Ae", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FR4x3ixaVRrJ8ekMddbHgW", "name": "move_to", "input": { "targets": { "z": 0.93, "gripper": 0 }, "note": "Lift the grasped pot clear of the counter, keeping gripper closed." }, "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": 33006, "cache_creation": { "ephemeral_5m_input_tokens": 578, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 166, "output_tokens_details": { "thinking_tokens": 58 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01759, -0.79896, -0.02406, -2.36229, 0.04075, 1.54829, -0.04107 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29851, 0.00923, 1.01494 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.999, 0.04215, -0.01523 ], [ 0.04297, -0.9974, 0.05793 ], [ -0.01275, -0.05853, -0.9982 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.208168298006058, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move forward and up to survey counter with wrist camera." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02303, -0.28006, -0.04656, -1.74417, 0.0451, 1.44795, -0.05904 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44884, 7e-05, 1.0993 ], "tcp_roll_pitch_yaw": [ 1e-05, 8e-05, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99899, 0.04213, -0.01531 ], [ 0.04295, -0.9974, 0.05794 ], [ -0.01283, -0.05854, -0.9982 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 5.604985734447837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Descend toward pot to judge alignment." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02151, -0.33779, -0.04485, -2.05431, 0.04313, 1.6999, -0.06919 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44882, 7e-05, 1.00117 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00038, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99899, 0.04212, -0.01561 ], [ 0.04296, -0.9974, 0.05794 ], [ -0.01313, -0.05855, -0.9982 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 55 }, "api_seconds": 9.207574788480997, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Test mapping: move forward 5cm and see how pot shifts in wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02363, -0.18434, -0.04733, -1.90179, 0.04933, 1.70041, -0.0722 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49882, 7e-05, 1.00111 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00052, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99899, 0.04211, -0.01575 ], [ 0.04295, -0.9974, 0.05794 ], [ -0.01327, -0.05855, -0.9982 ] ], "simulated_seconds_remaining": 26.928, "calls_remaining_including_this": 54 }, "api_seconds": 9.00704813376069, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.94 }, "note": "Descend closer to the pot to assess grasp geometry." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02367, -0.18209, -0.04709, -2.05221, 0.05108, 1.85259, -0.07979 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49878, 7e-05, 0.94111 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00083, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99898, 0.0421, -0.01606 ], [ 0.04296, -0.9974, 0.05793 ], [ -0.01358, -0.05856, -0.99819 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 53 }, "api_seconds": 7.806189735420048, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.89 }, "note": "Continue descending toward pot rim." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02403, -0.1588, -0.0473, -2.15607, 0.0546, 1.97922, -0.08734 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49873, 7e-05, 0.89107 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00113, 0.0 ], "tcp_rotation_matrix": [ [ 0.99898, 0.04209, -0.01636 ], [ 0.04297, -0.9974, 0.05793 ], [ -0.01388, -0.05858, -0.99819 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 52 }, "api_seconds": 13.010645207948983, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04, "z": 0.95 }, "note": "Lift slightly and shift +y to learn horizontal image mapping." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.05572, -0.18256, -0.00449, -2.0335, 0.06003, 1.83733, -0.00762 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49878, 0.03937, 0.94906 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00088, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99898, 0.04224, -0.01611 ], [ 0.04311, -0.99739, 0.05794 ], [ -0.01362, -0.05858, -0.99819 ] ], "simulated_seconds_remaining": 24.75, "calls_remaining_including_this": 51 }, "api_seconds": 9.40768173057586, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": 0.08 }, "note": "Shift further +y and back in x to center pot in wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.08915, -0.25739, 0.04304, -2.11121, 0.07326, 1.84495, 0.06762 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47066, 0.07915, 0.9491 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00082, 0.00036 ], "tcp_rotation_matrix": [ [ 0.99897, 0.04246, -0.01607 ], [ 0.04332, -0.99738, 0.05793 ], [ -0.01357, -0.05857, -0.99819 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 50 }, "api_seconds": 20.216992530971766, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.015 }, "note": "Using learned mapping (image right=+y, down=+x), recenter over pot." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.0362, -0.12183, -0.03055, -1.96694, 0.05624, 1.82897, -0.05161 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51924, 0.0159, 0.94906 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00089, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99898, 0.04222, -0.01613 ], [ 0.04309, -0.99739, 0.05796 ], [ -0.01364, -0.0586, -0.99819 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 49 }, "api_seconds": 13.810698526911438, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.035 }, "note": "Calibrate pixel scale at this height by moving -5cm in y; also heading toward left rim for a wall grasp." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.00499, -0.11522, -0.08181, -1.95805, 0.04852, 1.82185, -0.14117 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51925, -0.03394, 0.94906 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00089, -0.00014 ], "tcp_rotation_matrix": [ [ 0.99899, 0.04196, -0.01612 ], [ 0.04283, -0.9974, 0.05797 ], [ -0.01364, -0.0586, -0.99819 ] ], "simulated_seconds_remaining": 22.572, "calls_remaining_including_this": 48 }, "api_seconds": 12.412815355695784, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.539, "y": 0.096 }, "note": "Position above the pot's left rim (fingers will straddle the wall there)." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.10264, -0.04364, 0.0446, -1.87947, 0.06378, 1.82787, 0.08798 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53879, 0.09483, 0.94904 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00092, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99898, 0.04226, -0.01616 ], [ 0.04313, -0.99739, 0.05796 ], [ -0.01367, -0.05859, -0.99819 ] ], "simulated_seconds_remaining": 21.384, "calls_remaining_including_this": 47 }, "api_seconds": 15.611906359903514, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.551, "y": 0.126 }, "note": "Center gripper exactly over left rim wall (pot center ~y=0.006, radius ~0.12)." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12755, 0.00866, 0.07063, -1.81775, 0.06135, 1.82143, 0.13987 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55057, 0.12504, 0.94901 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00098, 0.00036 ], "tcp_rotation_matrix": [ [ 0.99897, 0.04246, -0.01623 ], [ 0.04333, -0.99738, 0.05795 ], [ -0.01372, -0.05859, -0.99819 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 46 }, "api_seconds": 22.61700184829533, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.551, "y": 0.148, "yaw": 1.57 }, "note": "Align over the pot's near-left handle with fingers rotated 90° to straddle the handle." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.13912, 0.07487, 0.12834, -1.72387, -0.00972, 1.73792, -1.33871 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55099, 0.14796, 0.94901 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00099, 1.56534 ], "tcp_rotation_matrix": [ [ -0.03752, 0.99761, -0.05803 ], [ 0.9992, 0.03665, -0.0159 ], [ -0.01373, -0.05858, -0.99819 ] ], "simulated_seconds_remaining": 18.48, "calls_remaining_including_this": 45 }, "api_seconds": 21.41631621774286, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.432, "y": -0.009 }, "note": "Reposition over the near rim wall (handle-free), fingers now open along base x to straddle the wall." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02024, -0.35347, -0.02557, -2.19267, -0.0255, 1.7813, -1.60515 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43284, -0.00799, 0.94906 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00098, 1.56513 ], "tcp_rotation_matrix": [ [ -0.0373, 0.99762, -0.05795 ], [ 0.99921, 0.03644, -0.01588 ], [ -0.01373, -0.0585, -0.99819 ] ], "simulated_seconds_remaining": 16.896, "calls_remaining_including_this": 44 }, "api_seconds": 10.408357061445713, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.482 }, "note": "Move 5cm forward so the near rim edge comes to image center." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.02115, -0.20649, -0.02697, -2.04885, -0.02221, 1.78435, -1.60745 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48065, -0.008, 0.94901 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00098, 1.56512 ], "tcp_rotation_matrix": [ [ -0.03729, 0.99762, -0.05807 ], [ 0.99921, 0.03643, -0.01588 ], [ -0.01373, -0.05862, -0.99819 ] ], "simulated_seconds_remaining": 16.302, "calls_remaining_including_this": 43 }, "api_seconds": 8.406360816210508, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Shift -y to test vertical image mapping and center pot." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.01164, -0.20088, -0.07262, -2.04277, -0.03588, 1.78564, -1.68121 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48064, -0.04894, 0.949 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00096, 1.56488 ], "tcp_rotation_matrix": [ [ -0.03706, 0.99762, -0.05808 ], [ 0.99922, 0.03619, -0.01585 ], [ -0.01371, -0.05862, -0.99819 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 42 }, "api_seconds": 6.005716600455344, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.08, "y": 0.0, "x": 0.5 }, "note": "Back off upward for a wider wrist view to re-localize the pot." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.0285, -0.1015, -0.01932, -1.60067, -0.01741, 1.44119, -1.59997 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49986, -0.00041, 1.07886 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00096, 1.56497 ], "tcp_rotation_matrix": [ [ -0.03715, 0.99764, -0.05782 ], [ 0.99922, 0.03629, -0.01585 ], [ -0.01371, -0.05837, -0.9982 ] ], "simulated_seconds_remaining": 14.454, "calls_remaining_including_this": 41 }, "api_seconds": 12.609142395667732, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": -0.07 }, "note": "Move to estimated pot center (image left=+x, up=-y under yaw=90 mapping) to verify mapping." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.04567, 0.2839, -0.07833, -1.10229, -0.00087, 1.3296, -1.72906 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59895, -0.06933, 1.07873 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00096, 1.5648 ], "tcp_rotation_matrix": [ [ -0.03698, 0.99763, -0.05807 ], [ 0.99922, 0.03612, -0.01584 ], [ -0.01371, -0.05861, -0.99819 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 40 }, "api_seconds": 19.815984786488116, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.505, "y": -0.1, "z": 1.0 }, "note": "Move above the near rim wall of the pot (fingers open along x to straddle wall)." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.07032, -0.10056, -0.10509, -1.80202, -0.03633, 1.64739, -1.7781 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50599, -0.09973, 1.00087 ], "tcp_roll_pitch_yaw": [ 0.00012, 0.00096, 1.56468 ], "tcp_rotation_matrix": [ [ -0.03686, 0.99763, -0.05815 ], [ 0.99923, 0.036, -0.01583 ], [ -0.0137, -0.05868, -0.99818 ] ], "simulated_seconds_remaining": 12.21, "calls_remaining_including_this": 39 }, "api_seconds": 7.205599504522979, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.115, "z": 0.93 }, "note": "Fine-align y with pot center and descend toward rim height." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08384, -0.08977, -0.12168, -1.96757, -0.03949, 1.82418, -1.80102 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50595, -0.11475, 0.93112 ], "tcp_roll_pitch_yaw": [ 0.00044, 0.00092, 1.56463 ], "tcp_rotation_matrix": [ [ -0.03681, 0.99761, -0.05847 ], [ 0.99923, 0.03594, -0.01579 ], [ -0.01365, -0.05901, -0.99816 ] ], "simulated_seconds_remaining": 11.418, "calls_remaining_including_this": 38 }, "api_seconds": 4.60364403296262, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Continue descending to bring fingers alongside the rim." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08483, -0.06526, -0.1234, -2.06868, -0.03827, 1.94935, -1.79986 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5059, -0.11474, 0.88107 ], "tcp_roll_pitch_yaw": [ 0.00075, 0.00088, 1.56463 ], "tcp_rotation_matrix": [ [ -0.03682, 0.99759, -0.05878 ], [ 0.99923, 0.03595, -0.01574 ], [ -0.01359, -0.05931, -0.99815 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 37 }, "api_seconds": 6.204882984049618, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Descend further; expect fingers to reach rim level soon." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08586, -0.02188, -0.1251, -2.15044, -0.03476, 2.07393, -1.80049 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50583, -0.11473, 0.83107 ], "tcp_roll_pitch_yaw": [ 0.00107, 0.00083, 1.56463 ], "tcp_rotation_matrix": [ [ -0.03682, 0.99757, -0.05909 ], [ 0.99923, 0.03595, -0.0157 ], [ -0.01354, -0.05963, -0.99813 ] ], "simulated_seconds_remaining": 10.098, "calls_remaining_including_this": 36 }, "api_seconds": 10.00727955903858, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.535 }, "note": "Nudge forward so the rim wall sits between the fingers." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08192, 0.05791, -0.1209, -2.05244, -0.02295, 2.05501, -1.79884 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53374, -0.11471, 0.83103 ], "tcp_roll_pitch_yaw": [ 0.00111, 0.00083, 1.56468 ], "tcp_rotation_matrix": [ [ -0.03687, 0.99757, -0.05914 ], [ 0.99923, 0.036, -0.0157 ], [ -0.01353, -0.05967, -0.99813 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 35 }, "api_seconds": 8.408615292981267, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to clamp the pot rim wall." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08239, 0.05616, -0.12153, -2.05093, -0.0234, 2.05503, -1.79882 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.53434, -0.11551, 0.83266 ], "tcp_roll_pitch_yaw": [ -0.00206, 0.00168, 1.5638 ], "tcp_rotation_matrix": [ [ -0.03595, 0.99778, -0.05599 ], [ 0.99925, 0.03507, -0.01651 ], [ -0.01451, -0.05654, -0.99829 ] ], "simulated_seconds_remaining": 8.712, "calls_remaining_including_this": 34 }, "api_seconds": 9.807279727421701, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.79, "x": 0.55 }, "note": "Reopen, descend lower and nudge forward toward the rim wall." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08217, 0.1457, -0.11876, -2.04845, -0.01204, 2.14131, -1.79972 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.54962, -0.1155, 0.79085 ], "tcp_roll_pitch_yaw": [ -0.0019, 0.00166, 1.56381 ], "tcp_rotation_matrix": [ [ -0.03596, 0.99777, -0.05615 ], [ 0.99925, 0.03509, -0.0165 ], [ -0.01449, -0.0567, -0.99829 ] ], "simulated_seconds_remaining": 7.788, "calls_remaining_including_this": 33 }, "api_seconds": 8.807141445577145, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58 }, "note": "Push forward another 3cm to bring the pot wall between the fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08084, 0.22727, -0.11418, -1.93556, -0.00186, 2.10911, -1.79744 ], "gripper_open": 0.9999, "tcp_xyz": [ 0.57871, -0.1161, 0.791 ], "tcp_roll_pitch_yaw": [ -0.00157, 0.00196, 1.5631 ], "tcp_rotation_matrix": [ [ -0.03526, 0.99778, -0.0565 ], [ 0.99927, 0.03436, -0.01676 ], [ -0.01478, -0.05705, -0.99826 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 32 }, "api_seconds": 11.008328959345818, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on the rim wall at this deeper, lower pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08056, 0.22418, -0.11388, -1.93395, -0.00171, 2.10862, -1.79773 ], "gripper_open": 0.5824, "tcp_xyz": [ 0.57969, -0.11585, 0.79348 ], "tcp_roll_pitch_yaw": [ -0.00577, 0.00219, 1.56391 ], "tcp_rotation_matrix": [ [ -0.03602, 0.99798, -0.05229 ], [ 0.99924, 0.03517, -0.01705 ], [ -0.01518, -0.05286, -0.99849 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 31 }, "api_seconds": 6.8056506318971515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Gripper stopped at 0.58 indicating an object is held; lift to check." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.07825, 0.1318, -0.11607, -1.65376, -0.01172, 1.737, -1.7979 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57977, -0.11586, 0.94878 ], "tcp_roll_pitch_yaw": [ -0.00616, 0.00223, 1.56391 ], "tcp_rotation_matrix": [ [ -0.03601, 0.998, -0.0519 ], [ 0.99924, 0.03517, -0.0171 ], [ -0.01525, -0.05248, -0.99851 ] ], "simulated_seconds_remaining": 5.016, "calls_remaining_including_this": 30 }, "api_seconds": 7.2080461559817195, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.795, "gripper": 1 }, "note": "Return to the successful grasp height (gripper reopened inadvertently)." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08039, 0.22042, -0.11398, -1.93019, -0.00208, 2.10274, -1.79761 ], "gripper_open": 0.9985, "tcp_xyz": [ 0.58011, -0.11588, 0.79693 ], "tcp_roll_pitch_yaw": [ -0.00738, 0.00241, 1.564 ], "tcp_rotation_matrix": [ [ -0.03608, 0.99806, -0.05068 ], [ 0.99923, 0.03524, -0.01729 ], [ -0.01547, -0.05127, -0.99857 ] ], "simulated_seconds_remaining": 3.696, "calls_remaining_including_this": 29 }, "api_seconds": 4.403938977047801, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on pot rim again." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08066, 0.21766, -0.1144, -1.92959, -0.00234, 2.10078, -1.79789 ], "gripper_open": 0.4726, "tcp_xyz": [ 0.58006, -0.1163, 0.79865 ], "tcp_roll_pitch_yaw": [ -0.00874, 0.00266, 1.5637 ], "tcp_rotation_matrix": [ [ -0.03577, 0.99814, -0.04933 ], [ 0.99924, 0.03494, -0.01754 ], [ -0.01578, -0.04992, -0.99863 ] ], "simulated_seconds_remaining": 2.772, "calls_remaining_including_this": 28 }, "api_seconds": 4.403814282268286, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93, "gripper": 0 }, "note": "Lift the grasped pot clear of the counter, keeping gripper closed." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 014 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 14, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 28, "api_calls": 29, "wall_seconds": 353.3918559551239, "usage": { "input_tokens": 58, "cache_creation_input_tokens": 35875, "cache_read_input_tokens": 484062, "output_tokens": 20513 }, "estimated_cost_usd": 0.97936475 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezfGUvEk3VzBgwwiJLQK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011Z8MzJhqP8iiHzd1jCXk2E", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 104, "output_tokens_details": { "thinking_tokens": 80 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezfGfoLVGHuK4d7AddjT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ctn6fqvm6iYPQQm3Ck8C8a", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.1, "z": 0.95 }, "note": "Move forward/left over counter to get wrist view of the blue bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 540, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 540, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 275, "output_tokens_details": { "thinking_tokens": 161 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezfH4Kv6WfPnsMHtE4Ea", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XXrvBT4xqfH6w5u6qDPK8A", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Descend to see the blue bottle better in wrist camera." }, "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": 2300, "cache_creation": { "ephemeral_5m_input_tokens": 770, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 470, "output_tokens_details": { "thinking_tokens": 376 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezfHeYwzfj5uVV1F5RbB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BBbt1qiNVhziFeKf5Ju3q5", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Probe move +x to calibrate wrist image direction mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 965, "cache_read_input_tokens": 3070, "cache_creation": { "ephemeral_5m_input_tokens": 965, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 539, "output_tokens_details": { "thinking_tokens": 443 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezfJMDSWHf5kNrs9swpe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RgBXootTxp1DYU9UC56Jeb", "name": "move_to", "input": { "targets": { "y": 0.15 }, "note": "Probe move +y to calibrate wrist image y-direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1035, "cache_read_input_tokens": 4035, "cache_creation": { "ephemeral_5m_input_tokens": 1035, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1136, "output_tokens_details": { "thinking_tokens": 1041 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezfKeeTm8mRgTNn6zJf1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PxNKEZDLa1MU74sxfWnXG7", "name": "move_to", "input": { "targets": { "y": 0.1, "z": 0.83 }, "note": "Return to y=0.10 and descend closer to counter to judge bottle position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1631, "cache_read_input_tokens": 5070, "cache_creation": { "ephemeral_5m_input_tokens": 1631, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 948, "output_tokens_details": { "thinking_tokens": 840 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezfLpVaGsJ7aQtvFzxuR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S4hZA4RGzb6NUqG6Ajdfr2", "name": "move_to", "input": { "targets": { "x": 0.47, "y": 0.13, "z": 0.78 }, "note": "Descend further and shift slightly toward apparent bottle location." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1444, "cache_read_input_tokens": 6701, "cache_creation": { "ephemeral_5m_input_tokens": 1444, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 631, "output_tokens_details": { "thinking_tokens": 520 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezfMfeYdZktcXrzLWqzS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019uZuzSn36k33QtYTdL6Wf8", "name": "move_to", "input": { "targets": { "x": 0.42 }, "note": "Probe -x at fixed height to see if blue object centers 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": 1126, "cache_read_input_tokens": 8145, "cache_creation": { "ephemeral_5m_input_tokens": 1126, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 871, "output_tokens_details": { "thinking_tokens": 772 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezfNoLgUJhJna6RrKSqW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tept4HtzMQS7H56kZrUxBr", "name": "move_to", "input": { "targets": { "x": 0.35, "y": -0.1, "z": 1.05 }, "note": "Retreat up and right to get an unobstructed exterior view of the objects on the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1366, "cache_read_input_tokens": 9271, "cache_creation": { "ephemeral_5m_input_tokens": 1366, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 939, "output_tokens_details": { "thinking_tokens": 820 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezfQ2HLLhwMteWnNk5gz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YDdcFg9j22hMhBwa174Zs2", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.0, "z": 0.95 }, "note": "Move to estimated bottle location (x~0.55,y~0.0) at safe height to verify alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1435, "cache_read_input_tokens": 10637, "cache_creation": { "ephemeral_5m_input_tokens": 1435, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1597, "output_tokens_details": { "thinking_tokens": 1472 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezfRunxCdCerzbK5cNJe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q3iNQMVsoepEeSTHXhWQSK", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.02, "z": 0.9 }, "note": "Bottle now near wrist image center; refine to x=0.52,y=0.02 and descend a bit." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2098, "cache_read_input_tokens": 12072, "cache_creation": { "ephemeral_5m_input_tokens": 2098, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 343, "output_tokens_details": { "thinking_tokens": 218 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezfSNBDV8jpGvvxaSAEp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018fea6k1cvLRGGuQ3zt9Neu", "name": "move_to", "input": { "targets": { "x": 0.53, "y": 0.012, "z": 0.86 }, "note": "Refine alignment and descend toward the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 839, "cache_read_input_tokens": 14170, "cache_creation": { "ephemeral_5m_input_tokens": 839, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1081, "output_tokens_details": { "thinking_tokens": 974 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezfTYjEoieu7ovkAhn2B", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DrEmNo5M59XwKzYbxFSsdJ", "name": "move_to", "input": { "targets": { "x": 0.548, "z": 0.82 }, "note": "Bottle drifting downward in view; shift +x and descend closer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1582, "cache_read_input_tokens": 15009, "cache_creation": { "ephemeral_5m_input_tokens": 1582, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 216, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezfTuiYeAB8iZWRXR4uT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017kxRA3GDomSpo81qQMo3pL", "name": "move_to", "input": { "targets": { "z": 0.77 }, "note": "Continue descending toward the bottle keeping x,y fixed." }, "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": 16591, "cache_creation": { "ephemeral_5m_input_tokens": 716, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 247, "output_tokens_details": { "thinking_tokens": 151 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezfUH7feh38SZjfWQSpL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015MbmC8T5AcToWP7Mzk8erE", "name": "move_to", "input": { "targets": { "z": 0.74 }, "note": "Descend a bit more to bracket the bottle body 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": 743, "cache_read_input_tokens": 17307, "cache_creation": { "ephemeral_5m_input_tokens": 743, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 306, "output_tokens_details": { "thinking_tokens": 211 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezfUhtghdsecboA1h4JE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018sk391BqLfNHpGxbCyfsYz", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Bottle appears between fingers; closing gripper." }, "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": 18050, "cache_creation": { "ephemeral_5m_input_tokens": 802, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 120, "output_tokens_details": { "thinking_tokens": 28 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezfUwy23rdBdwUPaTRPh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GPC4eKbXwhUL6VMXdxxkuL", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check whether the bottle 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": 615, "cache_read_input_tokens": 18852, "cache_creation": { "ephemeral_5m_input_tokens": 615, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 172, "output_tokens_details": { "thinking_tokens": 81 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezfVDb7jBzpVgWS4GQXt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015rsYKdUv1dzgLcYvVaxCPU", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.515, "z": 0.78 }, "note": "Missed grasp; reopen and reposition slightly -x (object appeared above fingers) then re-inspect." }, "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": 19467, "cache_creation": { "ephemeral_5m_input_tokens": 672, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 710, "output_tokens_details": { "thinking_tokens": 583 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezfW8WJfjHANfYpvpbcX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XLQZv9GrmD9Jzuc3LkuZp8", "name": "move_to", "input": { "targets": { "z": 0.7 }, "note": "Descend lower to make sure fingers straddle the bottle body rather than closing 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": 1206, "cache_read_input_tokens": 20139, "cache_creation": { "ephemeral_5m_input_tokens": 1206, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 313, "output_tokens_details": { "thinking_tokens": 210 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezfWYt1NSxBr9H8QXzTz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PG3xZffi9JDRgNhCAvtKxQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "At lower height; close gripper to grasp bottle body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 814, "cache_read_input_tokens": 21345, "cache_creation": { "ephemeral_5m_input_tokens": 814, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 157, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezfWtum6DyZgiXP1FMYp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KiFLxd6z4VCvJ6rhNpM1SZ", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.82 }, "note": "Reopen and lift to re-inspect bottle position relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 22159, "cache_creation": { "ephemeral_5m_input_tokens": 650, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1371, "output_tokens_details": { "thinking_tokens": 1264 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezfYbLQ1Auot11ido7Na", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017ioYhByijxAMh1p51q49qX", "name": "move_to", "input": { "targets": { "x": 0.575, "y": 0.02, "z": 0.78 }, "note": "Hypothesis: bottle is a few cm further +x. Move there and check drift behavior." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1865, "cache_read_input_tokens": 22809, "cache_creation": { "ephemeral_5m_input_tokens": 1865, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1511, "output_tokens_details": { "thinking_tokens": 1390 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezfaNn9EJTxJFtG3Pdzh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EB8YTijRM9SjLJzak9W8Sd", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Lift and move back to x=0.45 for a large-baseline parallax test of the blue blob." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2005, "cache_read_input_tokens": 24674, "cache_creation": { "ephemeral_5m_input_tokens": 2005, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 3324, "output_tokens_details": { "thinking_tokens": 3210 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezfeMZadpQKTCzZUYMgt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MuQnygUHRaUkQX5LjrFFSu", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.1, "z": 0.8 }, "note": "From exterior view the bottle looks left of the gripper; shift +y to y=0.10 and lower to just above counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 3823, "cache_read_input_tokens": 26679, "cache_creation": { "ephemeral_5m_input_tokens": 3823, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 934, "output_tokens_details": { "thinking_tokens": 805 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezffXg5FDLisefJb24Cm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TGAs87xELiGWJCJHZtHwSh", "name": "move_to", "input": { "targets": { "y": 0.135, "z": 0.75 }, "note": "Bottle just left of fingers in exterior; nudge +y and descend to 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": 1427, "cache_read_input_tokens": 30502, "cache_creation": { "ephemeral_5m_input_tokens": 1427, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 287, "output_tokens_details": { "thinking_tokens": 175 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezffweUK2yhMnZLiMBaq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SVjXDgegkV88yZM15W3iZF", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper appears right at the bottle in exterior view; close to grasp." }, "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": 31929, "cache_creation": { "ephemeral_5m_input_tokens": 780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 304, "output_tokens_details": { "thinking_tokens": 205 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezfgSaX6DevrJd5tZEpi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MzzDskjYmzD4R5NQN6K1Fw", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.52, "y": 0.015, "z": 0.67 }, "note": "Reopen and go lower (counter may be lower than assumed) at the blob's bearing-aligned x,y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 796, "cache_read_input_tokens": 32709, "cache_creation": { "ephemeral_5m_input_tokens": 796, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1107, "output_tokens_details": { "thinking_tokens": 972 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezfhmrfCHSp1a1yTosEE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RmvaVNCqUwBm4F28G71y35", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at lower height in case the bottle is short." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1600, "cache_read_input_tokens": 33505, "cache_creation": { "ephemeral_5m_input_tokens": 1600, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 277, "output_tokens_details": { "thinking_tokens": 187 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezfiD7x77fgJcyUPffMK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013coH88QLwjzTtnKVB4hR8x", "name": "give_up", "input": { "note": "Repeated grasp attempts closed on empty air; wrist and exterior views gave conflicting localization of the blue bottle and simulated motion 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": 770, "cache_read_input_tokens": 35105, "cache_creation": { "ephemeral_5m_input_tokens": 770, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 223, "output_tokens_details": { "thinking_tokens": 122 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.03543, -0.8263, 0.02229, -2.39027, 0.01529, 1.54476, 0.03743 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28995, -0.00028, 1.00919 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99815, -0.05761, -0.01934 ], [ -0.05763, -0.99834, -0.00071 ], [ -0.01927, 0.00183, -0.99981 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.806475829333067, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.1, "z": 0.95 }, "note": "Move forward/left over counter to get wrist view of the blue bottle." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00202, -0.30782, 0.18872, -2.14814, 0.06164, 1.82561, 0.22297 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44886, 0.09931, 0.95034 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.0002, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99815, -0.05754, -0.01954 ], [ -0.05756, -0.99834, -0.00076 ], [ -0.01946, 0.00189, -0.99981 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 7.806060406379402, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Descend to see the blue bottle better in wrist camera." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.0041, -0.27425, 0.19746, -2.29443, 0.06194, 2.00486, 0.2248 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44881, 0.0993, 0.88112 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00051, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99815, -0.05754, -0.01985 ], [ -0.05756, -0.99834, -0.00081 ], [ -0.01977, 0.00195, -0.9998 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 55 }, "api_seconds": 9.211161687970161, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Probe move +x to calibrate wrist image direction mapping." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0096, -0.12293, 0.19724, -2.13886, 0.0296, 1.99839, 0.23106 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49882, 0.09927, 0.88109 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00058, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99814, -0.0576, -0.01993 ], [ -0.05763, -0.99834, -0.00079 ], [ -0.01985, 0.00194, -0.9998 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 54 }, "api_seconds": 17.41224413830787, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Probe move +y to calibrate wrist image y-direction." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.03164, -0.08782, 0.24951, -2.09891, 0.02895, 1.99426, 0.32526 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4988, 0.14893, 0.88109 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00059, 0.00026 ], "tcp_rotation_matrix": [ [ 0.99816, -0.05735, -0.01993 ], [ -0.05738, -0.99835, -0.00081 ], [ -0.01985, 0.00195, -0.9998 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 53 }, "api_seconds": 15.61082287505269, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "z": 0.83 }, "note": "Return to y=0.10 and descend closer to counter to judge bottle position." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00851, -0.07524, 0.20341, -2.21975, 0.0215, 2.12601, 0.24025 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49877, 0.10077, 0.83081 ], "tcp_roll_pitch_yaw": [ -0.00011, 0.00082, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99814, -0.05753, -0.02016 ], [ -0.05756, -0.99834, -0.00082 ], [ -0.02008, 0.00198, -0.9998 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 52 }, "api_seconds": 11.208771849051118, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": 0.13, "z": 0.78 }, "note": "Descend further and shift slightly toward apparent bottle location." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02437, -0.06937, 0.24107, -2.3524, 0.02737, 2.26491, 0.30443 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4705, 0.12947, 0.78093 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00107, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99814, -0.05738, -0.02041 ], [ -0.05741, -0.99835, -0.00089 ], [ -0.02032, 0.00206, -0.99979 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 51 }, "api_seconds": 15.01154774799943, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Probe -x at fixed height to see if blue object centers in wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04611, -0.21089, 0.24902, -2.5046, 0.07448, 2.27882, 0.2976 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42115, 0.1295, 0.78095 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00105, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99815, -0.05728, -0.0204 ], [ -0.05731, -0.99836, -0.00092 ], [ -0.02031, 0.00209, -0.99979 ] ], "simulated_seconds_remaining": 24.156, "calls_remaining_including_this": 50 }, "api_seconds": 16.012223987840116, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": -0.1, "z": 1.05 }, "note": "Retreat up and right to get an unobstructed exterior view of the objects on the counter." } } } ] } } ] }, "execution": { "steps": 41, "motion_seconds": 2.706, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.12209, -0.57513, -0.10425, -2.12368, -0.06176, 1.53152, -0.15347 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3503, -0.09918, 1.04905 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00082, 0.00019 ], "tcp_rotation_matrix": [ [ 0.99815, -0.05741, -0.02017 ], [ -0.05744, -0.99835, -0.00091 ], [ -0.02008, 0.00207, -0.9998 ] ], "simulated_seconds_remaining": 21.45, "calls_remaining_including_this": 49 }, "api_seconds": 25.02276107110083, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.0, "z": 0.95 }, "note": "Move to estimated bottle location (x~0.55,y~0.0) at safe height to verify alignment." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.03124, -0.0273, 0.03033, -1.85288, -0.00012, 1.80519, 0.05645 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54887, -0.00051, 0.95045 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00106, 0.00031 ], "tcp_rotation_matrix": [ [ 0.99815, -0.0573, -0.02041 ], [ -0.05733, -0.99835, -0.00092 ], [ -0.02032, 0.00209, -0.99979 ] ], "simulated_seconds_remaining": 19.536, "calls_remaining_including_this": 48 }, "api_seconds": 6.004905226640403, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.02, "z": 0.9 }, "note": "Bottle now near wrist image center; refine to x=0.52,y=0.02 and descend a bit." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01361, -0.09563, 0.04967, -2.05902, 0.00488, 1.94287, 0.09122 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52054, 0.01964, 0.90094 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00128, 0.00041 ], "tcp_rotation_matrix": [ [ 0.99815, -0.0572, -0.02062 ], [ -0.05723, -0.99836, -0.00094 ], [ -0.02053, 0.00211, -0.99979 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 47 }, "api_seconds": 15.812193075194955, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": 0.012, "z": 0.86 }, "note": "Refine alignment and descend toward the bottle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02011, -0.0409, 0.04278, -2.10007, 0.00144, 2.03826, 0.07926 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52969, 0.01218, 0.86101 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.00158, 0.00036 ], "tcp_rotation_matrix": [ [ 0.99814, -0.05724, -0.02093 ], [ -0.05728, -0.99836, -0.00094 ], [ -0.02084, 0.00213, -0.99978 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 46 }, "api_seconds": 4.604339434765279, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.548, "z": 0.82 }, "note": "Bottle drifting downward in view; shift +x and descend closer." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01998, 0.04973, 0.04289, -2.09642, -0.00304, 2.12485, 0.08182 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54744, 0.01218, 0.821 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.0019, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99813, -0.05725, -0.02124 ], [ -0.05729, -0.99836, -0.00094 ], [ -0.02115, 0.00216, -0.99977 ] ], "simulated_seconds_remaining": 17.622, "calls_remaining_including_this": 45 }, "api_seconds": 4.804127279669046, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.77 }, "note": "Continue descending toward the bottle keeping x,y fixed." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01952, 0.11292, 0.04263, -2.15378, -0.00673, 2.24501, 0.08445 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54736, 0.01217, 0.77105 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00222, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99813, -0.05725, -0.02156 ], [ -0.05729, -0.99836, -0.00095 ], [ -0.02147, 0.00218, -0.99977 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 44 }, "api_seconds": 5.605067799799144, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74 }, "note": "Descend a bit more to bracket the bottle body before closing." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01908, 0.1591, 0.0421, -2.17903, -0.0097, 2.31614, 0.08653 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54729, 0.01217, 0.74095 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00247, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99812, -0.05725, -0.02182 ], [ -0.05729, -0.99836, -0.00095 ], [ -0.02173, 0.0022, -0.99976 ] ], "simulated_seconds_remaining": 16.434, "calls_remaining_including_this": 43 }, "api_seconds": 3.002938679419458, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Bottle appears between fingers; closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01908, 0.15909, 0.04209, -2.17904, -0.0097, 2.31613, 0.08653 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54729, 0.01217, 0.74094 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00247, 0.00034 ], "tcp_rotation_matrix": [ [ 0.99812, -0.05726, -0.02181 ], [ -0.05729, -0.99836, -0.00095 ], [ -0.02172, 0.0022, -0.99976 ] ], "simulated_seconds_remaining": 15.51, "calls_remaining_including_this": 42 }, "api_seconds": 3.2029690453782678, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check whether the bottle was grasped." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02045, -0.01353, 0.04266, -1.96844, 0.00012, 1.93346, 0.07947 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54738, 0.01217, 0.89883 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.0021, 0.00034 ], "tcp_rotation_matrix": [ [ 0.99813, -0.05726, -0.02144 ], [ -0.05729, -0.99836, -0.00095 ], [ -0.02136, 0.00217, -0.99977 ] ], "simulated_seconds_remaining": 14.124, "calls_remaining_including_this": 41 }, "api_seconds": 12.009244715794921, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.515, "z": 0.78 }, "note": "Missed grasp; reopen and reposition slightly -x (object appeared above fingers) then re-inspect." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01965, 0.01014, 0.04348, -2.25741, -0.00112, 2.24572, 0.08185 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51527, 0.01217, 0.78115 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00246, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99812, -0.05726, -0.0218 ], [ -0.05729, -0.99836, -0.00095 ], [ -0.02171, 0.0022, -0.99976 ] ], "simulated_seconds_remaining": 13.002, "calls_remaining_including_this": 40 }, "api_seconds": 5.406518707983196, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7 }, "note": "Descend lower to make sure fingers straddle the bottle body rather than closing above it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01927, 0.14251, 0.04166, -2.30947, -0.01102, 2.44814, 0.08875 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52139, 0.01157, 0.70805 ], "tcp_roll_pitch_yaw": [ -0.0005, -0.01566, -0.00062 ], "tcp_rotation_matrix": [ [ 0.99829, -0.05826, -0.00369 ], [ -0.05826, -0.9983, -0.00121 ], [ -0.00361, 0.00142, -0.99999 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 39 }, "api_seconds": 4.403744891285896, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At lower height; close gripper to grasp bottle body." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01932, 0.1406, 0.04159, -2.3076, -0.01116, 2.44921, 0.08877 ], "gripper_open": 0.0, "tcp_xyz": [ 0.52302, 0.01151, 0.70988 ], "tcp_roll_pitch_yaw": [ -0.00055, -0.02054, -0.00066 ], "tcp_rotation_matrix": [ [ 0.9983, -0.0583, 0.00119 ], [ -0.0583, -0.9983, -0.00127 ], [ 0.00126, 0.0012, -1.0 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 38 }, "api_seconds": 22.6172596225515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.82 }, "note": "Reopen and lift to re-inspect bottle position relative to fingers." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02028, -0.03253, 0.04252, -2.20896, 0.0001, 2.17799, 0.08049 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52313, 0.01151, 0.81885 ], "tcp_roll_pitch_yaw": [ -0.00055, -0.02091, -0.00066 ], "tcp_rotation_matrix": [ [ 0.9983, -0.0583, 0.00156 ], [ -0.0583, -0.9983, -0.00127 ], [ 0.00163, 0.00117, -1.0 ] ], "simulated_seconds_remaining": 10.164, "calls_remaining_including_this": 37 }, "api_seconds": 24.02056855801493, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.575, "y": 0.02, "z": 0.78 }, "note": "Hypothesis: bottle is a few cm further +x. Move there and check drift behavior." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0119, 0.15943, 0.04833, -2.06899, -0.01136, 2.22951, 0.10108 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57392, 0.01984, 0.78068 ], "tcp_roll_pitch_yaw": [ -0.00055, -0.02069, -0.00064 ], "tcp_rotation_matrix": [ [ 0.9983, -0.05829, 0.00135 ], [ -0.05828, -0.9983, -0.00127 ], [ 0.00142, 0.00119, -1.0 ] ], "simulated_seconds_remaining": 9.438, "calls_remaining_including_this": 36 }, "api_seconds": 53.44237690139562, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Lift and move back to x=0.45 for a large-baseline parallax test of the blue blob." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00872, -0.34458, 0.04663, -2.19633, 0.01502, 1.85371, 0.08931 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45085, 0.01984, 0.94906 ], "tcp_roll_pitch_yaw": [ -0.00055, -0.02104, -0.00063 ], "tcp_rotation_matrix": [ [ 0.9983, -0.05827, 0.0017 ], [ -0.05827, -0.9983, -0.00126 ], [ 0.00177, 0.00116, -1.0 ] ], "simulated_seconds_remaining": 7.722, "calls_remaining_including_this": 35 }, "api_seconds": 15.613500548526645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.1, "z": 0.8 }, "note": "From exterior view the bottle looks left of the gripper; shift +y to y=0.10 and lower to just above counter." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04996, -0.0497, 0.14608, -2.27848, 0.00717, 2.23039, 0.24968 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49955, 0.0994, 0.80104 ], "tcp_roll_pitch_yaw": [ -0.00061, -0.02072, -0.00053 ], "tcp_rotation_matrix": [ [ 0.99831, -0.05817, 0.00138 ], [ -0.05817, -0.99831, -0.00133 ], [ 0.00145, 0.00124, -1.0 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 34 }, "api_seconds": 5.2045267801731825, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.135, "z": 0.75 }, "note": "Bottle just left of fingers in exterior; nudge +y and descend to grasp height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.08375, 0.05076, 0.17999, -2.30155, -0.01509, 2.35215, 0.33219 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49947, 0.13433, 0.75092 ], "tcp_roll_pitch_yaw": [ -0.00068, -0.02046, -0.00038 ], "tcp_rotation_matrix": [ [ 0.99831, -0.05802, 0.00112 ], [ -0.05802, -0.99831, -0.00139 ], [ 0.00119, 0.00132, -1.0 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 33 }, "api_seconds": 6.605622718110681, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper appears right at the bottle in exterior view; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.08375, 0.05076, 0.17999, -2.30155, -0.01509, 2.35215, 0.33219 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49947, 0.13434, 0.75091 ], "tcp_roll_pitch_yaw": [ -0.00067, -0.02046, -0.00038 ], "tcp_rotation_matrix": [ [ 0.99831, -0.05803, 0.00112 ], [ -0.05802, -0.99831, -0.00139 ], [ 0.0012, 0.00132, -1.0 ] ], "simulated_seconds_remaining": 4.62, "calls_remaining_including_this": 32 }, "api_seconds": 17.6129471603781, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.52, "y": 0.015, "z": 0.67 }, "note": "Reopen and go lower (counter may be lower than assumed) at the blob's bearing-aligned x,y." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.04643, 0.21558, 0.07585, -2.33075, -0.03145, 2.54639, 0.11204 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51976, 0.016, 0.67068 ], "tcp_roll_pitch_yaw": [ -0.00068, -0.02027, -0.00066 ], "tcp_rotation_matrix": [ [ 0.9983, -0.05831, 0.00093 ], [ -0.05831, -0.9983, -0.0014 ], [ 0.00101, 0.00134, -1.0 ] ], "simulated_seconds_remaining": 3.366, "calls_remaining_including_this": 31 }, "api_seconds": 5.6048794547095895, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at lower height in case the bottle is short." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.04643, 0.21558, 0.07585, -2.33075, -0.03145, 2.54639, 0.11204 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51977, 0.01599, 0.67068 ], "tcp_roll_pitch_yaw": [ -0.00068, -0.02028, -0.00066 ], "tcp_rotation_matrix": [ [ 0.9983, -0.0583, 0.00093 ], [ -0.0583, -0.9983, -0.0014 ], [ 0.00101, 0.00134, -1.0 ] ], "simulated_seconds_remaining": 2.442, "calls_remaining_including_this": 30 }, "api_seconds": 4.603713325224817, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasp attempts closed on empty air; wrist and exterior views gave conflicting localization of the blue bottle and simulated motion time is nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 015 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 15, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 16, "api_calls": 18, "wall_seconds": 191.27975606918335, "usage": { "input_tokens": 36, "cache_creation_input_tokens": 21322, "cache_read_input_tokens": 199747, "output_tokens": 11425 }, "estimated_cost_usd": 0.518941 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezfbtenRSbEknEVsGSan", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XKAd9wRDXWy5UxTzZpGGEM", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 151, "output_tokens_details": { "thinking_tokens": 127 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezfcBTZVa9Fc8YdupELv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XCu6zPiHG3e8The67XZGkv", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 1.05 }, "note": "Move forward over table to view objects from wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 587, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 587, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 354, "output_tokens_details": { "thinking_tokens": 254 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezfchqBoQzocsecW9YsN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KXbm5pxDyCvSHNhnKqvqNq", "name": "move_to", "input": { "targets": { "y": 0.04 }, "note": "Small lateral test move to calibrate wrist image axes." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 851, "cache_read_input_tokens": 2347, "cache_creation": { "ephemeral_5m_input_tokens": 851, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 351, "output_tokens_details": { "thinking_tokens": 257 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezfdCufJU5n8zXH4HBv8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DLN6DBuQyCm1YgJ37zab3R", "name": "move_to", "input": { "targets": { "y": -0.02, "z": 0.92 }, "note": "Descend toward estimated ladle position; ladle appeared right of image center meaning -y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 3198, "cache_creation": { "ephemeral_5m_input_tokens": 844, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 521, "output_tokens_details": { "thinking_tokens": 409 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezfdra5Hdxuesv2VquWG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0153s5JaUNqtpaZzSTwvBh8c", "name": "move_to", "input": { "targets": { "yaw": 1.57 }, "note": "Rotate gripper 90° so fingers close across the ladle handle (handle runs along robot y)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1015, "cache_read_input_tokens": 4042, "cache_creation": { "ephemeral_5m_input_tokens": 1015, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 705, "output_tokens_details": { "thinking_tokens": 596 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezfekYCcax2egScjiKtt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JbdsHukrPFQWsSSShj6WXP", "name": "move_to", "input": { "targets": { "x": 0.46 }, "note": "Test move -0.04 x to calibrate pixel scale in rotated 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": 1204, "cache_read_input_tokens": 5057, "cache_creation": { "ephemeral_5m_input_tokens": 1204, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 768, "output_tokens_details": { "thinking_tokens": 665 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezffbtpuTNZFeyKtfrDW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011JVmi6aYeobd1Ya4gQzgMx", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Descend to see fingers relative to ladle for alignment." }, "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": 6261, "cache_creation": { "ephemeral_5m_input_tokens": 1262, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 775, "output_tokens_details": { "thinking_tokens": 681 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezfgZkcwxZCobTMPbaG7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SCPXmBcDxZGNCYs7dKtUEV", "name": "move_to", "input": { "targets": { "x": 0.58, "y": 0.02, "z": 0.92 }, "note": "Estimated ladle handle at (0.58, 0.02) from pixel calibration; positioning 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": 1268, "cache_read_input_tokens": 7523, "cache_creation": { "ephemeral_5m_input_tokens": 1268, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 4734, "output_tokens_details": { "thinking_tokens": 4609 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezfm91ymtqXJXpqaubbC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DyaLpzM3rqZNCosGDc67Fn", "name": "move_to", "input": { "targets": { "x": 0.53, "y": 0.03, "z": 0.85 }, "note": "Move over estimated handle midpoint (0.53,0.03) and descend to 0.85 to check finger alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 5227, "cache_read_input_tokens": 8791, "cache_creation": { "ephemeral_5m_input_tokens": 5227, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1215, "output_tokens_details": { "thinking_tokens": 1086 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezfnX9mjDz88QCFyH6RE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JvkPndDDVgZcNDtzUpdGn8", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Descend closer to table to judge finger-handle alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1712, "cache_read_input_tokens": 14018, "cache_creation": { "ephemeral_5m_input_tokens": 1712, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 265, "output_tokens_details": { "thinking_tokens": 171 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezfo49aohmncKGMkPAf5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Er2dpMtkGFSh7w5155UJWT", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Continue descending toward table surface near handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 15730, "cache_creation": { "ephemeral_5m_input_tokens": 758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 224, "output_tokens_details": { "thinking_tokens": 135 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezfoNEXKTRusSmyrH6Ya", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Nn65QkyDJFD98HehuKzY98", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Descend further; looking for table contact height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 722, "cache_read_input_tokens": 16488, "cache_creation": { "ephemeral_5m_input_tokens": 722, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 369, "output_tokens_details": { "thinking_tokens": 281 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezfouGp1oyn88QKLkh1P", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015kCDSjYwMe7iur16L9GVyc", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "At table height near handle; closing 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": 867, "cache_read_input_tokens": 17210, "cache_creation": { "ephemeral_5m_input_tokens": 867, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 373, "output_tokens_details": { "thinking_tokens": 278 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezfpSSYjPFoKjR8YzjUR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WTitYerfN8Tbo5j92GsEqv", "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": 867, "cache_read_input_tokens": 18077, "cache_creation": { "ephemeral_5m_input_tokens": 867, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 72, "output_tokens_details": { "thinking_tokens": 48 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezfq621YF9aBeDHWGV2W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017zbY8zVFGLwTqC9p7Dfior", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper only partly closed; commanding full 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": 510, "cache_read_input_tokens": 18944, "cache_creation": { "ephemeral_5m_input_tokens": 510, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 158, "output_tokens_details": { "thinking_tokens": 66 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezfqLaMvT1EpDTvcQeqn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VDSwRVysRx5NotoihxVckc", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Continue closing gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 651, "cache_read_input_tokens": 19454, "cache_creation": { "ephemeral_5m_input_tokens": 651, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 144, "output_tokens_details": { "thinking_tokens": 60 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezfqZxGckVRC4miiFqpf", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015bgZTuEWM8o2VVe8dhZG2d", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Finish closing gripper on handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 637, "cache_read_input_tokens": 20105, "cache_creation": { "ephemeral_5m_input_tokens": 637, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 86, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezfqmBCs6n1kM8DdToyb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019swEmRrTdEekLpRqrj3nsA", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check if the ladle 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": 580, "cache_read_input_tokens": 20742, "cache_creation": { "ephemeral_5m_input_tokens": 580, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 160, "output_tokens_details": { "thinking_tokens": 70 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00727, -0.75507, -0.03574, -2.36636, 0.00977, 1.57091, -0.00658 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30776, -0.00985, 1.00116 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99885, -0.02709, -0.03952 ], [ -0.02569, -0.99904, 0.03557 ], [ -0.04045, -0.03451, -0.99859 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.009562932886183, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 1.05 }, "note": "Move forward over table to view objects from wrist camera." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.00597, -0.14355, -0.03971, -1.72777, 0.02857, 1.5435, -0.0066 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49873, -0.00985, 1.04962 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00013, -0.0 ], "tcp_rotation_matrix": [ [ 0.99885, -0.0271, -0.03965 ], [ -0.02569, -0.99904, 0.03557 ], [ -0.04057, -0.03451, -0.99858 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 56 }, "api_seconds": 6.405818307772279, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04 }, "note": "Small lateral test move to calibrate wrist image axes." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04484, -0.14211, 0.01198, -1.72707, 0.03946, 1.54737, 0.08301 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49873, 0.03896, 1.04962 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00013, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99885, -0.02685, -0.03966 ], [ -0.02544, -0.99904, 0.03556 ], [ -0.04057, -0.03451, -0.99858 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 55 }, "api_seconds": 8.40712043363601, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.02, "z": 0.92 }, "note": "Descend toward estimated ladle position; ladle appeared right of image center meaning -y." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0018, -0.15533, -0.04989, -2.06916, 0.027, 1.87216, -0.0332 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49869, -0.0195, 0.9211 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00044, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99884, -0.02697, -0.03997 ], [ -0.02555, -0.99904, 0.03557 ], [ -0.04089, -0.03451, -0.99857 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 54 }, "api_seconds": 11.408551977016032, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.57 }, "note": "Rotate gripper 90° so fingers close across the ladle handle (handle runs along robot y)." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.10006, -0.16156, -0.11297, -2.07621, -0.06121, 1.87974, -1.53042 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49869, -0.01949, 0.9211 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00045, 1.5653 ], "tcp_rotation_matrix": [ [ 0.03118, 0.99887, -0.03578 ], [ 0.99868, -0.0326, -0.03977 ], [ -0.04089, -0.03449, -0.99857 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 53 }, "api_seconds": 11.20759591460228, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46 }, "note": "Test move -0.04 x to calibrate pixel scale in rotated wrist view." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.09795, -0.27633, -0.10857, -2.19364, -0.07307, 1.88256, -1.52119 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46131, -0.0195, 0.92116 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00043, 1.56529 ], "tcp_rotation_matrix": [ [ 0.03119, 0.99888, -0.03569 ], [ 0.99868, -0.03261, -0.03976 ], [ -0.04087, -0.0344, -0.99857 ] ], "simulated_seconds_remaining": 23.562, "calls_remaining_including_this": 52 }, "api_seconds": 12.813082924112678, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Descend to see fingers relative to ladle for alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.09633, -0.22617, -0.11428, -2.32672, -0.07486, 2.06531, -1.51674 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46124, -0.0195, 0.85113 ], "tcp_roll_pitch_yaw": [ 0.00023, 0.00045, 1.56529 ], "tcp_rotation_matrix": [ [ 0.03118, 0.99886, -0.03602 ], [ 0.99868, -0.03261, -0.03977 ], [ -0.0409, -0.03473, -0.99856 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 51 }, "api_seconds": 61.64853174146265, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "y": 0.02, "z": 0.92 }, "note": "Estimated ladle handle at (0.58, 0.02) from pixel calibration; positioning above it." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.12939, 0.08874, -0.08322, -1.78611, -0.03183, 1.83662, -1.48364 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57892, 0.01966, 0.91936 ], "tcp_roll_pitch_yaw": [ 0.00017, 0.00045, 1.56536 ], "tcp_rotation_matrix": [ [ 0.03112, 0.99887, -0.03595 ], [ 0.99868, -0.03254, -0.03977 ], [ -0.0409, -0.03466, -0.99856 ] ], "simulated_seconds_remaining": 21.516, "calls_remaining_including_this": 50 }, "api_seconds": 18.41285885218531, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": 0.03, "z": 0.85 }, "note": "Move over estimated handle midpoint (0.53,0.03) and descend to 0.85 to check finger alignment." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.14294, -0.01446, -0.07125, -2.09148, -0.04272, 2.0377, -1.44729 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53071, 0.02986, 0.851 ], "tcp_roll_pitch_yaw": [ 0.00042, 0.00048, 1.5654 ], "tcp_rotation_matrix": [ [ 0.03106, 0.99886, -0.0362 ], [ 0.99868, -0.0325, -0.03981 ], [ -0.04094, -0.03492, -0.99855 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 49 }, "api_seconds": 7.005332433618605, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descend closer to table to judge finger-handle alignment." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.14198, 0.03926, -0.07211, -2.16099, -0.04137, 2.1605, -1.44544 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53064, 0.02985, 0.80106 ], "tcp_roll_pitch_yaw": [ 0.00074, 0.00052, 1.56541 ], "tcp_rotation_matrix": [ [ 0.03105, 0.99885, -0.03652 ], [ 0.99868, -0.0325, -0.03985 ], [ -0.04099, -0.03523, -0.99854 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 48 }, "api_seconds": 4.003809061832726, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Continue descending toward table surface near handle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.14106, 0.09512, -0.07238, -2.20295, -0.03932, 2.25793, -1.44458 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53057, 0.02984, 0.76102 ], "tcp_roll_pitch_yaw": [ 0.00104, 0.00056, 1.56541 ], "tcp_rotation_matrix": [ [ 0.03103, 0.99884, -0.03682 ], [ 0.99868, -0.0325, -0.03988 ], [ -0.04103, -0.03553, -0.99853 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 47 }, "api_seconds": 7.0055621564388275, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Descend further; looking for table contact height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.1397, 0.12338, -0.07247, -2.22538, -0.03639, 2.3428, -1.44471 ], "gripper_open": 1.0, "tcp_xyz": [ 0.53792, 0.03039, 0.74347 ], "tcp_roll_pitch_yaw": [ -0.03287, -0.00425, 1.56498 ], "tcp_rotation_matrix": [ [ 0.03282, 0.99946, -0.00294 ], [ 0.99884, -0.0329, -0.03526 ], [ -0.03533, -0.00178, -0.99937 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 46 }, "api_seconds": 6.805911018513143, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At table height near handle; closing gripper to attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.13988, 0.1162, -0.0723, -2.22295, -0.03626, 2.33855, -1.44506 ], "gripper_open": 0.8547, "tcp_xyz": [ 0.53914, 0.03074, 0.74798 ], "tcp_roll_pitch_yaw": [ -0.03816, -0.00517, 1.56549 ], "tcp_rotation_matrix": [ [ 0.03252, 0.99947, 0.00237 ], [ 0.99888, -0.03241, -0.03437 ], [ -0.03427, 0.00349, -0.99941 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 45 }, "api_seconds": 11.80954260379076, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper only partly closed; commanding full close again." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.14026, 0.10895, -0.07185, -2.22142, -0.036, 2.33306, -1.44545 ], "gripper_open": 0.6922, "tcp_xyz": [ 0.53956, 0.03129, 0.75204 ], "tcp_roll_pitch_yaw": [ -0.04136, -0.00602, 1.56636 ], "tcp_rotation_matrix": [ [ 0.03177, 0.99948, 0.0056 ], [ 0.99894, -0.03157, -0.03353 ], [ -0.03334, 0.00666, -0.99942 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 44 }, "api_seconds": 2.8029809296131134, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Continue closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.14078, 0.10055, -0.07122, -2.21954, -0.03566, 2.32558, -1.44584 ], "gripper_open": 0.4142, "tcp_xyz": [ 0.53977, 0.03201, 0.75669 ], "tcp_roll_pitch_yaw": [ -0.04408, -0.00695, 1.56745 ], "tcp_rotation_matrix": [ [ 0.03079, 0.99949, 0.00836 ], [ 0.999, -0.0305, -0.03261 ], [ -0.03234, 0.00935, -0.99943 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 43 }, "api_seconds": 2.202320641838014, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Finish closing gripper on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.14108, 0.09702, -0.07086, -2.21937, -0.03549, 2.32243, -1.44598 ], "gripper_open": 0.0851, "tcp_xyz": [ 0.53954, 0.0324, 0.75839 ], "tcp_roll_pitch_yaw": [ -0.04458, -0.00732, 1.56804 ], "tcp_rotation_matrix": [ [ 0.03023, 0.9995, 0.00888 ], [ 0.99903, -0.02993, -0.03223 ], [ -0.03195, 0.00985, -0.99944 ] ], "simulated_seconds_remaining": 15.114, "calls_remaining_including_this": 42 }, "api_seconds": 3.2030732575803995, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check if the ladle was grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 016 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 16, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "api_calls": 32, "wall_seconds": 461.54674434661865, "usage": { "input_tokens": 64, "cache_creation_input_tokens": 41259, "cache_read_input_tokens": 603982, "output_tokens": 24423 }, "estimated_cost_usd": 1.17075475 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezfkHVBsoeEQ1Tsri76c", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DhXZXvmnEUkBnVUbE9CViA", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 87, "output_tokens_details": { "thinking_tokens": 63 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezfkVgQf1J83qzgboy3k", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017zdvehbUczVim7whc7DVAz", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Lower gripper to get a closer wrist view of the pot to gauge offsets." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 520, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 520, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 218 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezfmHrnwhQL42EmAF9p2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A97PYWR4i9wHtkGg7g2xHW", "name": "move_to", "input": { "targets": { "y": 0.12 }, "note": "Probe motion toward +y to see which way pot moves in views." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 813, "cache_read_input_tokens": 2277, "cache_creation": { "ephemeral_5m_input_tokens": 813, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 263, "output_tokens_details": { "thinking_tokens": 168 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezfmn8Pe23HrYStqjZZe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hp6umTLhTjwqfLPnFGDbm9", "name": "move_to", "input": { "targets": { "x": 0.45 }, "note": "Probe +x to calibrate image directions." }, "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": 3090, "cache_creation": { "ephemeral_5m_input_tokens": 756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 534, "output_tokens_details": { "thinking_tokens": 445 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezfnUEeCpt9WXioaJKQK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ShuttoamH3L2ihrPX9WF7x", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.1 }, "note": "Pot appears up/right in wrist view; advance +x and slightly -y to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1027, "cache_read_input_tokens": 3846, "cache_creation": { "ephemeral_5m_input_tokens": 1027, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 347, "output_tokens_details": { "thinking_tokens": 236 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezfnz2YSKLSn8CaTBfBz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0135eaTYyficauf9NdMDfKvh", "name": "move_to", "input": { "targets": { "y": 0.15 }, "note": "Probe +y to determine image direction mapping for centering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 840, "cache_read_input_tokens": 4873, "cache_creation": { "ephemeral_5m_input_tokens": 840, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 659, "output_tokens_details": { "thinking_tokens": 566 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezfowYFQVjzCMx3QLsjY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013VZ2XjHyPQLaScH4ZQ3uMC", "name": "move_to", "input": { "targets": { "x": 0.46, "y": 0.19 }, "note": "Probing -x and +y to center pot 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": 1152, "cache_read_input_tokens": 5713, "cache_creation": { "ephemeral_5m_input_tokens": 1152, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 555, "output_tokens_details": { "thinking_tokens": 454 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezfphApwQxehtBtNHoLw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017QDye9dGeZXS67wYHLVd46", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Descending to get a closer, clearer view of the pot rim 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": 1048, "cache_read_input_tokens": 6865, "cache_creation": { "ephemeral_5m_input_tokens": 1048, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 640, "output_tokens_details": { "thinking_tokens": 542 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezfqmtsYEuKDjUgFf7tb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Un2WypaPbqBnj9CDfd6GWK", "name": "move_to", "input": { "targets": { "y": 0.27 }, "note": "Large +y probe to firmly establish y-direction mapping in the wrist image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1133, "cache_read_input_tokens": 7913, "cache_creation": { "ephemeral_5m_input_tokens": 1133, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 458, "output_tokens_details": { "thinking_tokens": 357 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezfrdEkWMtgTviCZrqvK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PoER8e8SEFfVWKdKYEUe39", "name": "move_to", "input": { "targets": { "x": 0.4 }, "note": "Clean -x probe to establish vertical image mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 955, "cache_read_input_tokens": 9046, "cache_creation": { "ephemeral_5m_input_tokens": 955, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 311, "output_tokens_details": { "thinking_tokens": 218 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezfs6P9FmmiZvtDvGC5X", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AG5qENZJVUjEzRBRiM9ahb", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.2 }, "note": "Using calibrated mapping (image up=+x, right=-y) to center pot 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": 804, "cache_read_input_tokens": 10001, "cache_creation": { "ephemeral_5m_input_tokens": 804, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1043, "output_tokens_details": { "thinking_tokens": 929 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezftP2Hwn9oQ6tR8AD9j", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013RDR7rB7uvPqQyvDCgSEpz", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Descending closer to judge finger placement relative to pot rim." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1536, "cache_read_input_tokens": 10805, "cache_creation": { "ephemeral_5m_input_tokens": 1536, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 365, "output_tokens_details": { "thinking_tokens": 270 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezftuEEDwLU22X3U5PoQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LomYR2HKouMA4ZtHJtn8ww", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Raise up for a full view of the pot to measure its extent and pick a rim wall to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 863, "cache_read_input_tokens": 12341, "cache_creation": { "ephemeral_5m_input_tokens": 863, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1549, "output_tokens_details": { "thinking_tokens": 1443 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezfvqvMkaQftx9Ze23Cm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018snuNCNUkWHJNMgm2ibmwd", "name": "move_to", "input": { "targets": { "x": 0.515, "y": 0.121 }, "note": "Aligning gripper over the pot's -y side rim wall for a wall grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2042, "cache_read_input_tokens": 13204, "cache_creation": { "ephemeral_5m_input_tokens": 2042, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 708, "output_tokens_details": { "thinking_tokens": 598 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezfwn4ChgorNmwbUbs1g", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CKz5ttUohZQuGjoLZ3gRre", "name": "move_to", "input": { "targets": { "x": 0.418, "y": 0.258 }, "note": "Corrected mapping (image up=-x, right=+y); aligning fingers over the pot's +y side rim wall." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1201, "cache_read_input_tokens": 15246, "cache_creation": { "ephemeral_5m_input_tokens": 1201, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2132, "output_tokens_details": { "thinking_tokens": 2011 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezfzGXnDGCyLc3Q2M8Fq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RqKmQNEHbpvSFANaj6aNeJ", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Descending toward rim height to see finger placement relative to the +y side wall." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2629, "cache_read_input_tokens": 16447, "cache_creation": { "ephemeral_5m_input_tokens": 2629, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 709, "output_tokens_details": { "thinking_tokens": 610 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezg1KXPQoAaPS1R4mpnL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LWgSvCPdPN1kco61sKZx2D", "name": "move_to", "input": { "targets": { "x": 0.36, "y": 0.236, "z": 0.92 }, "note": "Shifting to place finger midpoint over the pot's +y rim wall, slightly raised to avoid collision." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1201, "cache_read_input_tokens": 19076, "cache_creation": { "ephemeral_5m_input_tokens": 1201, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1630, "output_tokens_details": { "thinking_tokens": 1503 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezg3cRSQkDML2YvGiwfC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012rseTeyA647CFDwcEpoguT", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Descending toward rim; will check finger straddle 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": 2123, "cache_read_input_tokens": 20277, "cache_creation": { "ephemeral_5m_input_tokens": 2123, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 279, "output_tokens_details": { "thinking_tokens": 185 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezg45ReTkeemCGcidKDN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LN8n9bLE5XH9ytMG6SHLbe", "name": "move_to", "input": { "targets": { "x": 0.305, "y": 0.196, "z": 0.92, "yaw": 1.57 }, "note": "Rotating fingers 90 deg to straddle the rim wall that runs along y, and shifting to center that wall 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": 777, "cache_read_input_tokens": 22400, "cache_creation": { "ephemeral_5m_input_tokens": 777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2261, "output_tokens_details": { "thinking_tokens": 2118 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezg6moqGufYRUGU8Wabn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014EdTVuKhuXYgW3RKKwhYBW", "name": "move_to", "input": { "targets": { "x": 0.401, "y": 0.113 }, "note": "Shifting so the pot rim moves into the finger gap (pot appears up-left = +x,-y in the rotated 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": 2760, "cache_read_input_tokens": 23177, "cache_creation": { "ephemeral_5m_input_tokens": 2760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1221, "output_tokens_details": { "thinking_tokens": 1096 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezg8HNbXt56QrKqPEbuS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014yKzmzanUZZqpEbxAsToHX", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.073 }, "note": "Fine alignment to put the pot's x-normal rim wall 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": 1714, "cache_read_input_tokens": 25937, "cache_creation": { "ephemeral_5m_input_tokens": 1714, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 885, "output_tokens_details": { "thinking_tokens": 776 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezg9T9VueJDVrZrFPL9D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UeWMsWCYmKvcATcNLJfj1u", "name": "move_to", "input": { "targets": { "z": 0.865 }, "note": "Descending to rim height to check finger straddle 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": 1384, "cache_read_input_tokens": 27651, "cache_creation": { "ephemeral_5m_input_tokens": 1384, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 291, "output_tokens_details": { "thinking_tokens": 198 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezgA4Hc6MpD2gfZuzaqE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ELaLynEqYGNmQWu7JpdLBo", "name": "move_to", "input": { "targets": { "x": 0.45 }, "note": "Rim appears under the left finger; shifting +x to bring the rim 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": 785, "cache_read_input_tokens": 29035, "cache_creation": { "ephemeral_5m_input_tokens": 785, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 599, "output_tokens_details": { "thinking_tokens": 495 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezgB6c31dnc4BzWyXr2P", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rz5z4F2m8Qkku3hi7X6u4p", "name": "move_to", "input": { "targets": { "x": 0.487 }, "note": "Continue shifting +x so the rim wall sits in 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": 1092, "cache_read_input_tokens": 29820, "cache_creation": { "ephemeral_5m_input_tokens": 1092, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 419, "output_tokens_details": { "thinking_tokens": 321 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezgBsBRVS4xf8ysvb6Pb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Qd4LdqX7LG4Qu7eYvkR7HZ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempting closure at current alignment to test if the rim wall is captured." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 912, "cache_read_input_tokens": 30912, "cache_creation": { "ephemeral_5m_input_tokens": 912, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 349, "output_tokens_details": { "thinking_tokens": 251 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezgCUZAXH7P8rwjtiA4g", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VxYdvwZvwofkXzjQddnTWL", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.21, "z": 0.9, "gripper": 1 }, "note": "Empty close confirms misalignment; repositioning over the pot region that looked best earlier, 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": 841, "cache_read_input_tokens": 31824, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1892, "output_tokens_details": { "thinking_tokens": 1757 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezgErt9iHF8GFvUjvEDr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UKnxs4PC9fEAXfndnUEhub", "name": "move_to", "input": { "targets": { "x": 0.41, "y": 0.1, "z": 0.83 }, "note": "Previous close may have been too high; repositioning and descending lower toward rim/counter level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2391, "cache_read_input_tokens": 32665, "cache_creation": { "ephemeral_5m_input_tokens": 2391, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 945, "output_tokens_details": { "thinking_tokens": 826 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezgG9S5cHvCmMLHDKjVD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FxLuqHiErkPPUS7mezmGsp", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.07 }, "note": "Small shift +x/-y toward the pot wall at low height 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": 1443, "cache_read_input_tokens": 35056, "cache_creation": { "ephemeral_5m_input_tokens": 1443, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 489, "output_tokens_details": { "thinking_tokens": 383 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezgGrU9tKi7dsGBhaaRU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013KPb8vwgwaPPJsqUe2eFMs", "name": "move_to", "input": { "targets": { "y": 0.02 }, "note": "Rim band sits above the finger gap in image; shifting -y to bring wall 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": 987, "cache_read_input_tokens": 36499, "cache_creation": { "ephemeral_5m_input_tokens": 987, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 547, "output_tokens_details": { "thinking_tokens": 442 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezgHhkosQZ5aVMzd6a16", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019iMzhrDJ2kgBFWbbPD1XK2", "name": "move_to", "input": { "targets": { "x": 0.368, "y": 0.07 }, "note": "Returning to prior promising y and shifting -x to drop the rim band 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": 1040, "cache_read_input_tokens": 37486, "cache_creation": { "ephemeral_5m_input_tokens": 1040, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1194, "output_tokens_details": { "thinking_tokens": 1082 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezgK9LDJUdBSbdkiyF3i", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01C9gKCQ6DAXNHkKnXWUi17Y", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.17, "gripper": 0 }, "note": "Final attempt: move over the pot wall region that looked centered earlier 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": 1691, "cache_read_input_tokens": 38526, "cache_creation": { "ephemeral_5m_input_tokens": 1691, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 549, "output_tokens_details": { "thinking_tokens": 429 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezgKyTvXcQAVLTp6Errn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NuSXnP1Fs67qPutEMdL3oE", "name": "give_up", "input": { "note": "Could not resolve consistent wrist-camera-to-base direction mapping; gripper closed empty twice and simulated motion budget is exhausted, so the pot was not grasped." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1042, "cache_read_input_tokens": 40217, "cache_creation": { "ephemeral_5m_input_tokens": 1042, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 193, "output_tokens_details": { "thinking_tokens": 90 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01629, -0.76761, 0.01038, -2.32177, 0.04491, 1.54035, -0.01438 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30649, 0.01996, 1.02353 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99914, 0.03886, -0.01474 ], [ 0.03938, -0.99853, 0.03733 ], [ -0.01327, -0.03788, -0.99919 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.414788485504687, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Lower gripper to get a closer wrist view of the pot to gauge offsets." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01673, -0.8036, 0.0139, -2.57948, 0.0486, 1.76167, -0.0224 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30645, 0.01996, 0.93123 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00028, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99913, 0.03885, -0.01502 ], [ 0.03939, -0.99853, 0.03732 ], [ -0.01354, -0.03788, -0.99919 ] ], "simulated_seconds_remaining": 29.106, "calls_remaining_including_this": 56 }, "api_seconds": 6.205683220177889, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Probe motion toward +y to see which way pot moves in views." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.10407, -0.75242, 0.18475, -2.54028, 0.16963, 1.78754, 0.1627 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30646, 0.11875, 0.93123 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00026, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99913, 0.03902, -0.01501 ], [ 0.03955, -0.99852, 0.03724 ], [ -0.01353, -0.0378, -0.99919 ] ], "simulated_seconds_remaining": 28.116, "calls_remaining_including_this": 55 }, "api_seconds": 9.007686744444072, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Probe +x to calibrate image directions." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.03713, -0.29884, 0.18084, -2.19211, 0.09749, 1.88939, 0.13975 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44866, 0.11873, 0.9312 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00038, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99913, 0.03894, -0.01512 ], [ 0.03948, -0.99853, 0.03725 ], [ -0.01365, -0.03781, -0.99919 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 54 }, "api_seconds": 6.605774562805891, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.1 }, "note": "Pot appears up/right in wrist view; advance +x and slightly -y to center it." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.00788, -0.09668, 0.15909, -1.98404, 0.05728, 1.87924, 0.10942 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51876, 0.10027, 0.93115 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00049, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99913, 0.03881, -0.01523 ], [ 0.03935, -0.99853, 0.03727 ], [ -0.01376, -0.03784, -0.99919 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 53 }, "api_seconds": 12.610109057277441, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Probe +y to determine image direction mapping for centering." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.0486, -0.06497, 0.20791, -1.94833, 0.05596, 1.87898, 0.19957 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51874, 0.14896, 0.93114 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.0005, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99912, 0.03905, -0.01525 ], [ 0.0396, -0.99852, 0.03726 ], [ -0.01377, -0.03783, -0.99919 ] ], "simulated_seconds_remaining": 25.41, "calls_remaining_including_this": 52 }, "api_seconds": 10.007112338207662, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "y": 0.19 }, "note": "Probing -x and +y to center pot in wrist view." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.09492, -0.19972, 0.25578, -2.09161, 0.09541, 1.89518, 0.27563 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46099, 0.18939, 0.93119 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00042, 0.00045 ], "tcp_rotation_matrix": [ [ 0.99911, 0.03929, -0.01517 ], [ 0.03984, -0.99851, 0.03725 ], [ -0.01369, -0.03783, -0.99919 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 51 }, "api_seconds": 14.410307144746184, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Descending to get a closer, clearer view of the pot rim and handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.09692, -0.17099, 0.26227, -2.19173, 0.09384, 2.02318, 0.27472 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46094, 0.18937, 0.88108 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00071, 0.00045 ], "tcp_rotation_matrix": [ [ 0.99911, 0.03929, -0.01546 ], [ 0.03984, -0.99851, 0.03718 ], [ -0.01398, -0.03776, -0.99919 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 50 }, "api_seconds": 11.207934421487153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.27 }, "note": "Large +y probe to firmly establish y-direction mapping in the wrist image." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.15612, -0.06769, 0.34808, -2.0798, 0.07005, 2.01957, 0.43339 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4609, 0.26883, 0.88106 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00072, 0.00071 ], "tcp_rotation_matrix": [ [ 0.9991, 0.03954, -0.01549 ], [ 0.04009, -0.99851, 0.03715 ], [ -0.014, -0.03774, -0.99919 ] ], "simulated_seconds_remaining": 23.1, "calls_remaining_including_this": 49 }, "api_seconds": 6.20619026850909, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Clean -x probe to establish vertical image mapping." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.18761, -0.23289, 0.36224, -2.24763, 0.1359, 2.0316, 0.44073 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40117, 0.2689, 0.88111 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00064, 0.00088 ], "tcp_rotation_matrix": [ [ 0.99909, 0.03971, -0.01542 ], [ 0.04026, -0.9985, 0.03713 ], [ -0.01392, -0.03772, -0.99919 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 48 }, "api_seconds": 17.0202009761706, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.2 }, "note": "Using calibrated mapping (image up=+x, right=-y) to center pot in wrist view." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12322, -0.22006, 0.27134, -2.24111, 0.11005, 2.02623, 0.30001 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43938, 0.20111, 0.8811 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00068, 0.00058 ], "tcp_rotation_matrix": [ [ 0.9991, 0.03941, -0.01544 ], [ 0.03996, -0.99851, 0.03717 ], [ -0.01395, -0.03775, -0.99919 ] ], "simulated_seconds_remaining": 21.582, "calls_remaining_including_this": 47 }, "api_seconds": 6.805184946395457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Descending closer to judge finger placement relative to pot rim." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12409, -0.18141, 0.27843, -2.30861, 0.10619, 2.13139, 0.30184 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43933, 0.20108, 0.84103 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.00095, 0.00058 ], "tcp_rotation_matrix": [ [ 0.9991, 0.0394, -0.01571 ], [ 0.03996, -0.99851, 0.03708 ], [ -0.01423, -0.03768, -0.99919 ] ], "simulated_seconds_remaining": 20.988, "calls_remaining_including_this": 46 }, "api_seconds": 26.01863666344434, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Raise up for a full view of the pot to measure its extent and pick a rim wall to grasp." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.1201, -0.25457, 0.26079, -2.10042, 0.10954, 1.8517, 0.30259 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43939, 0.20111, 0.94884 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00064, 0.00057 ], "tcp_rotation_matrix": [ [ 0.9991, 0.03941, -0.0154 ], [ 0.03996, -0.99851, 0.03718 ], [ -0.01392, -0.03777, -0.99919 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 45 }, "api_seconds": 12.209757380187511, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.515, "y": 0.121 }, "note": "Aligning gripper over the pot's -y side rim wall for a wall grasp." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.04055, -0.10249, 0.16634, -1.94559, 0.0586, 1.83652, 0.15089 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51415, 0.12183, 0.9488 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00072, 0.00032 ], "tcp_rotation_matrix": [ [ 0.99911, 0.03915, -0.01547 ], [ 0.0397, -0.99852, 0.03721 ], [ -0.01399, -0.03779, -0.99919 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 44 }, "api_seconds": 33.22401446476579, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.418, "y": 0.258 }, "note": "Corrected mapping (image up=-x, right=+y); aligning fingers over the pot's +y side rim wall." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.16859, -0.23808, 0.32896, -2.08001, 0.12128, 1.85614, 0.41523 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41874, 0.257, 0.94882 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00066, 0.00062 ], "tcp_rotation_matrix": [ [ 0.9991, 0.03945, -0.01543 ], [ 0.04001, -0.99851, 0.03719 ], [ -0.01394, -0.03778, -0.99919 ] ], "simulated_seconds_remaining": 17.49, "calls_remaining_including_this": 43 }, "api_seconds": 14.010839311406016, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Descending toward rim height to see finger placement relative to the +y side wall." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.17199, -0.20292, 0.34145, -2.2197, 0.12006, 2.02957, 0.41419 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41869, 0.25697, 0.88125 ], "tcp_roll_pitch_yaw": [ -0.00026, 0.00099, 0.00062 ], "tcp_rotation_matrix": [ [ 0.9991, 0.03944, -0.01575 ], [ 0.04, -0.99851, 0.03706 ], [ -0.01427, -0.03766, -0.99919 ] ], "simulated_seconds_remaining": 16.764, "calls_remaining_including_this": 42 }, "api_seconds": 30.827853383496404, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "y": 0.236, "z": 0.92 }, "note": "Shifting to place finger midpoint over the pot's +y rim wall, slightly raised to avoid collision." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.19887, -0.42234, 0.31521, -2.32079, 0.17806, 1.91566, 0.38795 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36105, 0.2364, 0.91942 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00075, 0.00068 ], "tcp_rotation_matrix": [ [ 0.9991, 0.03951, -0.01551 ], [ 0.04006, -0.99851, 0.03709 ], [ -0.01403, -0.03768, -0.99919 ] ], "simulated_seconds_remaining": 15.972, "calls_remaining_including_this": 41 }, "api_seconds": 6.004657580517232, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Descending toward rim; will check finger straddle before closing." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.20145, -0.38948, 0.33091, -2.41749, 0.18416, 2.04452, 0.3852 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36099, 0.23637, 0.87126 ], "tcp_roll_pitch_yaw": [ -0.00036, 0.00105, 0.00068 ], "tcp_rotation_matrix": [ [ 0.99909, 0.0395, -0.01582 ], [ 0.04006, -0.99851, 0.03696 ], [ -0.01434, -0.03756, -0.99919 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 40 }, "api_seconds": 35.829647932201624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.305, "y": 0.196, "z": 0.92, "yaw": 1.57 }, "note": "Rotating fingers 90 deg to straddle the rim wall that runs along y, and shifting to center that wall between the fingers." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.49235, -0.5867, 0.06218, -2.4615, 0.04166, 1.83573, -1.07277 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30516, 0.19612, 0.91989 ], "tcp_roll_pitch_yaw": [ -0.00043, 0.00103, 1.56533 ], "tcp_rotation_matrix": [ [ -0.03391, 0.99874, -0.03699 ], [ 0.99932, 0.03336, -0.01557 ], [ -0.01432, -0.03749, -0.99919 ] ], "simulated_seconds_remaining": 13.002, "calls_remaining_including_this": 39 }, "api_seconds": 20.021252991631627, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.401, "y": 0.113 }, "note": "Shifting so the pot rim moves into the finger gap (pot appears up-left = +x,-y in the rotated wrist view)." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.39811, -0.4149, -0.10328, -2.32333, -0.04738, 1.87003, -1.285 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39999, 0.11385, 0.91987 ], "tcp_roll_pitch_yaw": [ -0.00036, 0.00099, 1.56511 ], "tcp_rotation_matrix": [ [ -0.0337, 0.99874, -0.03706 ], [ 0.99933, 0.03315, -0.01552 ], [ -0.01427, -0.03755, -0.99919 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 38 }, "api_seconds": 15.412043224088848, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.073 }, "note": "Fine alignment to put the pot's x-normal rim wall between the fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.36441, -0.38681, -0.16282, -2.29563, -0.07166, 1.8731, -1.36666 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41947, 0.07406, 0.91987 ], "tcp_roll_pitch_yaw": [ -0.00034, 0.00095, 1.56489 ], "tcp_rotation_matrix": [ [ -0.03348, 0.99875, -0.03708 ], [ 0.99934, 0.03293, -0.01547 ], [ -0.01423, -0.03757, -0.99919 ] ], "simulated_seconds_remaining": 11.286, "calls_remaining_including_this": 37 }, "api_seconds": 8.20707063190639, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.865 }, "note": "Descending to rim height to check finger straddle before closing." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.36309, -0.35147, -0.1708, -2.40349, -0.07338, 2.01584, -1.36736 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41942, 0.07404, 0.86617 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00104, 1.5649 ], "tcp_rotation_matrix": [ [ -0.03349, 0.99874, -0.03739 ], [ 0.99934, 0.03293, -0.01556 ], [ -0.01431, -0.03788, -0.99918 ] ], "simulated_seconds_remaining": 10.626, "calls_remaining_including_this": 36 }, "api_seconds": 13.809885767288506, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Rim appears under the left finger; shifting +x to bring the rim into the finger gap." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.36406, -0.26028, -0.18473, -2.31678, -0.06179, 2.02025, -1.38965 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44897, 0.07404, 0.86615 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00105, 1.56487 ], "tcp_rotation_matrix": [ [ -0.03346, 0.99874, -0.03744 ], [ 0.99934, 0.0329, -0.01557 ], [ -0.01432, -0.03793, -0.99918 ] ], "simulated_seconds_remaining": 10.098, "calls_remaining_including_this": 35 }, "api_seconds": 10.208405490033329, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.487 }, "note": "Continue shifting +x so the rim wall sits in the finger gap." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.36318, -0.1491, -0.19962, -2.20227, -0.04279, 2.01614, -1.41844 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48572, 0.07402, 0.86612 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00106, 1.56482 ], "tcp_rotation_matrix": [ [ -0.03342, 0.99874, -0.0375 ], [ 0.99934, 0.03285, -0.01558 ], [ -0.01433, -0.03799, -0.99918 ] ], "simulated_seconds_remaining": 9.57, "calls_remaining_including_this": 34 }, "api_seconds": 8.006331203505397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempting closure at current alignment to test if the rim wall is captured." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.36318, -0.1491, -0.19962, -2.20227, -0.04279, 2.01614, -1.41844 ], "gripper_open": 0.0, "tcp_xyz": [ 0.48573, 0.07402, 0.86612 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00106, 1.56482 ], "tcp_rotation_matrix": [ [ -0.03342, 0.99874, -0.0375 ], [ 0.99934, 0.03285, -0.01558 ], [ -0.01433, -0.03799, -0.99918 ] ], "simulated_seconds_remaining": 8.646, "calls_remaining_including_this": 33 }, "api_seconds": 31.823658814653754, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.21, "z": 0.9, "gripper": 1 }, "note": "Empty close confirms misalignment; repositioning over the pot region that looked best earlier, gripper reopened." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.4913, -0.28942, -0.01123, -2.26217, 0.0003, 1.93238, -1.12373 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40068, 0.20898, 0.89975 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00105, 1.5651 ], "tcp_rotation_matrix": [ [ -0.03369, 0.99873, -0.03741 ], [ 0.99933, 0.03313, -0.01558 ], [ -0.01432, -0.03791, -0.99918 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 32 }, "api_seconds": 16.81243663467467, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.41, "y": 0.1, "z": 0.83 }, "note": "Previous close may have been too high; repositioning and descending lower toward rim/counter level." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.39687, -0.32333, -0.14616, -2.47444, -0.06041, 2.11315, -1.31265 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4099, 0.10101, 0.83065 ], "tcp_roll_pitch_yaw": [ 0.00014, 0.00107, 1.56489 ], "tcp_rotation_matrix": [ [ -0.03349, 0.99873, -0.03757 ], [ 0.99934, 0.03292, -0.01559 ], [ -0.01433, -0.03806, -0.99917 ] ], "simulated_seconds_remaining": 6.072, "calls_remaining_including_this": 31 }, "api_seconds": 9.607998467981815, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.07 }, "note": "Small shift +x/-y toward the pot wall at low height before closing." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.36852, -0.25489, -0.19684, -2.40638, -0.06776, 2.11537, -1.38867 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43919, 0.0708, 0.83064 ], "tcp_roll_pitch_yaw": [ 0.00017, 0.00104, 1.5647 ], "tcp_rotation_matrix": [ [ -0.0333, 0.99874, -0.03759 ], [ 0.99934, 0.03273, -0.01555 ], [ -0.0143, -0.03809, -0.99917 ] ], "simulated_seconds_remaining": 5.478, "calls_remaining_including_this": 30 }, "api_seconds": 11.2084598550573, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.02 }, "note": "Rim band sits above the finger gap in image; shifting -y to bring wall between fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.32193, -0.27577, -0.25731, -2.42286, -0.09587, 2.11493, -1.47699 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43921, 0.0211, 0.83065 ], "tcp_roll_pitch_yaw": [ 0.00015, 0.00101, 1.56447 ], "tcp_rotation_matrix": [ [ -0.03307, 0.99875, -0.03758 ], [ 0.99935, 0.03251, -0.01551 ], [ -0.01427, -0.03807, -0.99917 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 29 }, "api_seconds": 19.214420509524643, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.368, "y": 0.07 }, "note": "Returning to prior promising y and shifting -x to drop the rim band into the finger gap." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.35715, -0.47871, -0.15997, -2.60775, -0.0929, 2.09226, -1.33941 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3691, 0.0693, 0.83067 ], "tcp_roll_pitch_yaw": [ 0.00013, 0.001, 1.56465 ], "tcp_rotation_matrix": [ [ -0.03324, 0.99874, -0.03755 ], [ 0.99935, 0.03268, -0.0155 ], [ -0.01426, -0.03805, -0.99917 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 28 }, "api_seconds": 10.807864262722433, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.17, "gripper": 0 }, "note": "Final attempt: move over the pot wall region that looked centered earlier and close the gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.45253, -0.28483, -0.04962, -2.43928, -0.01533, 2.11428, -1.19166 ], "gripper_open": 0.0003, "tcp_xyz": [ 0.39923, 0.16935, 0.8312 ], "tcp_roll_pitch_yaw": [ 8e-05, 0.00063, 1.5659 ], "tcp_rotation_matrix": [ [ -0.0345, 0.9987, -0.03748 ], [ 0.99931, 0.03395, -0.01519 ], [ -0.0139, -0.03798, -0.99918 ] ], "simulated_seconds_remaining": 2.97, "calls_remaining_including_this": 27 }, "api_seconds": 4.804379446431994, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not resolve consistent wrist-camera-to-base direction mapping; gripper closed empty twice and simulated motion budget is exhausted, so the pot was not grasped." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 017 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 17, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 12, "api_calls": 13, "wall_seconds": 115.65355634689331, "usage": { "input_tokens": 26, "cache_creation_input_tokens": 12372, "cache_read_input_tokens": 74805, "output_tokens": 5155 }, "estimated_cost_usd": 0.2437325 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezft6MS16LvqSHcKgQoN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EZgMG7c2deyXyhqAhkqMVS", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 80, "output_tokens_details": { "thinking_tokens": 56 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezftKAcUHfRear62gNCh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LBPAVYVSyVeN6RbjKsKL2G", "name": "move_to", "input": { "targets": { "x": 0.25, "z": 1.2 }, "note": "Raise arm to get overhead view of table to locate ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 515, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 515, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 196, "output_tokens_details": { "thinking_tokens": 93 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezftkFj2hxsd9JCrpdcu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gmyc8ryWTkKAr4dAo6PWjN", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.2, "z": 1.25 }, "note": "Move right-forward and high to survey right side of table with wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 689, "cache_read_input_tokens": 2274, "cache_creation": { "ephemeral_5m_input_tokens": 689, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 474, "output_tokens_details": { "thinking_tokens": 361 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezfuYcmZJJ7bAWa3xEY5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011Rsneb4NUDxTCZQP1rtsbH", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.2, "z": 1.15 }, "note": "Move right-forward to survey right side of table." }, "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": 2963, "cache_creation": { "ephemeral_5m_input_tokens": 964, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 148, "output_tokens_details": { "thinking_tokens": 43 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezfuzsaxAHDTGzRZVh9V", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0134byurt9GksB4jq1ibRCP9", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.4, "z": 1.15 }, "note": "Continue surveying further right where a long-handled object appeared." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 3927, "cache_creation": { "ephemeral_5m_input_tokens": 641, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 191, "output_tokens_details": { "thinking_tokens": 81 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezfvMbWYcTVnSrk9Bt7m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FqKumNZBW8sYUMmx5SkAYd", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.35, "z": 1.15 }, "note": "Move arm left to unblock exterior camera view of right side of table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 690, "cache_read_input_tokens": 4568, "cache_creation": { "ephemeral_5m_input_tokens": 690, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 348, "output_tokens_details": { "thinking_tokens": 236 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezfw6TE21tpPRCvkPaKW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M9rrVNgbkCPnMziut66VwD", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.45, "z": 1.05 }, "note": "Inspect far-right area of table where an unidentified object 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": 841, "cache_read_input_tokens": 5258, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 873, "output_tokens_details": { "thinking_tokens": 761 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezfxVAUtGkdZdYgA9XG7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y39xSu96V5xKFZF7zZBrE7", "name": "move_to", "input": { "targets": { "x": 0.62, "y": -0.5, "z": 1.0 }, "note": "Short move further out to right-far area to spot the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1367, "cache_read_input_tokens": 6099, "cache_creation": { "ephemeral_5m_input_tokens": 1367, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 654, "output_tokens_details": { "thinking_tokens": 545 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezfyPvkQCtcUg3GAnLZp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0143HxXoEhQDKgpzN2Wk3py4", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.25, "z": 0.98 }, "note": "Reachable vantage closer to tomato/right region to identify the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1148, "cache_read_input_tokens": 7466, "cache_creation": { "ephemeral_5m_input_tokens": 1148, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 488, "output_tokens_details": { "thinking_tokens": 373 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezfzBzRcJNERRv17xaN7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016QUUwnQaMymdjMVsxxpFgw", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.1, "z": 1.05 }, "note": "Check left-center table area (near bottle/egg) for a flat-lying ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 987, "cache_read_input_tokens": 8614, "cache_creation": { "ephemeral_5m_input_tokens": 987, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 598, "output_tokens_details": { "thinking_tokens": 480 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezg15FeBtvA9uaqH31r5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CdU6XY5tSkQDsMSgdK7yJ1", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Descend for closer wrist view of the white object below to see if it's a ladle bowl." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1091, "cache_read_input_tokens": 9601, "cache_creation": { "ephemeral_5m_input_tokens": 1091, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 400, "output_tokens_details": { "thinking_tokens": 297 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezg1hGLwSvjiyTb8sjvu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mb8H1jm2hGamNb88LBfw9V", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.55, "z": 0.97 }, "note": "Last attempt to reach/see the far-right object that may be the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 892, "cache_read_input_tokens": 10692, "cache_creation": { "ephemeral_5m_input_tokens": 892, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 298, "output_tokens_details": { "thinking_tokens": 184 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezg2681ZfncwARAnyVyP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012ZTrksWGhGkAFg8o8Ab9zv", "name": "give_up", "input": { "note": "Surveyed the table: found bread, egg, wine bottle, tomato. The only candidate ladle-like object sits at the far right edge, beyond the arm's reachable workspace (IK rejected), 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": 788, "cache_read_input_tokens": 11584, "cache_creation": { "ephemeral_5m_input_tokens": 788, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 407, "output_tokens_details": { "thinking_tokens": 283 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.01703, -0.77673, 0.03864, -2.35525, -0.01896, 1.54692, 0.00131 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30169, 0.00083, 1.01112 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99946, 0.00936, -0.03148 ], [ 0.0079, -0.99889, -0.04634 ], [ -0.03188, 0.04607, -0.99843 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.60702986177057, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.25, "z": 1.2 }, "note": "Raise arm to get overhead view of table to locate ladle." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.02305, -0.66935, 0.03702, -1.75764, -0.02665, 1.05724, -0.01574 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25039, 0.00083, 1.19874 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00025, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99947, 0.00936, -0.03124 ], [ 0.0079, -0.99889, -0.04634 ], [ -0.03163, 0.04607, -0.99844 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 10.80820990074426, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.2, "z": 1.25 }, "note": "Move right-forward and high to survey right side of table with wrist camera." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 3, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.02305, -0.66935, 0.03702, -1.75764, -0.02665, 1.05724, -0.01574 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.25039, 0.00083, 1.19874 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00025, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99947, 0.00936, -0.03124 ], [ 0.0079, -0.99889, -0.04634 ], [ -0.03163, 0.04607, -0.99844 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 55 }, "api_seconds": 4.604796260595322, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.2, "z": 1.15 }, "note": "Move right-forward to survey right side of table." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.09685, -0.08641, -0.26552, -1.39515, -0.08002, 1.29944, -0.39079 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44909, -0.1991, 1.15012 ], "tcp_roll_pitch_yaw": [ 7e-05, 1e-05, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99946, 0.00925, -0.0315 ], [ 0.00779, -0.9989, -0.04627 ], [ -0.03189, 0.046, -0.99843 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 54 }, "api_seconds": 3.6038564313203096, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.4, "z": 1.15 }, "note": "Continue surveying further right where a long-handled object appeared." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.45286, 0.4322, -0.44762, -0.71218, 0.14213, 1.12485, -0.80826 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44996, -0.39879, 1.14989 ], "tcp_roll_pitch_yaw": [ 0.00016, 0.00023, -0.00048 ], "tcp_rotation_matrix": [ [ 0.99946, 0.00889, -0.03174 ], [ 0.00742, -0.99891, -0.04617 ], [ -0.03211, 0.04591, -0.99843 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 53 }, "api_seconds": 6.605717747472227, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.35, "z": 1.15 }, "note": "Move arm left to unblock exterior camera view of right side of table." } } } ] } } ] }, "execution": { "steps": 82, "motion_seconds": 5.412, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.16942, -0.17539, 0.59271, -1.44893, 0.09022, 1.24916, 0.77012 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30023, 0.34871, 1.14996 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.00029, -0.00022 ], "tcp_rotation_matrix": [ [ 0.99945, 0.00916, -0.03178 ], [ 0.00768, -0.9989, -0.04624 ], [ -0.03217, 0.04597, -0.99842 ] ], "simulated_seconds_remaining": 19.14, "calls_remaining_including_this": 52 }, "api_seconds": 15.214288018643856, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.45, "z": 1.05 }, "note": "Inspect far-right area of table where an unidentified object was seen." } } } ] } } ] }, "execution": { "steps": 88, "motion_seconds": 5.808, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.47111, 0.52118, -0.41558, -0.8665, 0.15083, 1.36535, -0.81149 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49961, -0.44878, 1.05002 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00056, -0.00053 ], "tcp_rotation_matrix": [ [ 0.99945, 0.00886, -0.03207 ], [ 0.00738, -0.99891, -0.04613 ], [ -0.03244, 0.04587, -0.99842 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 51 }, "api_seconds": 12.209752954542637, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": -0.5, "z": 1.0 }, "note": "Short move further out to right-far area to spot the ladle." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 8, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.47111, 0.52118, -0.41558, -0.8665, 0.15083, 1.36535, -0.81149 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49961, -0.44878, 1.05002 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00056, -0.00053 ], "tcp_rotation_matrix": [ [ 0.99945, 0.00886, -0.03207 ], [ 0.00738, -0.99891, -0.04613 ], [ -0.03244, 0.04587, -0.99842 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 50 }, "api_seconds": 9.607735666446388, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.25, "z": 0.98 }, "note": "Reachable vantage closer to tomato/right region to identify the ladle." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11923, 0.15258, -0.31446, -1.56203, -0.00834, 1.69725, -0.43785 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54976, -0.25111, 0.98041 ], "tcp_roll_pitch_yaw": [ 0.00027, 0.00064, -0.00021 ], "tcp_rotation_matrix": [ [ 0.99944, 0.00918, -0.03213 ], [ 0.0077, -0.99891, -0.04607 ], [ -0.03251, 0.0458, -0.99842 ] ], "simulated_seconds_remaining": 11.616, "calls_remaining_including_this": 49 }, "api_seconds": 10.20814795140177, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.1, "z": 1.05 }, "note": "Check left-center table area (near bottle/egg) for a flat-lying ladle." } } } ] } } ] }, "execution": { "steps": 41, "motion_seconds": 2.706, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.19411, -0.10837, 0.01927, -1.68854, -0.03618, 1.53908, 0.20408 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50018, 0.09881, 1.04976 ], "tcp_roll_pitch_yaw": [ 0.00028, 0.00058, 0.0001 ], "tcp_rotation_matrix": [ [ 0.99944, 0.00949, -0.03206 ], [ 0.00801, -0.99891, -0.04606 ], [ -0.03246, 0.04578, -0.99842 ] ], "simulated_seconds_remaining": 8.91, "calls_remaining_including_this": 48 }, "api_seconds": 7.806466951034963, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Descend for closer wrist view of the white object below to see if it's a ladle bowl." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.19376, -0.13127, 0.0183, -1.96636, -0.03682, 1.79357, 0.21197 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50014, 0.0988, 0.95115 ], "tcp_roll_pitch_yaw": [ 0.00021, 0.00091, 0.0001 ], "tcp_rotation_matrix": [ [ 0.99943, 0.0095, -0.03238 ], [ 0.008, -0.9989, -0.04614 ], [ -0.03278, 0.04585, -0.99841 ] ], "simulated_seconds_remaining": 7.92, "calls_remaining_including_this": 47 }, "api_seconds": 5.204425469040871, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.55, "z": 0.97 }, "note": "Last attempt to reach/see the far-right object that may be the ladle." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.19376, -0.13127, 0.0183, -1.96636, -0.03682, 1.79357, 0.21197 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50014, 0.0988, 0.95115 ], "tcp_roll_pitch_yaw": [ 0.00021, 0.00091, 0.0001 ], "tcp_rotation_matrix": [ [ 0.99943, 0.0095, -0.03238 ], [ 0.008, -0.9989, -0.04614 ], [ -0.03278, 0.04585, -0.99841 ] ], "simulated_seconds_remaining": 7.92, "calls_remaining_including_this": 46 }, "api_seconds": 7.205885557457805, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Surveyed the table: found bread, egg, wine bottle, tomato. The only candidate ladle-like object sits at the far right edge, beyond the arm's reachable workspace (IK rejected), and simulated time is nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 018 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 18, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 13, "api_calls": 14, "wall_seconds": 92.40557265281677, "usage": { "input_tokens": 28, "cache_creation_input_tokens": 12401, "cache_read_input_tokens": 85413, "output_tokens": 4417 }, "estimated_cost_usd": 0.23077775 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezg4dpJZMHLX7VMViVKG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P41DsGuc1g9uodqFREtdm8", "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": 1756, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 68, "output_tokens_details": { "thinking_tokens": 44 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezg4oJojLzniDn4FsSjH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FACqMtjmy1NEm7hXxKiXQS", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Lower toward the white object visible in wrist view to judge alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 500, "cache_read_input_tokens": 1756, "cache_creation": { "ephemeral_5m_input_tokens": 500, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 408, "output_tokens_details": { "thinking_tokens": 311 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezg5PLwo6isXFkyo3kbN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PBhNeoaLfmrQE53kdccYz2", "name": "move_to", "input": { "targets": { "x": 0.4 }, "note": "Move forward to approach the white cup seen ahead 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": 904, "cache_read_input_tokens": 2256, "cache_creation": { "ephemeral_5m_input_tokens": 904, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 265, "output_tokens_details": { "thinking_tokens": 168 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezg5q6yxUG6bdLjyUmAp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016jKu3s8ccp3w6qNkX5nooa", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Shift right to test image-to-base mapping and center on the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 3160, "cache_creation": { "ephemeral_5m_input_tokens": 757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 566, "output_tokens_details": { "thinking_tokens": 470 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezg6ah6ditjnPUm1ncBY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015e9MKEbRbNGQA6ULamqtvZ", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Blob moved right when I moved -y, so move +y to center the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1058, "cache_read_input_tokens": 3917, "cache_creation": { "ephemeral_5m_input_tokens": 1058, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 438, "output_tokens_details": { "thinking_tokens": 340 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezg7D2PC4E6dgSfp3BwA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TtxoxAnEq5Wv5qWaV6vw6C", "name": "move_to", "input": { "targets": { "y": 0.09, "z": 0.87 }, "note": "Fine-tune lateral centering and descend closer to the cup." }, "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": 4975, "cache_creation": { "ephemeral_5m_input_tokens": 930, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 326, "output_tokens_details": { "thinking_tokens": 222 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezg7fsRaBCiZGQN5Tdtf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JuAEd18Qvpp9NSZcDjuAVx", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Continue descending toward the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 818, "cache_read_input_tokens": 5905, "cache_creation": { "ephemeral_5m_input_tokens": 818, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 189, "output_tokens_details": { "thinking_tokens": 103 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezg81tgfL28RKacsUQLD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PfwYC1MvDhUK8c8u3X1yuS", "name": "move_to", "input": { "targets": { "x": 0.44 }, "note": "Cup blob sits below image center; +x moves it up, so advance forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 681, "cache_read_input_tokens": 6723, "cache_creation": { "ephemeral_5m_input_tokens": 681, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 389, "output_tokens_details": { "thinking_tokens": 290 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezg8awXRBRmUj6YvwcHz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A2bsJCbusGVVFKHKksbiZU", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Descend further to bring fingers around the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 886, "cache_read_input_tokens": 7404, "cache_creation": { "ephemeral_5m_input_tokens": 886, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 229, "output_tokens_details": { "thinking_tokens": 139 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezg9CC6FWT5P4nTtLvSn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PRxps9LxYgCNswTsvtsjcS", "name": "move_to", "input": { "targets": { "z": 0.74, "y": 0.1 }, "note": "Descend more and nudge +y to center cup slightly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 726, "cache_read_input_tokens": 8290, "cache_creation": { "ephemeral_5m_input_tokens": 726, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 228, "output_tokens_details": { "thinking_tokens": 127 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezg9ZGrPNsWYuB3CrU5J", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YA2RNNm5YWxVp4c2QeLnHS", "name": "move_to", "input": { "targets": { "x": 0.46, "y": 0.07, "z": 0.78 }, "note": "Cup appeared left and low in wrist view; shift -y and +x, back up slightly in z for clearance." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 725, "cache_read_input_tokens": 9016, "cache_creation": { "ephemeral_5m_input_tokens": 725, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 503, "output_tokens_details": { "thinking_tokens": 377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezgAFPrC3VBRqucL6yAH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016nka31dxnuYY72ZzqTGvLi", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Cup centered horizontally; descend to surround it with fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 995, "cache_read_input_tokens": 9741, "cache_creation": { "ephemeral_5m_input_tokens": 995, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 308, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezgAhZSqoZCB1THDbcuu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XFixppto7uRHZWGP8tNWyL", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current pose where cup fills the wrist view 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": 798, "cache_read_input_tokens": 10736, "cache_creation": { "ephemeral_5m_input_tokens": 798, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 377, "output_tokens_details": { "thinking_tokens": 276 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezgBGiVU2Gr3mcE7U16t", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0127856zfRBpDnmLvaGX2Nxw", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check if cup is grasped." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 867, "cache_read_input_tokens": 11534, "cache_creation": { "ephemeral_5m_input_tokens": 867, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 123, "output_tokens_details": { "thinking_tokens": 35 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.04122, -0.80809, -0.01552, -2.39177, -0.02147, 1.60603, 0.02371 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30747, 0.00275, 1.00851 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99972, 0.00707, 0.02259 ], [ 0.00729, -0.99993, -0.00955 ], [ 0.02252, 0.00972, -0.9997 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.60803083050996, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Lower toward the white object visible in wrist view to judge alignment." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.04005, -0.83588, -0.01825, -2.63047, -0.02446, 1.81664, 0.02617 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30743, 0.00275, 0.92129 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00029, 0.0 ], "tcp_rotation_matrix": [ [ 0.99973, 0.00707, 0.0223 ], [ 0.00729, -0.99993, -0.00957 ], [ 0.02223, 0.00973, -0.99971 ] ], "simulated_seconds_remaining": 29.172, "calls_remaining_including_this": 56 }, "api_seconds": 5.204711682163179, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Move forward to approach the white cup seen ahead in wrist view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.04208, -0.51877, -0.02528, -2.42115, -0.02403, 1.92442, 0.02088 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3987, 0.00274, 0.92127 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.0004, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99973, 0.00706, 0.02219 ], [ 0.00728, -0.99993, -0.00957 ], [ 0.02212, 0.00973, -0.99971 ] ], "simulated_seconds_remaining": 28.248, "calls_remaining_including_this": 55 }, "api_seconds": 9.807773963548243, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Shift right to test image-to-base mapping and center on the cup." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.00027, -0.5126, -0.10098, -2.4141, -0.06077, 1.92607, -0.07538 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3987, -0.04884, 0.92127 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00039, -0.00021 ], "tcp_rotation_matrix": [ [ 0.99973, 0.00686, 0.0222 ], [ 0.00707, -0.99993, -0.00952 ], [ 0.02213, 0.00967, -0.99971 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 54 }, "api_seconds": 7.606895009055734, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Blob moved right when I moved -y, so move +y to center the cup." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.08797, -0.50419, 0.05629, -2.40876, 0.01563, 1.92589, 0.12506 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39871, 0.05868, 0.92127 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00039, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99973, 0.0071, 0.0222 ], [ 0.00732, -0.99993, -0.00958 ], [ 0.02214, 0.00974, -0.99971 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 53 }, "api_seconds": 5.804606900550425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.09, "z": 0.87 }, "note": "Fine-tune lateral centering and descend closer to the cup." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.1139, -0.45432, 0.10519, -2.49711, 0.03644, 2.0642, 0.18466 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39866, 0.0894, 0.87094 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00063, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99973, 0.00721, 0.02196 ], [ 0.00742, -0.99993, -0.00965 ], [ 0.02189, 0.00981, -0.99971 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 52 }, "api_seconds": 4.203761271201074, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Continue descending toward the cup." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.11339, -0.39694, 0.11156, -2.58276, 0.03594, 2.20681, 0.18835 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3986, 0.08938, 0.82108 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00093, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99974, 0.00721, 0.02166 ], [ 0.00742, -0.99993, -0.00971 ], [ 0.02159, 0.00987, -0.99972 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 51 }, "api_seconds": 7.2062068888917565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44 }, "note": "Cup blob sits below image center; +x moves it up, so advance forward." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09822, -0.27101, 0.10598, -2.46654, 0.01816, 2.21616, 0.18258 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43887, 0.08937, 0.82108 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00097, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99974, 0.00716, 0.02163 ], [ 0.00737, -0.99993, -0.00969 ], [ 0.02156, 0.00985, -0.99972 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 50 }, "api_seconds": 7.60648893751204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Descend further to bring fingers around the cup." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09662, -0.20879, 0.1098, -2.51809, 0.01218, 2.32941, 0.18871 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4388, 0.08935, 0.78103 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00125, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99975, 0.00715, 0.02134 ], [ 0.00736, -0.99993, -0.00975 ], [ 0.02127, 0.0099, -0.99972 ] ], "simulated_seconds_remaining": 24.024, "calls_remaining_including_this": 49 }, "api_seconds": 4.604070289060473, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74, "y": 0.1 }, "note": "Descend more and nudge +y to center cup slightly." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.10342, -0.12512, 0.12655, -2.54927, 0.00219, 2.44348, 0.22017 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.43874, 0.0997, 0.74106 ], "tcp_roll_pitch_yaw": [ -0.00025, 0.00148, 0.00011 ], "tcp_rotation_matrix": [ [ 0.99975, 0.00719, 0.02111 ], [ 0.0074, -0.99992, -0.00981 ], [ 0.02104, 0.00996, -0.99973 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 48 }, "api_seconds": 8.806744432076812, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "y": 0.07, "z": 0.78 }, "note": "Cup appeared left and low in wrist view; shift -y and +x, back up slightly in z for clearance." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.07243, -0.15473, 0.08482, -2.46652, 0.00012, 2.33189, 0.14913 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45959, 0.07065, 0.77917 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00126, -5e-05 ], "tcp_rotation_matrix": [ [ 0.99975, 0.00704, 0.02133 ], [ 0.00725, -0.99993, -0.00976 ], [ 0.02126, 0.00992, -0.99972 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 47 }, "api_seconds": 5.604825431481004, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Cup centered horizontally; descend to surround it with fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.07718, -0.05121, 0.09597, -2.50395, -0.01359, 2.49854, 0.16216 ], "gripper_open": 1.0, "tcp_xyz": [ 0.46714, 0.07954, 0.73103 ], "tcp_roll_pitch_yaw": [ 0.00386, -0.02449, 0.01459 ], "tcp_rotation_matrix": [ [ 0.99866, 0.02151, 0.04715 ], [ 0.02177, -0.99975, -0.00501 ], [ 0.04703, 0.00603, -0.99888 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 46 }, "api_seconds": 6.605370491743088, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current pose where cup fills the wrist view between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0811, -0.05654, 0.10088, -2.49719, -0.01229, 2.50167, 0.16232 ], "gripper_open": 0.4887, "tcp_xyz": [ 0.47146, 0.08458, 0.73663 ], "tcp_roll_pitch_yaw": [ 0.00635, -0.03947, 0.02225 ], "tcp_rotation_matrix": [ [ 0.99764, 0.02917, 0.06208 ], [ 0.02934, -0.99957, -0.00183 ], [ 0.062, 0.00364, -0.99807 ] ], "simulated_seconds_remaining": 21.186, "calls_remaining_including_this": 45 }, "api_seconds": 2.602402187883854, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check if cup is grasped." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 019 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 19, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 15, "api_calls": 16, "wall_seconds": 172.0443983078003, "usage": { "input_tokens": 32, "cache_creation_input_tokens": 19193, "cache_read_input_tokens": 136214, "output_tokens": 10206 }, "estimated_cost_usd": 0.44337325 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezgDDNP3qXwezy3j8c8y", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011DsjwcwEiPsTiNJpzKFwat", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 56, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezgDP7XExQGSU9FRxJsA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014mCJtHsa6v7SFrh4mTTVzh", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Lower to get a closer wrist view of the spoon on the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 491, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 491, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 287, "output_tokens_details": { "thinking_tokens": 190 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezgDovmWar4sqk6e4hCj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015nuXhUckzyrW9hjJSBKjpQ", "name": "move_to", "input": { "targets": { "x": 0.42, "z": 0.95 }, "note": "Raise and reach forward to survey the counter surface for the spoon." }, "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": 2250, "cache_creation": { "ephemeral_5m_input_tokens": 780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 623, "output_tokens_details": { "thinking_tokens": 518 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezgEhqRs6HLL2bytH49j", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017Prm3CSPeEZ4bgSxVn6Rkv", "name": "move_to", "input": { "targets": { "x": 0.48, "y": -0.05, "z": 0.92 }, "note": "Spoon appears slightly forward and right of camera center; move toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1122, "cache_read_input_tokens": 3030, "cache_creation": { "ephemeral_5m_input_tokens": 1122, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 313, "output_tokens_details": { "thinking_tokens": 199 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezgF9L78M7piEeQNQq4W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015hgFRhCNZEpTKWzBSG1LoR", "name": "move_to", "input": { "targets": { "y": 0.03 }, "note": "Pure +y move to calibrate wrist camera image axes." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 813, "cache_read_input_tokens": 4152, "cache_creation": { "ephemeral_5m_input_tokens": 813, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 628, "output_tokens_details": { "thinking_tokens": 533 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezgFtmHKGnfYe6gWhBYS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BPGmCF26MQNPSYUfKTzqfn", "name": "move_to", "input": { "targets": { "x": 0.55 }, "note": "Pure +x move to calibrate the wrist image vertical axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1127, "cache_read_input_tokens": 4965, "cache_creation": { "ephemeral_5m_input_tokens": 1127, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 578, "output_tokens_details": { "thinking_tokens": 481 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezgGdkfvxctynUSEgVWb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Cp8MUviCoT3PpKcFJCa6uk", "name": "move_to", "input": { "targets": { "x": 0.6, "y": -0.01 }, "note": "Moving further forward and slightly right to center the spoon 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": 1072, "cache_read_input_tokens": 6092, "cache_creation": { "ephemeral_5m_input_tokens": 1072, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 894, "output_tokens_details": { "thinking_tokens": 787 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezgHmJsvHnxxG7HGfdGn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018jDcvDTu19o5yehX7GysMT", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Descend to get closer view and check table height relative to gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1388, "cache_read_input_tokens": 7164, "cache_creation": { "ephemeral_5m_input_tokens": 1388, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 541, "output_tokens_details": { "thinking_tokens": 447 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezgJXwixFc9kXDz4LHSz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JqPyT6X2BFfbEYu5KmXgcd", "name": "move_to", "input": { "targets": { "y": -0.09 }, "note": "Spoon drifting off right edge of wrist view; move in -y toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1035, "cache_read_input_tokens": 8552, "cache_creation": { "ephemeral_5m_input_tokens": 1035, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 413, "output_tokens_details": { "thinking_tokens": 313 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezgK9Y8HuvkRpBmXnzni", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HVVH7tX7UaoXPL5WwyjtQu", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.085, "z": 0.92 }, "note": "Calibration suggests spoon at about x=0.44, y=+0.085; moving above that point." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 914, "cache_read_input_tokens": 9587, "cache_creation": { "ephemeral_5m_input_tokens": 914, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1564, "output_tokens_details": { "thinking_tokens": 1442 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezgLqHpoFD4HLgh6hSoA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L38J171eZ9ATMeFcMsUJFT", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.09, "z": 0.9, "yaw": 0.95 }, "note": "Center over spoon neck and rotate gripper so fingers straddle the spoon's long axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2063, "cache_read_input_tokens": 10501, "cache_creation": { "ephemeral_5m_input_tokens": 2063, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1427, "output_tokens_details": { "thinking_tokens": 1295 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezgNNDx5GLaP126GG2UU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Kr53hq4xwou1DMmLyTyRa5", "name": "move_to", "input": { "targets": { "x": 0.455, "y": 0.074, "z": 0.85 }, "note": "Fine-center over spoon handle and descend toward the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1921, "cache_read_input_tokens": 12564, "cache_creation": { "ephemeral_5m_input_tokens": 1921, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 798, "output_tokens_details": { "thinking_tokens": 687 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezgPFMynUuBbGvT8rLfC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015p57b3e4rEA7aouhwUTSdx", "name": "move_to", "input": { "targets": { "x": 0.438, "y": 0.08, "z": 0.76 }, "note": "Estimated counter top near z=0.69; descending to 0.76 above the spoon handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1290, "cache_read_input_tokens": 14485, "cache_creation": { "ephemeral_5m_input_tokens": 1290, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 798, "output_tokens_details": { "thinking_tokens": 677 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezgQFiL7Ba2vBqWKi7Cd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AdFCcF6DmuNZMyYNuKM2sP", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Descending further toward counter surface (estimated ~0.70) to bracket the spoon handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1291, "cache_read_input_tokens": 15775, "cache_creation": { "ephemeral_5m_input_tokens": 1291, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 708, "output_tokens_details": { "thinking_tokens": 602 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezgR6ppG1V2SF8a5FbP1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0173VTeGnFUg2omYHYY4rUqa", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper appears straddling the spoon handle just below the bowl; closing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1206, "cache_read_input_tokens": 17066, "cache_creation": { "ephemeral_5m_input_tokens": 1206, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 428, "output_tokens_details": { "thinking_tokens": 328 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezgRg4q8z6mCW7ewfg83", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0196xnoXoCKhW9xqiuMB8jyW", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Gripper closed partially (likely on handle); lifting to verify grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 921, "cache_read_input_tokens": 18272, "cache_creation": { "ephemeral_5m_input_tokens": 921, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 150, "output_tokens_details": { "thinking_tokens": 50 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.00596, -0.75274, -0.04967, -2.3804, 0.02669, 1.57062, 0.00197 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30521, -0.00501, 0.99407 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99788, -0.03374, -0.05574 ], [ -0.03025, -0.9976, 0.06226 ], [ -0.05771, -0.06044, -0.9965 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.806501847691834, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Lower to get a closer wrist view of the spoon on the counter." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.00219, -0.75673, -0.05491, -2.67084, 0.02346, 1.85639, -0.01187 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30516, -0.00501, 0.88125 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0003, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99786, -0.03375, -0.05604 ], [ -0.03024, -0.9976, 0.06226 ], [ -0.05801, -0.06043, -0.99649 ] ], "simulated_seconds_remaining": 28.974, "calls_remaining_including_this": 56 }, "api_seconds": 11.809477697126567, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.95 }, "note": "Raise and reach forward to survey the counter surface for the spoon." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0202, -0.39741, -0.05703, -2.23198, 0.03926, 1.77692, -0.00884 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41887, -0.00501, 0.94932 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00027, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99786, -0.03375, -0.05601 ], [ -0.03025, -0.9976, 0.06226 ], [ -0.05798, -0.06044, -0.99649 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 55 }, "api_seconds": 5.6048382222652435, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "y": -0.05, "z": 0.92 }, "note": "Spoon appears slightly forward and right of camera center; move toward it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.00706, -0.19251, -0.11383, -2.10597, 0.03491, 1.85127, -0.09666 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47903, -0.04934, 0.92038 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00046, -0.00012 ], "tcp_rotation_matrix": [ [ 0.99785, -0.03388, -0.05619 ], [ -0.03037, -0.9976, 0.06231 ], [ -0.05816, -0.06047, -0.99647 ] ], "simulated_seconds_remaining": 26.928, "calls_remaining_including_this": 54 }, "api_seconds": 9.807453526183963, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03 }, "note": "Pure +y move to calibrate wrist camera image axes." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05703, -0.20378, -0.02611, -2.12101, 0.06137, 1.86245, 0.04427 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47904, 0.02887, 0.92038 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00045, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99785, -0.03362, -0.0562 ], [ -0.0301, -0.99761, 0.06227 ], [ -0.05816, -0.06045, -0.99648 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 53 }, "api_seconds": 9.607367458753288, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Pure +x move to calibrate the wrist image vertical axis." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05512, 0.00886, -0.0303, -1.88053, 0.06624, 1.83395, 0.03775 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54876, 0.02886, 0.92033 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00056, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99785, -0.03364, -0.05631 ], [ -0.03012, -0.9976, 0.06227 ], [ -0.05827, -0.06044, -0.99647 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 52 }, "api_seconds": 15.012281668372452, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": -0.01 }, "note": "Moving further forward and slightly right to center the spoon in the wrist view." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0166, 0.16921, -0.06159, -1.67464, 0.07173, 1.78373, -0.02954 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59898, -0.00932, 0.92027 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00067, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99783, -0.03384, -0.0564 ], [ -0.03031, -0.9976, 0.06227 ], [ -0.05837, -0.06042, -0.99646 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 51 }, "api_seconds": 10.207635784521699, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Descend to get closer view and check table height relative to gripper." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.01745, 0.20126, -0.0602, -1.80919, 0.0774, 1.94959, -0.04056 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59892, -0.00931, 0.85108 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00102, -5e-05 ], "tcp_rotation_matrix": [ [ 0.99781, -0.03385, -0.05675 ], [ -0.0303, -0.9976, 0.06227 ], [ -0.05872, -0.06042, -0.99644 ] ], "simulated_seconds_remaining": 23.76, "calls_remaining_including_this": 50 }, "api_seconds": 8.006371278315783, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.09 }, "note": "Spoon drifting off right edge of wrist view; move in -y toward it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.06369, 0.22784, -0.11308, -1.77202, 0.08222, 1.93044, -0.17384 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59891, -0.08891, 0.85108 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00103, -0.00037 ], "tcp_rotation_matrix": [ [ 0.9978, -0.03417, -0.05674 ], [ -0.03062, -0.99759, 0.06225 ], [ -0.05873, -0.06037, -0.99645 ] ], "simulated_seconds_remaining": 22.902, "calls_remaining_including_this": 49 }, "api_seconds": 22.216891407966614, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.085, "z": 0.92 }, "note": "Calibration suggests spoon at about x=0.44, y=+0.085; moving above that point." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.09505, -0.27486, 0.04873, -2.19597, 0.08683, 1.87294, 0.146 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45084, 0.08413, 0.91969 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00088, -0.00014 ], "tcp_rotation_matrix": [ [ 0.99782, -0.03393, -0.05661 ], [ -0.03039, -0.9976, 0.06224 ], [ -0.05858, -0.06039, -0.99645 ] ], "simulated_seconds_remaining": 20.988, "calls_remaining_including_this": 48 }, "api_seconds": 20.21974582783878, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.09, "z": 0.9, "yaw": 0.95 }, "note": "Center over spoon neck and rotate gripper so fingers straddle the spoon's long axis." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.20378, -0.26414, -0.00531, -2.22847, 0.00609, 1.88039, -0.71687 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44004, 0.08999, 0.90008 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00091, 0.9455 ], "tcp_rotation_matrix": [ [ 0.60859, 0.78907, -0.08361 ], [ 0.79132, -0.61133, -0.0095 ], [ -0.05861, -0.06038, -0.99645 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 47 }, "api_seconds": 11.809576618485153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.455, "y": 0.074, "z": 0.85 }, "note": "Fine-center over spoon handle and descend toward the counter." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.18832, -0.19146, -0.02696, -2.28268, -0.00111, 2.00684, -0.75076 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4546, 0.07433, 0.85105 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00113, 0.94542 ], "tcp_rotation_matrix": [ [ 0.60864, 0.789, -0.08392 ], [ 0.79127, -0.6114, -0.00954 ], [ -0.05884, -0.06059, -0.99643 ] ], "simulated_seconds_remaining": 18.744, "calls_remaining_including_this": 46 }, "api_seconds": 13.21045492682606, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.438, "y": 0.08, "z": 0.76 }, "note": "Estimated counter top near z=0.69; descending to 0.76 above the spoon handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.19613, -0.11707, -0.01835, -2.44874, 0.00405, 2.25207, -0.73773 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43968, 0.07999, 0.76326 ], "tcp_roll_pitch_yaw": [ -0.00324, -0.00215, 0.94514 ], "tcp_rotation_matrix": [ [ 0.60913, 0.7891, -0.07924 ], [ 0.79113, -0.61159, -0.00888 ], [ -0.05547, -0.05728, -0.99682 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 45 }, "api_seconds": 11.2090984294191, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Descending further toward counter surface (estimated ~0.70) to bracket the spoon handle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.19606, -0.09137, -0.01886, -2.47512, 0.00611, 2.3265, -0.73806 ], "gripper_open": 1.0, "tcp_xyz": [ 0.4428, 0.08043, 0.7464 ], "tcp_roll_pitch_yaw": [ -0.01819, -0.01879, 0.94322 ], "tcp_rotation_matrix": [ [ 0.61179, 0.78893, -0.05743 ], [ 0.79008, -0.61298, -0.00403 ], [ -0.03838, -0.04291, -0.99834 ] ], "simulated_seconds_remaining": 17.226, "calls_remaining_including_this": 44 }, "api_seconds": 7.4061571368947625, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper appears straddling the spoon handle just below the bowl; closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.18988, -0.10135, -0.02641, -2.46234, 0.00183, 2.3576, -0.73806 ], "gripper_open": 0.2982, "tcp_xyz": [ 0.45973, 0.07653, 0.75864 ], "tcp_roll_pitch_yaw": [ -0.05717, -0.05608, 0.93386 ], "tcp_rotation_matrix": [ [ 0.62133, 0.78354, -0.00401 ], [ 0.78355, -0.62132, 0.00335 ], [ 0.00013, -0.00523, -0.99999 ] ], "simulated_seconds_remaining": 16.302, "calls_remaining_including_this": 43 }, "api_seconds": 3.2028556307777762, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Gripper closed partially (likely on handle); lifting to verify grasp." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 020 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 20, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 24, "api_calls": 25, "wall_seconds": 222.63339924812317, "usage": { "input_tokens": 50, "cache_creation_input_tokens": 24418, "cache_read_input_tokens": 301569, "output_tokens": 10985 }, "estimated_cost_usd": 0.578272 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezgN6XsgJ6qeKJJb29pp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N7wxgTPzP3r33WCLeN3uti", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "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_011CezgNKh8sRcBRgKR9GbBW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T94BAYUueRK4nELg23ozcX", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 1.15 }, "note": "Raise and move forward to get a wider wrist view of the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 529, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 529, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 105 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezgNdVTzfEqgSPqEC4tt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KkYm2ermReu9PazjFiVyyU", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.25, "z": 1.15 }, "note": "Move toward the counter (left, forward) to bring objects into 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": 701, "cache_read_input_tokens": 2287, "cache_creation": { "ephemeral_5m_input_tokens": 701, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 308, "output_tokens_details": { "thinking_tokens": 193 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezgP5QgtQAWVBLhS2F9a", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013SmNKm1Zz8PTjGxPQ56JFt", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Lower toward the counter to see objects more clearly in wrist camera." }, "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": 2988, "cache_creation": { "ephemeral_5m_input_tokens": 802, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 273, "output_tokens_details": { "thinking_tokens": 175 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezgPSbePWCMmonK3J1Dd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RTwwXsdrjfgSJYRQfZgAX9", "name": "move_to", "input": { "targets": { "y": 0.35 }, "note": "Shift left to probe how the wrist view changes and find the objects on the counter." }, "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": 3790, "cache_creation": { "ephemeral_5m_input_tokens": 767, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 597, "output_tokens_details": { "thinking_tokens": 497 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezgQGjraUCBrxXb6FECj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018dErxQnvjE6WXbVp35N5Jb", "name": "move_to", "input": { "targets": { "y": 0.25, "z": 0.92 }, "note": "Return to y=0.25 and lower closer to the counter surface to see the objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1091, "cache_read_input_tokens": 4557, "cache_creation": { "ephemeral_5m_input_tokens": 1091, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 384, "output_tokens_details": { "thinking_tokens": 275 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezgQoeDTVJifexBGFhrZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TMmNLwwT6iysQWaZDii3bH", "name": "move_to", "input": { "targets": { "x": 0.6, "z": 1.1 }, "note": "Probe: move forward in x to calibrate exterior image mapping and view more of the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 882, "cache_read_input_tokens": 5648, "cache_creation": { "ephemeral_5m_input_tokens": 882, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1154, "output_tokens_details": { "thinking_tokens": 1042 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezgSEkbFwXvH3MU1mWtE", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YVQzXT1cnidnoN7L1maher", "name": "move_to", "input": { "targets": { "z": 1.1 }, "note": "Raise first before moving forward (IK rejected combined move)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1645, "cache_read_input_tokens": 6530, "cache_creation": { "ephemeral_5m_input_tokens": 1645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 93, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezgSWNCPkoErUwPNd783", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KXFqMHTes9hcJ6nAuKHqNE", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Small forward probe to calibrate wrist image direction relative to world x." }, "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": 8175, "cache_creation": { "ephemeral_5m_input_tokens": 586, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 308, "output_tokens_details": { "thinking_tokens": 210 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezgSzqTpgabRpDWmnytx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SYBE4HsD4JFjnuiSWMJJFg", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Descend to inspect the object under the gripper in the wrist camera." }, "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": 8761, "cache_creation": { "ephemeral_5m_input_tokens": 802, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 513, "output_tokens_details": { "thinking_tokens": 416 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezgU5ASTPkgE1cES752D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018Lzwvn8XWukVYkufq83yeE", "name": "move_to", "input": { "targets": { "x": 0.3, "y": -0.1, "z": 1.2 }, "note": "Retract arm out of the way for a clean exterior view of the counter objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1007, "cache_read_input_tokens": 9563, "cache_creation": { "ephemeral_5m_input_tokens": 1007, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 522, "output_tokens_details": { "thinking_tokens": 407 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezgUnjkBJSp5fU61b1XQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NvGboF4JebrfwZ32sp775a", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.2, "z": 1.05 }, "note": "Hover above estimated pepper location (0.45,0.20) to compare alignment 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": 1021, "cache_read_input_tokens": 10570, "cache_creation": { "ephemeral_5m_input_tokens": 1021, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1604, "output_tokens_details": { "thinking_tokens": 1481 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezgWs9TzuBEgTLtHCq3o", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LYacGKSo9g9rbQEfJKWP8A", "name": "move_to", "input": { "targets": { "z": 0.97 }, "note": "Descend toward the pepper to check alignment before grasping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2098, "cache_read_input_tokens": 11591, "cache_creation": { "ephemeral_5m_input_tokens": 2098, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 306, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezgXLKbrJ19Eq9hW5KcE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011KEAhzjhDohDcTj34tc6G2", "name": "move_to", "input": { "targets": { "y": 0.25 }, "note": "Shift +y slightly since the pepper appears left of the fingers 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": 805, "cache_read_input_tokens": 13689, "cache_creation": { "ephemeral_5m_input_tokens": 805, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 385, "output_tokens_details": { "thinking_tokens": 282 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezgY92ixfkZ2pnDx2ioq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KTJY16G2XER18AFS2qh9yT", "name": "move_to", "input": { "targets": { "y": 0.22, "z": 0.94 }, "note": "Fine-tune to y=0.22 and descend to pepper body height for grasp." }, "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": 14494, "cache_creation": { "ephemeral_5m_input_tokens": 879, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 720, "output_tokens_details": { "thinking_tokens": 610 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezgZ6r34mYufFQ9PHneU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UkFw2XzKZYHo81gENmZuoq", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasping the pepper." }, "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": 15373, "cache_creation": { "ephemeral_5m_input_tokens": 1220, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 134, "output_tokens_details": { "thinking_tokens": 42 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezgZMdHbaiFJS2NHzsUY", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YRf9PP5t2nWG1sRW7UWKog", "name": "move_to", "input": { "targets": { "z": 1.08 }, "note": "Lift to check whether the pepper 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": 628, "cache_read_input_tokens": 16593, "cache_creation": { "ephemeral_5m_input_tokens": 628, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 90, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezgZaskodp76fMV2gx7p", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NGoLg7eRU4mrBVQVHWdiEi", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.32, "y": -0.05, "z": 1.15 }, "note": "Open gripper and retract for a clean view to relocate the pepper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 583, "cache_read_input_tokens": 17221, "cache_creation": { "ephemeral_5m_input_tokens": 583, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 281, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezga9tsoWwsAgbBpDV9R", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N94A4rUkhmCy4mZL9kz2Ze", "name": "move_to", "input": { "targets": { "x": 0.49, "y": 0.175, "z": 0.95 }, "note": "Gripper was occluding the pepper (too close to camera); move deeper along the camera ray (+x, -y) at 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": 781, "cache_read_input_tokens": 17804, "cache_creation": { "ephemeral_5m_input_tokens": 781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1798, "output_tokens_details": { "thinking_tokens": 1665 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezgcFsLxWerewBYZt1VS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tv72vGNoSQ36mbycb3f7vM", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at the deeper position to grasp the pepper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2297, "cache_read_input_tokens": 18585, "cache_creation": { "ephemeral_5m_input_tokens": 2297, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 116, "output_tokens_details": { "thinking_tokens": 21 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezgcW2tfaBTBESR6Mm1W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0189LKEn2nC98PGiRN2AKwQA", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Lift to see if the pepper is held." }, "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": 20882, "cache_creation": { "ephemeral_5m_input_tokens": 609, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 156, "output_tokens_details": { "thinking_tokens": 68 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezgcoFjSX9U3BEYV9tXV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013sCndbRNSx5yYPz4vWyBAV", "name": "move_to", "input": { "targets": { "x": 0.43, "y": 0.22, "z": 0.95, "gripper": 1 }, "note": "Last attempt: try a nearer x position with the gripper open at pepper height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 648, "cache_read_input_tokens": 21491, "cache_creation": { "ephemeral_5m_input_tokens": 648, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 616, "output_tokens_details": { "thinking_tokens": 492 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezgdbFC78jCboeoYSxpc", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015qiKcQ8U1yANqiTCvN5qms", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper for final grasp 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": 1109, "cache_read_input_tokens": 22139, "cache_creation": { "ephemeral_5m_input_tokens": 1109, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 93, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezgdrsY7CJV4BFS5Lgzw", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01HrCG4rvrMU6RmReeMwLTHZ", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Final small lift with remaining simulated time." }, "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": 23248, "cache_creation": { "ephemeral_5m_input_tokens": 584, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 88, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezgeCAAGbdn5kJJy9rng", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TkmhUTcJTB27Sy2c8D2XkH", "name": "give_up", "input": { "note": "Could not localize the pepper precisely enough; wrist camera never showed it and depth ambiguity in the exterior view led to failed grasps. Simulated motion time exhausted." }, "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": 23832, "cache_creation": { "ephemeral_5m_input_tokens": 586, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 142, "output_tokens_details": { "thinking_tokens": 39 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.01456, -0.82164, 0.0205, -2.38739, -0.03722, 1.56468, 0.0491 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29621, 0.00015, 1.01124 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99978, -0.0208, 0.00031 ], [ -0.02075, -0.99842, -0.05222 ], [ 0.00139, 0.0522, -0.99864 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.206542190164328, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1.15 }, "note": "Raise and move forward to get a wider wrist view of the counter." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.00697, -0.52223, 0.0225, -1.82133, -0.04257, 1.29847, 0.03582 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34956, 0.00015, 1.14881 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.0001, -0.0 ], "tcp_rotation_matrix": [ [ 0.99978, -0.02081, 0.00041 ], [ -0.02076, -0.99842, -0.05221 ], [ 0.00149, 0.05219, -0.99864 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 5.408921784721315, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.25, "z": 1.15 }, "note": "Move toward the counter (left, forward) to bring objects into wrist view." } } } ] } } ] }, "execution": { "steps": 32, "motion_seconds": 2.112, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.15521, 0.01382, 0.38109, -1.2765, -0.0527, 1.26319, 0.54162 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4495, 0.24881, 1.14991 ], "tcp_roll_pitch_yaw": [ -6e-05, 8e-05, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02059, 0.00024 ], [ -0.02055, -0.99842, -0.05228 ], [ 0.00132, 0.05227, -0.99863 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 55 }, "api_seconds": 4.604275672696531, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Lower toward the counter to see objects more clearly in wrist camera." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.14012, -0.11639, 0.35936, -1.68826, -0.00523, 1.55424, 0.51728 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44949, 0.24881, 1.05119 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00034, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02056, -2e-05 ], [ -0.02054, -0.99841, -0.0524 ], [ 0.00106, 0.05239, -0.99863 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 54 }, "api_seconds": 10.808559414930642, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.35 }, "note": "Shift left to probe how the wrist view changes and find the objects on the counter." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.24208, 0.09196, 0.46791, -1.45611, -0.08135, 1.50416, 0.72527 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44944, 0.34879, 1.05114 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00043, 0.00047 ], "tcp_rotation_matrix": [ [ 0.99979, -0.0203, -0.0001 ], [ -0.02028, -0.99842, -0.05243 ], [ 0.00096, 0.05242, -0.99862 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 53 }, "api_seconds": 6.805793967097998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 0.92 }, "note": "Return to y=0.25 and lower closer to the counter surface to see the objects." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.14636, -0.12838, 0.36459, -2.03375, -0.0001, 1.88787, 0.52809 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44944, 0.25074, 0.921 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.00066, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02043, -0.00034 ], [ -0.02042, -0.99841, -0.05253 ], [ 0.00074, 0.05253, -0.99862 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 52 }, "api_seconds": 19.41420389711857, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "z": 1.1 }, "note": "Probe: move forward in x to calibrate exterior image mapping and view more of the counter." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.14636, -0.12838, 0.36459, -2.03375, -0.0001, 1.88787, 0.52809 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44944, 0.25074, 0.921 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.00066, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02043, -0.00034 ], [ -0.02042, -0.99841, -0.05253 ], [ 0.00074, 0.05253, -0.99862 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 51 }, "api_seconds": 3.0024665985256433, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.1 }, "note": "Raise first before moving forward (IK rejected combined move)." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.14487, -0.06702, 0.36766, -1.50959, -0.02186, 1.42133, 0.52892 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44947, 0.25077, 1.09877 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.0004, 0.00034 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02044, -7e-05 ], [ -0.02041, -0.99842, -0.05242 ], [ 0.001, 0.05241, -0.99863 ] ], "simulated_seconds_remaining": 21.714, "calls_remaining_including_this": 50 }, "api_seconds": 6.40822936873883, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Small forward probe to calibrate wrist image direction relative to world x." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.14879, 0.09629, 0.37005, -1.3213, -0.08166, 1.38544, 0.52425 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49889, 0.25071, 1.09868 ], "tcp_roll_pitch_yaw": [ -0.00026, 0.00059, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02054, -0.00027 ], [ -0.02053, -0.99841, -0.05247 ], [ 0.0008, 0.05247, -0.99862 ] ], "simulated_seconds_remaining": 21.054, "calls_remaining_including_this": 49 }, "api_seconds": 14.408924070186913, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Descend to inspect the object under the gripper in the wrist camera." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.13089, 0.01113, 0.35818, -1.67762, -0.05029, 1.66267, 0.51489 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49887, 0.2507, 1.00127 ], "tcp_roll_pitch_yaw": [ -0.00039, 0.00091, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02052, -0.00059 ], [ -0.02052, -0.9984, -0.05261 ], [ 0.00049, 0.05261, -0.99862 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 48 }, "api_seconds": 8.606853514909744, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": -0.1, "z": 1.2 }, "note": "Retract arm out of the way for a clean exterior view of the counter objects." } } } ] } } ] }, "execution": { "steps": 50, "motion_seconds": 3.3000000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.05001, -0.54548, -0.11984, -1.6833, -0.12501, 1.15156, -0.18364 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30059, -0.099, 1.19945 ], "tcp_roll_pitch_yaw": [ -0.00037, 0.00073, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02072, -0.00041 ], [ -0.02072, -0.9984, -0.05259 ], [ 0.00068, 0.05259, -0.99862 ] ], "simulated_seconds_remaining": 16.83, "calls_remaining_including_this": 47 }, "api_seconds": 27.221784899942577, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.2, "z": 1.05 }, "note": "Hover above estimated pepper location (0.45,0.20) to compare alignment in exterior view." } } } ] } } ] }, "execution": { "steps": 41, "motion_seconds": 2.706, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.0827, -0.19285, 0.31672, -1.77144, 0.0113, 1.56717, 0.4138 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44942, 0.19891, 1.05047 ], "tcp_roll_pitch_yaw": [ -0.00045, 0.00094, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02055, -0.00062 ], [ -0.02055, -0.9984, -0.05267 ], [ 0.00046, 0.05267, -0.99861 ] ], "simulated_seconds_remaining": 14.124, "calls_remaining_including_this": 46 }, "api_seconds": 6.205397394485772, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Descend toward the pepper to check alignment before grasping." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.08696, -0.21626, 0.31919, -1.99782, 0.01948, 1.77078, 0.41495 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44939, 0.1989, 0.97115 ], "tcp_roll_pitch_yaw": [ -0.00054, 0.00123, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02053, -0.00091 ], [ -0.02055, -0.9984, -0.05276 ], [ 0.00018, 0.05277, -0.99861 ] ], "simulated_seconds_remaining": 13.266, "calls_remaining_including_this": 45 }, "api_seconds": 10.608426842838526, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "Shift +y slightly since the pepper appears left of the fingers in the exterior view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.1205, -0.14348, 0.37954, -1.92007, 0.00713, 1.76071, 0.51471 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44936, 0.2489, 0.97113 ], "tcp_roll_pitch_yaw": [ -0.00056, 0.00125, 0.00042 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02031, -0.00092 ], [ -0.02033, -0.9984, -0.05278 ], [ 0.00015, 0.05279, -0.99861 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 44 }, "api_seconds": 12.809945571236312, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.22, "z": 0.94 }, "note": "Fine-tune to y=0.22 and descend to pepper body height for grasp." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.1026, -0.1817, 0.34891, -2.03847, 0.01514, 1.84367, 0.46168 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44936, 0.22073, 0.9408 ], "tcp_roll_pitch_yaw": [ -0.00063, 0.00142, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02043, -0.0011 ], [ -0.02046, -0.99839, -0.05285 ], [ -2e-05, 0.05286, -0.9986 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 43 }, "api_seconds": 3.2026857659220695, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasping the pepper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.1026, -0.1817, 0.34891, -2.03847, 0.01514, 1.84367, 0.46168 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44936, 0.22072, 0.94079 ], "tcp_roll_pitch_yaw": [ -0.00063, 0.00142, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02043, -0.0011 ], [ -0.02046, -0.99839, -0.05284 ], [ -1e-05, 0.05286, -0.9986 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 42 }, "api_seconds": 2.6026487993076444, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.08 }, "note": "Lift to check whether the pepper was grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.09713, -0.13915, 0.34701, -1.64038, -0.00019, 1.48615, 0.46095 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4494, 0.22075, 1.07879 ], "tcp_roll_pitch_yaw": [ -0.00052, 0.00115, 0.0003 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02044, -0.00082 ], [ -0.02046, -0.9984, -0.05274 ], [ 0.00025, 0.05275, -0.99861 ] ], "simulated_seconds_remaining": 9.834, "calls_remaining_including_this": 41 }, "api_seconds": 7.005591062828898, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.32, "y": -0.05, "z": 1.15 }, "note": "Open gripper and retract for a clean view to relocate the pepper." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.02739, -0.59671, -0.04438, -1.87261, -0.08101, 1.27996, -0.06685 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.32056, -0.04889, 1.14974 ], "tcp_roll_pitch_yaw": [ -0.00049, 0.00101, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02066, -0.00069 ], [ -0.02066, -0.9984, -0.05271 ], [ 0.0004, 0.05271, -0.99861 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 40 }, "api_seconds": 27.821287345141172, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.49, "y": 0.175, "z": 0.95 }, "note": "Gripper was occluding the pepper (too close to camera); move deeper along the camera ray (+x, -y) at grasp height." } } } ] } } ] }, "execution": { "steps": 39, "motion_seconds": 2.5740000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.08123, -0.12404, 0.26792, -1.95923, -0.01711, 1.82069, 0.37182 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48929, 0.17413, 0.95069 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00126, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02053, -0.00094 ], [ -0.02055, -0.99839, -0.05278 ], [ 0.00014, 0.05279, -0.99861 ] ], "simulated_seconds_remaining": 4.884, "calls_remaining_including_this": 39 }, "api_seconds": 3.0028193993493915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at the deeper position to grasp the pepper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.08123, -0.12404, 0.26792, -1.95923, -0.01711, 1.82069, 0.37182 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4893, 0.17414, 0.95068 ], "tcp_roll_pitch_yaw": [ -0.00056, 0.00126, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02053, -0.00094 ], [ -0.02055, -0.99839, -0.05278 ], [ 0.00014, 0.05279, -0.99861 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 38 }, "api_seconds": 3.6031659357249737, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Lift to see if the pepper is held." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.07973, -0.102, 0.26781, -1.6843, -0.02243, 1.56741, 0.36665 ], "gripper_open": 0.0, "tcp_xyz": [ 0.48934, 0.17416, 1.04884 ], "tcp_roll_pitch_yaw": [ -0.00048, 0.00097, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02054, -0.00065 ], [ -0.02055, -0.9984, -0.0527 ], [ 0.00043, 0.0527, -0.99861 ] ], "simulated_seconds_remaining": 2.97, "calls_remaining_including_this": 37 }, "api_seconds": 10.409022828564048, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43, "y": 0.22, "z": 0.95, "gripper": 1 }, "note": "Last attempt: try a nearer x position with the gripper open at pepper height." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.134, -0.23857, 0.32602, -2.06976, 0.02948, 1.81944, 0.46329 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.43058, 0.21956, 0.95101 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00115, 0.00038 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02036, -0.00082 ], [ -0.02038, -0.9984, -0.05279 ], [ 0.00026, 0.05279, -0.99861 ] ], "simulated_seconds_remaining": 1.848, "calls_remaining_including_this": 36 }, "api_seconds": 3.4025894487276673, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper for final grasp attempt with remaining time." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.134, -0.23857, 0.32602, -2.06976, 0.02948, 1.81944, 0.46329 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43057, 0.21957, 0.951 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00115, 0.00037 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02037, -0.00082 ], [ -0.02038, -0.9984, -0.05279 ], [ 0.00026, 0.05279, -0.99861 ] ], "simulated_seconds_remaining": 0.924, "calls_remaining_including_this": 35 }, "api_seconds": 4.203682396560907, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Final small lift with remaining simulated time." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.13116, -0.23886, 0.32138, -1.94849, 0.02765, 1.69827, 0.45971 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43063, 0.2196, 0.99876 ], "tcp_roll_pitch_yaw": [ -0.00046, 0.00085, 0.00038 ], "tcp_rotation_matrix": [ [ 0.99979, -0.02038, -0.00052 ], [ -0.02038, -0.9984, -0.05267 ], [ 0.00055, 0.05267, -0.99861 ] ], "simulated_seconds_remaining": 0.33, "calls_remaining_including_this": 34 }, "api_seconds": 4.403616586700082, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not localize the pepper precisely enough; wrist camera never showed it and depth ambiguity in the exterior view led to failed grasps. Simulated motion time exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 021 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 21, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 18, "api_calls": 20, "wall_seconds": 149.68698740005493, "usage": { "input_tokens": 40, "cache_creation_input_tokens": 18800, "cache_read_input_tokens": 189262, "output_tokens": 7904 }, "estimated_cost_usd": 0.409931 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezgTnzcCrdQ5TetKb1zA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0124FcNePVQZiyXs9eJz9qhU", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 114, "output_tokens_details": { "thinking_tokens": 90 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezgTzLyRFRU32KHdCAjx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T6ok1s1UfamEKzP3TdiN1c", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Move forward and down toward spatula on counter to get a closer look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 548, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 548, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 212, "output_tokens_details": { "thinking_tokens": 108 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezgUKqzGPFwzX4YVXouN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015emkNdTHwtDZXabFwt8pnH", "name": "move_to", "input": { "targets": { "x": 0.55 }, "note": "Spatula still near top of wrist image; moving further forward to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 704, "cache_read_input_tokens": 2306, "cache_creation": { "ephemeral_5m_input_tokens": 704, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 344, "output_tokens_details": { "thinking_tokens": 247 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezgUrbvHZkQLXW3XcuTT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016F5YnpjfAZ5T5uobXHTTq7", "name": "move_to", "input": { "targets": { "x": 0.42, "z": 0.9 }, "note": "Overshot forward; coming back and lowering for closer view of spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 836, "cache_read_input_tokens": 3010, "cache_creation": { "ephemeral_5m_input_tokens": 836, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 664, "output_tokens_details": { "thinking_tokens": 558 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezgVfmqCVBbC7mrWr34T", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gi2rvcKXaUBqdqDrZvtZbi", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Calibration move in +y to learn image axis mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1163, "cache_read_input_tokens": 3846, "cache_creation": { "ephemeral_5m_input_tokens": 1163, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 319, "output_tokens_details": { "thinking_tokens": 226 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezgW8JG2Ua2chRMqC6ZD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018WtB7XHNLaXMGZLGQr9L1V", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Descending toward counter to gauge height and whether handle stays centered 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": 812, "cache_read_input_tokens": 5009, "cache_creation": { "ephemeral_5m_input_tokens": 812, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 736, "output_tokens_details": { "thinking_tokens": 634 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezgX1J751LG4U8rM51ah", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LNg1qAMpuSmxnPnCTB5VQh", "name": "move_to", "input": { "targets": { "z": 0.79 }, "note": "Continue descending; object scale barely changed so still well above counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1228, "cache_read_input_tokens": 5821, "cache_creation": { "ephemeral_5m_input_tokens": 1228, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 200, "output_tokens_details": { "thinking_tokens": 105 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezgXL3EHB7Y7L252uExf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019yp1sdhozUXmmqLwmqZbDd", "name": "move_to", "input": { "targets": { "z": 0.74 }, "note": "Descend further toward counter surface." }, "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": 7049, "cache_creation": { "ephemeral_5m_input_tokens": 693, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 258, "output_tokens_details": { "thinking_tokens": 172 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezgXiNtqMEMZgCEeXkoB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KSqBQLEK8njszHd4whTQ1Y", "name": "move_to", "input": { "targets": { "x": 0.47 }, "note": "Test +x move to confirm vertical image mapping at this height." }, "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": 7742, "cache_creation": { "ephemeral_5m_input_tokens": 750, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 228, "output_tokens_details": { "thinking_tokens": 133 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezgY4aqUYNn1vC3y9szx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JRNvmBGZTNeExzZUKLs8tS", "name": "move_to", "input": { "targets": { "x": 0.33, "z": 0.8 }, "note": "Re-mapping image axes: -x moves object down in wrist view, so retreating in x to center the spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 726, "cache_read_input_tokens": 8492, "cache_creation": { "ephemeral_5m_input_tokens": 726, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1261, "output_tokens_details": { "thinking_tokens": 1143 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezgZcgATGACnAuAYyoCz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JH2LWxAELApZwW5WBynytP", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.04, "z": 0.76, "pitch": 0 }, "note": "Positioning above the handle (handle spanned image center at x=0.42) with pitch zeroed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1755, "cache_read_input_tokens": 9218, "cache_creation": { "ephemeral_5m_input_tokens": 1755, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 808, "output_tokens_details": { "thinking_tokens": 677 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezgabnc3xM8KM69xVL9X", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QgbZyCB4nnEC5Cx1MjLDXT", "name": "move_to", "input": { "targets": { "y": 0.0 }, "note": "Shifting -y to bring handle (right of image center) toward center; also calibrates lateral scale." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1301, "cache_read_input_tokens": 10973, "cache_creation": { "ephemeral_5m_input_tokens": 1301, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 392, "output_tokens_details": { "thinking_tokens": 285 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezgbBD2qWLPiHfsU5VVZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RFzCBUg45AEM1cEEiD2eoD", "name": "move_to", "input": { "targets": { "y": 0.075 }, "note": "Corrected sign: +y moves object left in image; moving to y=0.075 to center 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": 891, "cache_read_input_tokens": 12274, "cache_creation": { "ephemeral_5m_input_tokens": 891, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 516, "output_tokens_details": { "thinking_tokens": 410 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezgbv3yfYCxVmeovtAso", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PVamRVSgZUzD9wfNeh1m22", "name": "move_to", "input": { "targets": { "y": 0.055, "z": 0.72 }, "note": "Center handle in finger gap and descend closer to counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1009, "cache_read_input_tokens": 13165, "cache_creation": { "ephemeral_5m_input_tokens": 1009, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 640, "output_tokens_details": { "thinking_tokens": 539 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezgckrMwLpJNoBW5Zfdm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ELAHQC85AnVvnfRe84pfNc", "name": "move_to", "input": { "targets": { "y": 0.04 }, "note": "Handle still slightly left of finger gap center; nudge -y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1137, "cache_read_input_tokens": 14174, "cache_creation": { "ephemeral_5m_input_tokens": 1137, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 501, "output_tokens_details": { "thinking_tokens": 405 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezgdNBtCqKDJrhvp2242", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A2aPHszbXV3zX4MakeLUoS", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle appears aligned in finger gap at counter level; closing gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 993, "cache_read_input_tokens": 15311, "cache_creation": { "ephemeral_5m_input_tokens": 993, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 292, "output_tokens_details": { "thinking_tokens": 193 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezgdnPukmacUd34iTPZy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01REbhhxd9FachVfEvXWtzyf", "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": 784, "cache_read_input_tokens": 16304, "cache_creation": { "ephemeral_5m_input_tokens": 784, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 47, "output_tokens_details": { "thinking_tokens": 23 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezgdw7n4ykrL4grV8BFi", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01A9ksWN5F9fhFkH6bek6HpK", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Continue closing gripper fully on handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 483, "cache_read_input_tokens": 17088, "cache_creation": { "ephemeral_5m_input_tokens": 483, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 88, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezge8DGegGm6P9c5tv7Z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013aZLJQ6zgTbmJiMWxuZCcH", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Finish closing gripper." }, "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": 17571, "cache_creation": { "ephemeral_5m_input_tokens": 580, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 157, "output_tokens_details": { "thinking_tokens": 73 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezgePzJoKVTq7MtgEcm6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VxGQpDurJtpSXRdqMDMwXk", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check whether spatula 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": 649, "cache_read_input_tokens": 18151, "cache_creation": { "ephemeral_5m_input_tokens": 649, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 127, "output_tokens_details": { "thinking_tokens": 37 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.0022, -0.77286, 0.01656, -2.35733, 0.00194, 1.61061, -0.00057 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31832, 0.00475, 1.01443 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99961, 0.0102, 0.02615 ], [ 0.01045, -0.9999, -0.00937 ], [ 0.02606, 0.00964, -0.99961 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.8057552287355065, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Move forward and down toward spatula on counter to get a closer look." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.00683, -0.37131, 0.01948, -2.22311, -0.00272, 1.87766, 0.00189 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44875, 0.00474, 0.95051 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00026, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99961, 0.01019, 0.02589 ], [ 0.01043, -0.9999, -0.00937 ], [ 0.02579, 0.00963, -0.99962 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 56 }, "api_seconds": 6.806099891662598, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Spatula still near top of wrist image; moving further forward to center it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.00868, -0.06441, 0.02083, -1.90683, -0.00872, 1.86807, 0.00427 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54871, 0.00473, 0.95045 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00039, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01018, 0.02576 ], [ 0.01042, -0.9999, -0.00937 ], [ 0.02566, 0.00963, -0.99962 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 55 }, "api_seconds": 10.408523757010698, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 0.9 }, "note": "Overshot forward; coming back and lowering for closer view of spatula." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.00563, -0.4375, 0.01969, -2.40943, -0.00148, 1.99764, 0.00259 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42127, 0.00474, 0.90053 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00041, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01019, 0.02574 ], [ 0.01044, -0.9999, -0.00938 ], [ 0.02564, 0.00964, -0.99962 ] ], "simulated_seconds_remaining": 26.598, "calls_remaining_including_this": 54 }, "api_seconds": 6.004724715836346, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Calibration move in +y to learn image axis mapping." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.03889, -0.42523, 0.09545, -2.39684, 0.02937, 1.99753, 0.10399 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42127, 0.05879, 0.90053 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.0004, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99961, 0.01042, 0.02575 ], [ 0.01067, -0.9999, -0.00942 ], [ 0.02565, 0.00969, -0.99962 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 53 }, "api_seconds": 11.60912162810564, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Descending toward counter to gauge height and whether handle stays centered in wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.039, -0.38284, 0.10034, -2.4902, 0.02918, 2.13292, 0.10676 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42122, 0.05878, 0.85107 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.0007, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01042, 0.02546 ], [ 0.01067, -0.9999, -0.00946 ], [ 0.02536, 0.00972, -0.99963 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 52 }, "api_seconds": 4.003905073739588, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79 }, "note": "Continue descending; object scale barely changed so still well above counter." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.03725, -0.29858, 0.10717, -2.57947, 0.02502, 2.30592, 0.11298 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42114, 0.05877, 0.79111 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00102, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99963, 0.01042, 0.02513 ], [ 0.01066, -0.9999, -0.00949 ], [ 0.02503, 0.00976, -0.99964 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 51 }, "api_seconds": 4.804368081502616, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74 }, "note": "Descend further toward counter surface." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.03392, -0.20813, 0.11324, -2.6286, 0.01496, 2.45089, 0.12075 ], "gripper_open": 1.0, "tcp_xyz": [ 0.42252, 0.05913, 0.74555 ], "tcp_roll_pitch_yaw": [ -0.00017, -0.00466, 0.00262 ], "tcp_rotation_matrix": [ [ 0.99944, 0.01278, 0.03084 ], [ 0.01307, -0.99987, -0.00946 ], [ 0.03071, 0.00985, -0.99948 ] ], "simulated_seconds_remaining": 23.892, "calls_remaining_including_this": 50 }, "api_seconds": 4.604132384061813, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47 }, "note": "Test +x move to confirm vertical image mapping at this height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.02716, -0.09934, 0.1151, -2.47107, -0.0029, 2.26218, 0.11982 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43194, 0.05928, 0.74701 ], "tcp_roll_pitch_yaw": [ -0.01843, 0.13363, 0.0108 ], "tcp_rotation_matrix": [ [ 0.99396, 0.02464, -0.10691 ], [ 0.02166, -0.99935, -0.02895 ], [ -0.10756, 0.02646, -0.99385 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 49 }, "api_seconds": 20.415395912714303, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "z": 0.8 }, "note": "Re-mapping image axes: -x moves object down in wrist view, so retreating in x to center the spatula." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.06472, -0.50886, 0.11753, -2.70691, 0.05304, 2.08997, 0.11217 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33123, 0.0593, 0.79945 ], "tcp_roll_pitch_yaw": [ -0.01845, 0.13346, 0.01084 ], "tcp_rotation_matrix": [ [ 0.99398, 0.02468, -0.10673 ], [ 0.02171, -0.99934, -0.02896 ], [ -0.10738, 0.02647, -0.99387 ] ], "simulated_seconds_remaining": 22.242, "calls_remaining_including_this": 48 }, "api_seconds": 13.010106168687344, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.04, "z": 0.76, "pitch": 0 }, "note": "Positioning above the handle (handle spanned image center at x=0.42) with pitch zeroed." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.01126, -0.2528, 0.09864, -2.62607, -0.00793, 2.39594, 0.09146 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41885, 0.04022, 0.76044 ], "tcp_roll_pitch_yaw": [ -0.01844, 0.00189, 0.01077 ], "tcp_rotation_matrix": [ [ 0.99948, 0.02101, 0.02457 ], [ 0.02169, -0.99939, -0.02754 ], [ 0.02397, 0.02806, -0.99932 ] ], "simulated_seconds_remaining": 21.252, "calls_remaining_including_this": 47 }, "api_seconds": 7.606050659902394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0 }, "note": "Shifting -y to bring handle (right of image center) toward center; also calibrates lateral scale." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.02861, -0.25939, 0.04321, -2.6343, -0.0248, 2.39919, 0.01021 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41885, 0.00105, 0.76044 ], "tcp_roll_pitch_yaw": [ -0.01841, 0.00189, 0.01056 ], "tcp_rotation_matrix": [ [ 0.99948, 0.02081, 0.02456 ], [ 0.02148, -0.99939, -0.02752 ], [ 0.02397, 0.02803, -0.99932 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 46 }, "api_seconds": 9.60810773074627, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.075 }, "note": "Corrected sign: +y moves object left in image; moving to y=0.075 to center the handle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.04402, -0.23886, 0.14569, -2.60998, 0.00401, 2.39264, 0.16163 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41886, 0.07378, 0.76044 ], "tcp_roll_pitch_yaw": [ -0.01845, 0.00187, 0.01082 ], "tcp_rotation_matrix": [ [ 0.99948, 0.02106, 0.02458 ], [ 0.02174, -0.99938, -0.02755 ], [ 0.02399, 0.02807, -0.99932 ] ], "simulated_seconds_remaining": 19.866, "calls_remaining_including_this": 45 }, "api_seconds": 11.208030477166176, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.055, "z": 0.72 }, "note": "Center handle in finger gap and descend closer to counter." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.02982, -0.21626, 0.13602, -2.64058, 0.01836, 2.4694, 0.13528 ], "gripper_open": 1.0, "tcp_xyz": [ 0.42164, 0.06603, 0.74563 ], "tcp_roll_pitch_yaw": [ -0.00121, -0.01932, 0.0037 ], "tcp_rotation_matrix": [ [ 0.99887, 0.01369, 0.04549 ], [ 0.01418, -0.99985, -0.01041 ], [ 0.04535, 0.01104, -0.99891 ] ], "simulated_seconds_remaining": 19.272, "calls_remaining_including_this": 44 }, "api_seconds": 8.006704720668495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04 }, "note": "Handle still slightly left of finger gap center; nudge -y." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.00613, -0.22599, 0.10121, -2.65028, 0.01232, 2.47137, 0.08097 ], "gripper_open": 1.0, "tcp_xyz": [ 0.42219, 0.04178, 0.74629 ], "tcp_roll_pitch_yaw": [ -0.00092, -0.02111, 0.00463 ], "tcp_rotation_matrix": [ [ 0.99877, 0.0146, 0.0473 ], [ 0.0151, -0.99984, -0.01007 ], [ 0.04714, 0.01077, -0.99883 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 43 }, "api_seconds": 5.204383000731468, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle appears aligned in finger gap at counter level; closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.01092, -0.23312, 0.10621, -2.64433, 0.01544, 2.47081, 0.08047 ], "gripper_open": 0.7998, "tcp_xyz": [ 0.42565, 0.04634, 0.75168 ], "tcp_roll_pitch_yaw": [ 0.00052, -0.03343, 0.01254 ], "tcp_rotation_matrix": [ [ 0.99797, 0.02242, 0.05966 ], [ 0.02295, -0.9997, -0.00811 ], [ 0.05946, 0.00946, -0.99819 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 42 }, "api_seconds": 4.003378950059414, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Continue closing gripper fully on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.01756, -0.24133, 0.11329, -2.63438, 0.01973, 2.47382, 0.08068 ], "gripper_open": 0.3452, "tcp_xyz": [ 0.43176, 0.05306, 0.75967 ], "tcp_roll_pitch_yaw": [ 0.00302, -0.05429, 0.02285 ], "tcp_rotation_matrix": [ [ 0.99622, 0.03267, 0.08048 ], [ 0.03314, -0.99944, -0.00451 ], [ 0.08029, 0.00716, -0.99675 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 41 }, "api_seconds": 3.203102537430823, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Finish closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.01834, -0.24232, 0.11414, -2.63309, 0.02019, 2.4743, 0.08073 ], "gripper_open": 0.1092, "tcp_xyz": [ 0.43256, 0.05388, 0.76071 ], "tcp_roll_pitch_yaw": [ 0.00331, -0.05705, 0.02411 ], "tcp_rotation_matrix": [ [ 0.99595, 0.03392, 0.08323 ], [ 0.03438, -0.9994, -0.00406 ], [ 0.08304, 0.0069, -0.99652 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 40 }, "api_seconds": 6.204708229750395, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check whether spatula was grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 022 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 22, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 33, "api_calls": 34, "wall_seconds": 363.7613625526428, "usage": { "input_tokens": 68, "cache_creation_input_tokens": 36707, "cache_read_input_tokens": 602226, "output_tokens": 18836 }, "estimated_cost_usd": 1.00177175 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezggPGwx2Q6Z7Pi5hsyc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013N5QZpvYGq9QCbqx3dqpX9", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "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_011CezggwBLERaAzugNkmC4q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tp2gxbC1GfBmjvnrQ7ckqV", "name": "move_to", "input": { "targets": { "z": 1.15 }, "note": "Raise to get wider overhead view to locate spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 540, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 540, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 343, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezghPeZ1KXajMBEG4HY2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Muohjc4Yj4LWxdWDSPAYrx", "name": "move_to", "input": { "targets": { "x": 0.42, "z": 1.08 }, "note": "Move forward over the thin grey utensil near the bottle to inspect it closely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 842, "cache_read_input_tokens": 2299, "cache_creation": { "ephemeral_5m_input_tokens": 842, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 328 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezgi273B1UPAHUioexVR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NrDXRTVAB7oRJKYPYg5GKB", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 1.05 }, "note": "Move further forward to center the grey utensil 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": 930, "cache_read_input_tokens": 3141, "cache_creation": { "ephemeral_5m_input_tokens": 930, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 329, "output_tokens_details": { "thinking_tokens": 226 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezgikZRXL1ZsQtVowEh7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012mzcKYJ2UdoM2593E3Dh3W", "name": "move_to", "input": { "targets": { "x": 0.53, "y": -0.12 }, "note": "Spatula seen to right in wrist view; shifting right (-y) and slightly forward to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 4071, "cache_creation": { "ephemeral_5m_input_tokens": 828, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 679, "output_tokens_details": { "thinking_tokens": 564 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezgjfTctGNZnAEw2V7fS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0123vbAiVsARSqvZ7v2iypEX", "name": "move_to", "input": { "targets": { "y": 0.0, "x": 0.46 }, "note": "Re-deriving camera axes: image right=+y, down=+x. Moving +y and back in x to bring spatula toward center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1173, "cache_read_input_tokens": 4899, "cache_creation": { "ephemeral_5m_input_tokens": 1173, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1423, "output_tokens_details": { "thinking_tokens": 1299 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezgmEP3WNcyN9ugwuWhn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CoGSummFnKy2bUecfLJy3z", "name": "move_to", "input": { "targets": { "y": 0.08, "x": 0.48 }, "note": "Spatula still right of center; step +y toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1922, "cache_read_input_tokens": 6072, "cache_creation": { "ephemeral_5m_input_tokens": 1922, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 451, "output_tokens_details": { "thinking_tokens": 352 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezgms2SMHvxEUG1sRXmG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rg1isTryK62AD4UPzDvqQQ", "name": "move_to", "input": { "targets": { "yaw": 0.785, "y": 0.12 }, "note": "Spatula handle runs diagonally (+x,+y); rotate yaw 45° to align fingers across handle, and step +y closer." }, "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": 7994, "cache_creation": { "ephemeral_5m_input_tokens": 949, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1060, "output_tokens_details": { "thinking_tokens": 931 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezgo8qEtQTg5Yrjb56jS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N8F3ARaPRan4aJfxtYY3P9", "name": "move_to", "input": { "targets": { "z": 0.97, "y": 0.1 }, "note": "Gripper now aligned across handle; descending to inspect height and centering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1552, "cache_read_input_tokens": 8943, "cache_creation": { "ephemeral_5m_input_tokens": 1552, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 620, "output_tokens_details": { "thinking_tokens": 514 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezgotwr1v4Ed7zaUHG6w", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MgJMjpHMcNrRASCVJtvSqK", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Descend closer to counter to judge grasp height and alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1117, "cache_read_input_tokens": 10495, "cache_creation": { "ephemeral_5m_input_tokens": 1117, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 365, "output_tokens_details": { "thinking_tokens": 270 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezgpRmEq9m7rMM8UTbP1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PBqWKKAZUk2QPH1bL1toeS", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.07 }, "note": "Spatula appears above image center; shifting -x,-y (image-up direction) to bring it 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": 857, "cache_read_input_tokens": 11612, "cache_creation": { "ephemeral_5m_input_tokens": 857, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 714, "output_tokens_details": { "thinking_tokens": 597 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezgqQjG81RdigV3Jewso", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HP1rdCwNzqvtWMfGFxB93f", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.06, "z": 0.89 }, "note": "Nudging spatula handle toward finger gap and lowering toward counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1211, "cache_read_input_tokens": 12469, "cache_creation": { "ephemeral_5m_input_tokens": 1211, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 406, "output_tokens_details": { "thinking_tokens": 291 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezgqxELmXzDPmadnFTjP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FEZji4sbWQAqrPChzuTRGN", "name": "move_to", "input": { "targets": { "z": 0.86 }, "note": "Lowering further toward counter surface to reach handle level." }, "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": 13680, "cache_creation": { "ephemeral_5m_input_tokens": 898, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 402, "output_tokens_details": { "thinking_tokens": 309 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezgrYSPkzRFgwbGpM2cL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DMMLCifKUgdSXFvZopkPRT", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Continue slow descent toward counter, watching for contact." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 894, "cache_read_input_tokens": 14578, "cache_creation": { "ephemeral_5m_input_tokens": 894, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 316, "output_tokens_details": { "thinking_tokens": 223 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezgs38YUQ7htxViXEvRG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015SQPGt76dEwVeKQNhMNdSs", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.06, "z": 0.93, "roll": 0, "pitch": 0, "yaw": 0.785 }, "note": "Fingertips contacted counter (~z=0.86 grasp height limit); backing up to reset orientation and re-check alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 814, "cache_read_input_tokens": 15472, "cache_creation": { "ephemeral_5m_input_tokens": 814, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 445, "output_tokens_details": { "thinking_tokens": 287 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezgsd2V4eutAiksQE2MU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011xYFvVLzQC3w8Q5FYLewe5", "name": "move_to", "input": { "targets": { "z": 0.875 }, "note": "Handle appears between fingers; descending to just above counter for grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 938, "cache_read_input_tokens": 16286, "cache_creation": { "ephemeral_5m_input_tokens": 938, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 277, "output_tokens_details": { "thinking_tokens": 180 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezgt6RWcdw8ZAjuzGieY", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X2apMpzpQu4NocWvZdNYJX", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper on spatula handle." }, "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": 17224, "cache_creation": { "ephemeral_5m_input_tokens": 770, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 87, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezgtNRgJCXiMkS162A6U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ptn1YgcXJBc2AC2RKus6aE", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Lifting to check whether the spatula 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": 579, "cache_read_input_tokens": 17994, "cache_creation": { "ephemeral_5m_input_tokens": 579, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 175, "output_tokens_details": { "thinking_tokens": 83 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezgth2sBh8AVcNbgRon1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AYh8ZAe7KDebvmqWqbowRN", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.415, "y": 0.035, "z": 0.93 }, "note": "Grasp missed (closed empty); spatula sits farther in image-up direction, so shift -x,-y by 2.5cm and reopen." }, "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": 18573, "cache_creation": { "ephemeral_5m_input_tokens": 667, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 636, "output_tokens_details": { "thinking_tokens": 491 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezguYkptrqadckxyRSH1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WTrssPfnZmyXtRbJB4m2wv", "name": "move_to", "input": { "targets": { "z": 0.875 }, "note": "Descending again for second grasp attempt with adjusted position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1129, "cache_read_input_tokens": 19240, "cache_creation": { "ephemeral_5m_input_tokens": 1129, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 348, "output_tokens_details": { "thinking_tokens": 254 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezgv7X4GAtNu3LSYydZA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MS6nc5fTtpNdk6tWoEmsDK", "name": "move_to", "input": { "targets": { "z": 0.96, "roll": 0, "pitch": 0, "yaw": 0.785, "x": 0.415, "y": 0.035 }, "note": "Collision tilted the wrist; retreat up and reset orientation to re-evaluate." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 20369, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 335, "output_tokens_details": { "thinking_tokens": 190 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezgvd25vv8ENr3jNvi7b", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UMvTFrcqTQ9ng9kB3RdVo5", "name": "move_to", "input": { "targets": { "z": 1.08 }, "note": "Raising for an unobstructed top-down view of spatula and nearby bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 828, "cache_read_input_tokens": 21210, "cache_creation": { "ephemeral_5m_input_tokens": 828, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 576, "output_tokens_details": { "thinking_tokens": 475 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezgwQXmYin2SUh2VNgoE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Vo6t4dgPWrjP1uFNkec9ns", "name": "move_to", "input": { "targets": { "x": 0.385, "y": 0.005 }, "note": "Empirical step: move -x,-y 3cm each to drive the spatula toward the finger-gap projection (~(120,150))." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1069, "cache_read_input_tokens": 22038, "cache_creation": { "ephemeral_5m_input_tokens": 1069, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1444, "output_tokens_details": { "thinking_tokens": 1319 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezgy6ze25RwAaJDcCRAV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CV1uhvpb8JyQmc5XkKce4v", "name": "move_to", "input": { "targets": { "x": 0.355, "y": -0.025 }, "note": "Spatula moved down ~20px as predicted; another 3cm step along -x,-y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1942, "cache_read_input_tokens": 23107, "cache_creation": { "ephemeral_5m_input_tokens": 1942, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 349, "output_tokens_details": { "thinking_tokens": 237 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezgyi71bxwF7res3kCQP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JGLqxyNJipxNQH8sfRNSeN", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lower for a closer, larger-scale view to localize spatula relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 25049, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1261, "output_tokens_details": { "thinking_tokens": 1159 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezh1KjfM3gUYJXQxNnGi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HK7C94oD15mTXuvsx743gh", "name": "move_to", "input": { "targets": { "x": 0.476, "y": 0.121, "z": 0.93, "gripper": 1 }, "note": "Re-estimated: handle lies at larger x,y than head; moving over estimated handle midpoint (0.476,0.121)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1759, "cache_read_input_tokens": 25896, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1145, "output_tokens_details": { "thinking_tokens": 1005 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezh3baTYAVJha6rqxG4n", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y2rVaX8gQYhPdwDY5LoXPM", "name": "move_to", "input": { "targets": { "y": 0.1, "z": 0.878 }, "note": "Centering slightly in -y and descending to handle height for 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": 1638, "cache_read_input_tokens": 27655, "cache_creation": { "ephemeral_5m_input_tokens": 1638, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 716, "output_tokens_details": { "thinking_tokens": 609 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezh4ZhNebd6ghR6tuNvh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0197nqPtRoKZTCSsB1UtrPEa", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempting grasp at current position where handle appears in 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": 1209, "cache_read_input_tokens": 29293, "cache_creation": { "ephemeral_5m_input_tokens": 1209, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 224, "output_tokens_details": { "thinking_tokens": 128 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011Cezh51jnPX8aK6jsGgMeg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H1fRGqvSVhkuw9SEjRAmEf", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.506, "y": 0.148 }, "note": "Hypothesis: grasp point projects near bottom of wrist image, so shift +x,+y to put 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": 716, "cache_read_input_tokens": 30502, "cache_creation": { "ephemeral_5m_input_tokens": 716, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1534, "output_tokens_details": { "thinking_tokens": 1403 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezh6nmFMzF4gmqdRU1sV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016q3szzP3gSgozEVv3ntud3", "name": "move_to", "input": { "targets": { "x": 0.443, "y": 0.062, "z": 0.866 }, "note": "Return to best-centered spot but lower, since fingertips likely reach only to the grasp-point height; handle lies flat on counter (~0.862)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2027, "cache_read_input_tokens": 31218, "cache_creation": { "ephemeral_5m_input_tokens": 2027, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 828, "output_tokens_details": { "thinking_tokens": 690 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011Cezh7nQCTd5UEk1F6MK73", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01X8LiFsW68Ahk5sDdjwShpy", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing at lower height to catch the flat handle on the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1320, "cache_read_input_tokens": 33245, "cache_creation": { "ephemeral_5m_input_tokens": 1320, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 94, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011Cezh816vsTkZMRVLqEa54", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CCF7Aq2pjQqsaQ795uCfKk", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.455, "y": 0.051 }, "note": "Spatula sits slightly left in image (along finger axis); shift +x,-y by 1.2cm and reopen for final attempt." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 587, "cache_read_input_tokens": 34565, "cache_creation": { "ephemeral_5m_input_tokens": 587, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 481, "output_tokens_details": { "thinking_tokens": 347 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011Cezh8hCBrThDnGg1sdBzv", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01TfyW9YyZqvwzmAKd5X6LPX", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Final grasp attempt with lateral correction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 974, "cache_read_input_tokens": 35152, "cache_creation": { "ephemeral_5m_input_tokens": 974, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 89, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 34, "response": { "model": "claude-opus-5", "id": "msg_011Cezh8wLk2nXqzYTo2Riri", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L9Xg8ECeLPmyQPeXjPWexJ", "name": "give_up", "input": { "note": "Repeated grasp attempts closed on empty air; could not resolve the wrist-camera-to-grasp-point offset before running out of simulated motion time. Spatula remains on the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 581, "cache_read_input_tokens": 36126, "cache_creation": { "ephemeral_5m_input_tokens": 581, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 142, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04599, -0.77405, -0.03205, -2.35202, 0.00034, 1.58881, 0.04592 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31265, -0.02379, 1.01525 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99334, -0.11457, 0.01212 ], [ -0.11481, -0.99314, 0.02196 ], [ 0.00953, -0.0232, -0.99969 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.615592335350811, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Raise to get wider overhead view to locate spatula." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04176, -0.63005, -0.03073, -1.89914, 0.00483, 1.28016, 0.04968 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31268, -0.02379, 1.14871 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.00021, -0.0 ], "tcp_rotation_matrix": [ [ 0.99334, -0.11456, 0.01234 ], [ -0.11481, -0.99314, 0.02195 ], [ 0.00974, -0.02322, -0.99968 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 8.006665764376521, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "z": 1.08 }, "note": "Move forward over the thin grey utensil near the bottle to inspect it closely." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.03623, -0.40764, -0.02626, -1.9172, 0.01225, 1.52034, 0.05524 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41885, -0.02379, 1.08062 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00013, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99334, -0.11456, 0.01199 ], [ -0.11481, -0.99315, 0.02196 ], [ 0.0094, -0.02319, -0.99969 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 55 }, "api_seconds": 9.610770417377353, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 1.05 }, "note": "Move further forward to center the grey utensil in the wrist view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.03224, -0.18629, -0.02402, -1.78289, 0.01815, 1.60712, 0.05853 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49874, -0.02379, 1.05036 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00041, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99335, -0.11456, 0.01171 ], [ -0.1148, -0.99315, 0.02197 ], [ 0.00912, -0.02317, -0.99969 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 54 }, "api_seconds": 12.009074319154024, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": -0.12 }, "note": "Spatula seen to right in wrist view; shifting right (-y) and slightly forward to center it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.1063, -0.0446, -0.12223, -1.6233, 0.01861, 1.58538, -0.11343 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52959, -0.11889, 1.05031 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.0005, -0.00025 ], "tcp_rotation_matrix": [ [ 0.99332, -0.11483, 0.01163 ], [ -0.11506, -0.99312, 0.02198 ], [ 0.00903, -0.02317, -0.99969 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 53 }, "api_seconds": 20.8171205278486, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0, "x": 0.46 }, "note": "Re-deriving camera axes: image right=+y, down=+x. Moving +y and back in x to bring spatula toward center." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.02122, -0.30565, 0.00533, -1.90342, 0.02379, 1.60915, 0.09806 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4607, -0.00107, 1.05037 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00039, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99335, -0.11457, 0.01173 ], [ -0.1148, -0.99314, 0.02198 ], [ 0.00913, -0.02318, -0.99969 ] ], "simulated_seconds_remaining": 24.684, "calls_remaining_including_this": 52 }, "api_seconds": 8.007241600193083, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08, "x": 0.48 }, "note": "Spatula still right of center; step +y toward it." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.034, -0.23217, 0.10186, -1.8301, 0.04365, 1.61355, 0.24647 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4797, 0.07884, 1.05035 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00044, 0.00026 ], "tcp_rotation_matrix": [ [ 0.99338, -0.11431, 0.01168 ], [ -0.11455, -0.99317, 0.02195 ], [ 0.00909, -0.02315, -0.99969 ] ], "simulated_seconds_remaining": 23.826, "calls_remaining_including_this": 51 }, "api_seconds": 16.614314045757055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.785, "y": 0.12 }, "note": "Spatula handle runs diagonally (+x,+y); rotate yaw 45° to align fingers across handle, and step +y closer." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.13026, -0.19202, 0.08938, -1.7853, 0.04184, 1.59217, -0.44845 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47969, 0.1198, 1.05034 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00046, 0.78039 ], "tcp_rotation_matrix": [ [ 0.78669, 0.61731, -0.00716 ], [ 0.61729, -0.78638, 0.02381 ], [ 0.00907, -0.02315, -0.99969 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 50 }, "api_seconds": 10.409252455458045, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97, "y": 0.1 }, "note": "Gripper now aligned across handle; descending to inspect height and centering." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.11712, -0.2253, 0.06905, -2.02266, 0.04117, 1.79472, -0.49017 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47967, 0.10027, 0.97114 ], "tcp_roll_pitch_yaw": [ 0.00018, 0.00071, 0.78034 ], "tcp_rotation_matrix": [ [ 0.78672, 0.61726, -0.00746 ], [ 0.61724, -0.78641, 0.02376 ], [ 0.0088, -0.02329, -0.99969 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 49 }, "api_seconds": 7.005804511718452, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Descend closer to counter to judge grasp height and alignment." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.11797, -0.21301, 0.07085, -2.13789, 0.04228, 1.92191, -0.49279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47963, 0.10027, 0.92108 ], "tcp_roll_pitch_yaw": [ 0.00035, 0.00095, 0.78034 ], "tcp_rotation_matrix": [ [ 0.78672, 0.61726, -0.00775 ], [ 0.61725, -0.78641, 0.02371 ], [ 0.00854, -0.02344, -0.99969 ] ], "simulated_seconds_remaining": 20.988, "calls_remaining_including_this": 48 }, "api_seconds": 13.010102005675435, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.07 }, "note": "Spatula appears above image center; shifting -x,-y (image-up direction) to bring it between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09959, -0.31505, 0.03933, -2.23913, 0.03908, 1.91969, -0.54174 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45083, 0.07078, 0.92112 ], "tcp_roll_pitch_yaw": [ 0.0003, 0.0009, 0.78022 ], "tcp_rotation_matrix": [ [ 0.7868, 0.61716, -0.00768 ], [ 0.61715, -0.78649, 0.02371 ], [ 0.00859, -0.0234, -0.99969 ] ], "simulated_seconds_remaining": 20.394, "calls_remaining_including_this": 47 }, "api_seconds": 7.2062290431931615, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.06, "z": 0.89 }, "note": "Nudging spatula handle toward finger gap and lowering toward counter." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09302, -0.3343, 0.02831, -2.33528, 0.03705, 1.99584, -0.56083 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44033, 0.06034, 0.89098 ], "tcp_roll_pitch_yaw": [ 0.00044, 0.00107, 0.78017 ], "tcp_rotation_matrix": [ [ 0.78683, 0.61712, -0.00789 ], [ 0.61712, -0.78652, 0.02369 ], [ 0.00841, -0.02351, -0.99969 ] ], "simulated_seconds_remaining": 19.866, "calls_remaining_including_this": 46 }, "api_seconds": 7.806894124485552, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Lowering further toward counter surface to reach handle level." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09341, -0.30941, 0.02919, -2.39082, 0.03813, 2.07601, -0.56256 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44028, 0.06033, 0.86096 ], "tcp_roll_pitch_yaw": [ 0.00059, 0.00127, 0.78018 ], "tcp_rotation_matrix": [ [ 0.78683, 0.61712, -0.00814 ], [ 0.61712, -0.78651, 0.02366 ], [ 0.0082, -0.02364, -0.99969 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 45 }, "api_seconds": 6.406686843372881, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Continue slow descent toward counter, watching for contact." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09385, -0.31445, 0.03042, -2.41638, 0.03747, 2.18714, -0.56493 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45945, 0.06236, 0.86208 ], "tcp_roll_pitch_yaw": [ -0.05754, -0.06831, 0.78357 ], "tcp_rotation_matrix": [ [ 0.78178, 0.61814, 0.08199 ], [ 0.61789, -0.78563, 0.03148 ], [ 0.08388, 0.02605, -0.99614 ] ], "simulated_seconds_remaining": 18.744, "calls_remaining_including_this": 44 }, "api_seconds": 7.606227971613407, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.06, "z": 0.93, "roll": 0, "pitch": 0, "yaw": 0.785 }, "note": "Fingertips contacted counter (~z=0.86 grasp height limit); backing up to reset orientation and re-check alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09307, -0.35659, 0.02611, -2.25848, 0.03573, 1.89968, -0.56405 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44043, 0.06005, 0.92892 ], "tcp_roll_pitch_yaw": [ -0.00125, -0.00151, 0.78493 ], "tcp_rotation_matrix": [ [ 0.78385, 0.62093, -0.00499 ], [ 0.62085, -0.78356, 0.02428 ], [ 0.01117, -0.02213, -0.99969 ] ], "simulated_seconds_remaining": 17.952, "calls_remaining_including_this": 43 }, "api_seconds": 6.205054431222379, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.875 }, "note": "Handle appears between fingers; descending to just above counter for grasp." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09372, -0.32492, 0.02757, -2.36599, 0.03754, 2.03854, -0.56714 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44038, 0.06005, 0.87614 ], "tcp_roll_pitch_yaw": [ -0.00106, -0.00126, 0.78494 ], "tcp_rotation_matrix": [ [ 0.78385, 0.62092, -0.0053 ], [ 0.62085, -0.78355, 0.02425 ], [ 0.0109, -0.0223, -0.99969 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 42 }, "api_seconds": 3.4033976392820477, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper on spatula handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09372, -0.32492, 0.02757, -2.36599, 0.03754, 2.03854, -0.56714 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44038, 0.06005, 0.87613 ], "tcp_roll_pitch_yaw": [ -0.00106, -0.00127, 0.78494 ], "tcp_rotation_matrix": [ [ 0.78385, 0.62092, -0.0053 ], [ 0.62085, -0.78355, 0.02425 ], [ 0.01091, -0.02229, -0.99969 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 41 }, "api_seconds": 3.8035756200551987, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Lifting to check whether the spatula was grasped." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09236, -0.36312, 0.0244, -2.0863, 0.03375, 1.72104, -0.55992 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44044, 0.06005, 0.99877 ], "tcp_roll_pitch_yaw": [ -0.00126, -0.00153, 0.78493 ], "tcp_rotation_matrix": [ [ 0.78385, 0.62093, -0.00497 ], [ 0.62085, -0.78356, 0.02429 ], [ 0.01119, -0.02213, -0.99969 ] ], "simulated_seconds_remaining": 15.246, "calls_remaining_including_this": 40 }, "api_seconds": 11.209883095696568, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.415, "y": 0.035, "z": 0.93 }, "note": "Grasp missed (closed empty); spatula sits farther in image-up direction, so shift -x,-y by 2.5cm and reopen." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.07633, -0.44319, -0.00449, -2.32934, 0.02381, 1.88286, -0.60506 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.41537, 0.03535, 0.93097 ], "tcp_roll_pitch_yaw": [ -0.00125, -0.00152, 0.78492 ], "tcp_rotation_matrix": [ [ 0.78386, 0.62092, -0.00498 ], [ 0.62084, -0.78356, 0.02429 ], [ 0.01118, -0.02213, -0.99969 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 39 }, "api_seconds": 7.206006137654185, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.875 }, "note": "Descending again for second grasp attempt with adjusted position." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.07891, -0.42797, -0.00112, -2.40412, 0.02545, 2.08593, -0.60805 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44378, 0.03935, 0.9084 ], "tcp_roll_pitch_yaw": [ -0.0766, -0.08579, 0.79142 ], "tcp_rotation_matrix": [ [ 0.7754, 0.62226, 0.10746 ], [ 0.62296, -0.78164, 0.03107 ], [ 0.10333, 0.04285, -0.99372 ] ], "simulated_seconds_remaining": 13.662, "calls_remaining_including_this": 38 }, "api_seconds": 6.80581640265882, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.96, "roll": 0, "pitch": 0, "yaw": 0.785, "x": 0.415, "y": 0.035 }, "note": "Collision tilted the wrist; retreat up and reset orientation to re-evaluate." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.07607, -0.44884, -0.00498, -2.26212, 0.02302, 1.81048, -0.60404 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41563, 0.0351, 0.95919 ], "tcp_roll_pitch_yaw": [ -0.00164, -0.00187, 0.78506 ], "tcp_rotation_matrix": [ [ 0.78377, 0.62104, -0.00446 ], [ 0.62095, -0.78348, 0.02427 ], [ 0.01157, -0.02179, -0.9997 ] ], "simulated_seconds_remaining": 13.002, "calls_remaining_including_this": 37 }, "api_seconds": 10.208517936058342, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.08 }, "note": "Raising for an unobstructed top-down view of spatula and nearby bottle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.07643, -0.4051, -0.00596, -1.9169, 0.02223, 1.50937, -0.59784 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41567, 0.0351, 1.07879 ], "tcp_roll_pitch_yaw": [ -0.00181, -0.00209, 0.78506 ], "tcp_rotation_matrix": [ [ 0.78376, 0.62104, -0.00418 ], [ 0.62095, -0.78348, 0.0243 ], [ 0.01181, -0.02164, -0.9997 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 36 }, "api_seconds": 22.81881274562329, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.385, "y": 0.005 }, "note": "Empirical step: move -x,-y 3cm each to drive the spatula toward the finger-gap projection (~(120,150))." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.05885, -0.49678, -0.04302, -1.99225, 0.00391, 1.49232, -0.64864 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38584, 0.00577, 1.07885 ], "tcp_roll_pitch_yaw": [ -0.00189, -0.0022, 0.78492 ], "tcp_rotation_matrix": [ [ 0.78385, 0.62094, -0.00405 ], [ 0.62084, -0.78356, 0.02432 ], [ 0.01192, -0.02158, -0.9997 ] ], "simulated_seconds_remaining": 11.286, "calls_remaining_including_this": 35 }, "api_seconds": 7.806839826516807, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.355, "y": -0.025 }, "note": "Spatula moved down ~20px as predicted; another 3cm step along -x,-y." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.03969, -0.58296, -0.0835, -2.05517, -0.02182, 1.46918, -0.70198 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35584, -0.02421, 1.0789 ], "tcp_roll_pitch_yaw": [ -0.00196, -0.0023, 0.78478 ], "tcp_rotation_matrix": [ [ 0.78393, 0.62083, -0.00392 ], [ 0.62073, -0.78365, 0.02434 ], [ 0.01204, -0.02152, -0.9997 ] ], "simulated_seconds_remaining": 10.692, "calls_remaining_including_this": 34 }, "api_seconds": 21.41592964529991, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lower for a closer, larger-scale view to localize spatula relative to fingers." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.0329, -0.64333, -0.09207, -2.42752, -0.0317, 1.78102, -0.70387 ], "gripper_open": 0.9976, "tcp_xyz": [ 0.35579, -0.02421, 0.95127 ], "tcp_roll_pitch_yaw": [ -0.00181, -0.00217, 0.7848 ], "tcp_rotation_matrix": [ [ 0.78393, 0.62084, -0.00412 ], [ 0.62074, -0.78364, 0.02436 ], [ 0.01189, -0.02165, -0.99969 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 33 }, "api_seconds": 30.22569684777409, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.476, "y": 0.121, "z": 0.93, "gripper": 1 }, "note": "Re-estimated: handle lies at larger x,y than head; moving over estimated handle midpoint (0.476,0.121)." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.13849, -0.22028, 0.08956, -2.1228, 0.04676, 1.90436, -0.45939 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47514, 0.12003, 0.9301 ], "tcp_roll_pitch_yaw": [ -0.00177, -0.00206, 0.78495 ], "tcp_rotation_matrix": [ [ 0.78383, 0.62096, -0.00423 ], [ 0.62086, -0.78355, 0.0243 ], [ 0.01177, -0.02168, -0.9997 ] ], "simulated_seconds_remaining": 7.92, "calls_remaining_including_this": 32 }, "api_seconds": 13.010807948186994, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1, "z": 0.878 }, "note": "Centering slightly in -y and descending to handle height for grasp attempt." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.12387, -0.20321, 0.06945, -2.23756, 0.04326, 2.03463, -0.4974 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4751, 0.10042, 0.8791 ], "tcp_roll_pitch_yaw": [ -0.00159, -0.00181, 0.78486 ], "tcp_rotation_matrix": [ [ 0.78389, 0.62088, -0.00453 ], [ 0.62079, -0.7836, 0.02426 ], [ 0.01151, -0.02183, -0.9997 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 31 }, "api_seconds": 6.005403816699982, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempting grasp at current position where handle appears in finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.12387, -0.20321, 0.06945, -2.23756, 0.04326, 2.03463, -0.4974 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4751, 0.10041, 0.87909 ], "tcp_roll_pitch_yaw": [ -0.00159, -0.00182, 0.78487 ], "tcp_rotation_matrix": [ [ 0.78389, 0.62088, -0.00453 ], [ 0.62079, -0.7836, 0.02426 ], [ 0.01151, -0.02183, -0.9997 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 30 }, "api_seconds": 23.8185592032969, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.506, "y": 0.148 }, "note": "Hypothesis: grasp point projects near bottom of wrist image, so shift +x,+y to put handle between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.15542, -0.08261, 0.11455, -2.10578, 0.03787, 2.02548, -0.41705 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.50532, 0.14702, 0.87906 ], "tcp_roll_pitch_yaw": [ -0.00157, -0.00179, 0.78497 ], "tcp_rotation_matrix": [ [ 0.78382, 0.62097, -0.00457 ], [ 0.62088, -0.78353, 0.02425 ], [ 0.01148, -0.02184, -0.9997 ] ], "simulated_seconds_remaining": 5.412, "calls_remaining_including_this": 29 }, "api_seconds": 13.212740892544389, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.443, "y": 0.062, "z": 0.866 }, "note": "Return to best-centered spot but lower, since fingertips likely reach only to the grasp-point height; handle lies flat on counter (~0.862)." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09834, -0.30508, 0.02897, -2.37365, 0.0379, 2.06692, -0.56197 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4438, 0.063, 0.86619 ], "tcp_roll_pitch_yaw": [ -0.00158, -0.00179, 0.78479 ], "tcp_rotation_matrix": [ [ 0.78394, 0.62082, -0.00455 ], [ 0.62073, -0.78365, 0.02425 ], [ 0.01149, -0.02183, -0.9997 ] ], "simulated_seconds_remaining": 4.422, "calls_remaining_including_this": 28 }, "api_seconds": 2.602607971057296, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing at lower height to catch the flat handle on the counter." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.09834, -0.30508, 0.02897, -2.37365, 0.0379, 2.06692, -0.56197 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.4438, 0.06299, 0.86619 ], "tcp_roll_pitch_yaw": [ -0.00158, -0.00179, 0.78479 ], "tcp_rotation_matrix": [ [ 0.78393, 0.62083, -0.00455 ], [ 0.62074, -0.78364, 0.02425 ], [ 0.01149, -0.02183, -0.9997 ] ], "simulated_seconds_remaining": 3.498, "calls_remaining_including_this": 27 }, "api_seconds": 9.006988716311753, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.455, "y": 0.051 }, "note": "Spatula sits slightly left in image (along finger axis); shift +x,-y by 1.2cm and reopen for final attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.08728, -0.27595, 0.01314, -2.3454, 0.03204, 2.06714, -0.58519 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.45455, 0.05147, 0.86618 ], "tcp_roll_pitch_yaw": [ -0.00157, -0.00179, 0.78476 ], "tcp_rotation_matrix": [ [ 0.78396, 0.6208, -0.00456 ], [ 0.62071, -0.78367, 0.02425 ], [ 0.01148, -0.02184, -0.9997 ] ], "simulated_seconds_remaining": 2.574, "calls_remaining_including_this": 26 }, "api_seconds": 3.0026664147153497, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Final grasp attempt with lateral correction." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.08728, -0.27595, 0.01314, -2.3454, 0.03204, 2.06714, -0.58519 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45455, 0.05147, 0.86618 ], "tcp_roll_pitch_yaw": [ -0.00157, -0.00179, 0.78476 ], "tcp_rotation_matrix": [ [ 0.78396, 0.6208, -0.00456 ], [ 0.62071, -0.78367, 0.02425 ], [ 0.01148, -0.02184, -0.9997 ] ], "simulated_seconds_remaining": 1.65, "calls_remaining_including_this": 25 }, "api_seconds": 3.8071028534322977, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasp attempts closed on empty air; could not resolve the wrist-camera-to-grasp-point offset before running out of simulated motion time. Spatula remains on the counter." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 023 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 23, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "api_calls": 32, "wall_seconds": 250.04887795448303, "usage": { "input_tokens": 64, "cache_creation_input_tokens": 30445, "cache_read_input_tokens": 504941, "output_tokens": 13571 }, "estimated_cost_usd": 0.78234675 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezggdum74ZnkNKM9Wm6n", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CgCdnErMVzV829qEe9wEwd", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 75, "output_tokens_details": { "thinking_tokens": 51 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezggop5DGr6LRE1YWhuf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0133fAvTAXQgRWhYLd5TL9J3", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.05 }, "note": "Move forward over table to get a better view of the yellow spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 508, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 508, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 280, "output_tokens_details": { "thinking_tokens": 177 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezghHvWTAneuS5vY9pgw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Lx4WtGEv5Fo7SxxEZyyFFb", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Test move right (-y) to center the spoon 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": 771, "cache_read_input_tokens": 2265, "cache_creation": { "ephemeral_5m_input_tokens": 771, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 321, "output_tokens_details": { "thinking_tokens": 225 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezghu76FxA2EkYwDXwUR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QaR8s2fSkF5whBbD33i7CC", "name": "move_to", "input": { "targets": { "y": 0.09 }, "note": "Wrong direction previously; image +x corresponds to +y, so move left to center spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 814, "cache_read_input_tokens": 3036, "cache_creation": { "ephemeral_5m_input_tokens": 814, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 572, "output_tokens_details": { "thinking_tokens": 468 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezgicBtB5NEPmAeXa33M", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LZ5w7SZmCgxQiNh3VpWitH", "name": "move_to", "input": { "targets": { "y": 0.14, "z": 0.98 }, "note": "Spoon slightly right of center; shift left and descend for closer view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1063, "cache_read_input_tokens": 3850, "cache_creation": { "ephemeral_5m_input_tokens": 1063, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 283, "output_tokens_details": { "thinking_tokens": 178 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezgjTdj1ckBe9xjyZ7h1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HZC2cHQZES7iSpK3o7LdGB", "name": "move_to", "input": { "targets": { "x": 0.49, "z": 0.95 }, "note": "Descend and shift forward to test image-y axis mapping and get closer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 781, "cache_read_input_tokens": 4913, "cache_creation": { "ephemeral_5m_input_tokens": 781, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 545, "output_tokens_details": { "thinking_tokens": 439 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezgkA5orezkeVv3q3qAg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AjLP6GPzcKCuDk38ehzszE", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Descend to inspect spoon orientation more clearly before choosing yaw." }, "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": 5694, "cache_creation": { "ephemeral_5m_input_tokens": 1038, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 946, "output_tokens_details": { "thinking_tokens": 846 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezgmHAyr2M9SkG8ihQKz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013z1SU7XjCWkhmNrG9zMZdE", "name": "move_to", "input": { "targets": { "yaw": 0.785, "x": 0.48, "y": 0.16, "z": 0.9 }, "note": "Rotate yaw 45° so fingers straddle the diagonal spoon handle; center over spoon and descend." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1438, "cache_read_input_tokens": 6732, "cache_creation": { "ephemeral_5m_input_tokens": 1438, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 881, "output_tokens_details": { "thinking_tokens": 743 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezgnHdnY5ertWRvuK76X", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mzxd7WD4rvrqJZi8urcHNk", "name": "move_to", "input": { "targets": { "yaw": -0.785 }, "note": "At +45° yaw the spoon lies along the finger axis; rotate to -45° so fingers close across 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": 1374, "cache_read_input_tokens": 8170, "cache_creation": { "ephemeral_5m_input_tokens": 1374, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 499, "output_tokens_details": { "thinking_tokens": 385 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezgnt9wdbNAnbUeFeagw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MpwLhrtToRpXaFN2fzBvqW", "name": "move_to", "input": { "targets": { "x": 0.488, "y": 0.196, "z": 0.88 }, "note": "Spoon now vertical in image (perpendicular to fingers). Shift to center it and descend a bit." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 997, "cache_read_input_tokens": 9544, "cache_creation": { "ephemeral_5m_input_tokens": 997, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 720, "output_tokens_details": { "thinking_tokens": 595 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezgofp4nXX34gPAJNqFW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KpLG3nsZhUzkPRW1aE7gRN", "name": "move_to", "input": { "targets": { "y": 0.228, "z": 0.86 }, "note": "Still offset; shift further along image +x direction (mostly +y) and descend." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1219, "cache_read_input_tokens": 10541, "cache_creation": { "ephemeral_5m_input_tokens": 1219, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezgp7WPAfaXW322MSUfC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Eavc4tWvoqE5vUyNqL9nKL", "name": "move_to", "input": { "targets": { "x": 0.472, "y": 0.25 }, "note": "Spoon now below image center partly under gripper; shift so handle sits at 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": 814, "cache_read_input_tokens": 11760, "cache_creation": { "ephemeral_5m_input_tokens": 814, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 644, "output_tokens_details": { "thinking_tokens": 535 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezgps7z72aLWSvd2n8cd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GUi5qxebUYPZANZg7WoV35", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Spoon occluded by fingers—likely beneath; descend toward table to check clearance." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1138, "cache_read_input_tokens": 12574, "cache_creation": { "ephemeral_5m_input_tokens": 1138, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 239, "output_tokens_details": { "thinking_tokens": 135 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezgqDNtCgLUnZCFN543Z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014P5caYMPxueGg4gogNGY7M", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lost sight of spoon; rise to re-acquire it 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": 733, "cache_read_input_tokens": 13712, "cache_creation": { "ephemeral_5m_input_tokens": 733, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 199, "output_tokens_details": { "thinking_tokens": 99 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezgqZb4pn7SzbN2zdoy9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YK4HuJ4qt5Ym4VoLvXiAiW", "name": "move_to", "input": { "targets": { "x": 0.512 }, "note": "Calibration move: +0.04 in x only, to measure image-shift direction of the spoon." }, "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": 14445, "cache_creation": { "ephemeral_5m_input_tokens": 693, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 907, "output_tokens_details": { "thinking_tokens": 802 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezgrhgGJ23MC5q2sei41", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CxKWhZYwgJ5uD8qaqCZcWp", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Descend toward table near the spoon to judge finger/table clearance and alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1401, "cache_read_input_tokens": 15138, "cache_creation": { "ephemeral_5m_input_tokens": 1401, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 936, "output_tokens_details": { "thinking_tokens": 835 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezgspAUEEEFbkBNjkZqQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YPBTdhm4zUgVAgcbjG5mV3", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current pose; spoon is occluded beneath 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": 1433, "cache_read_input_tokens": 16539, "cache_creation": { "ephemeral_5m_input_tokens": 1433, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 345, "output_tokens_details": { "thinking_tokens": 243 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezgtGfB63Q6bWD8ztVr8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N2JCEDL7vzpe5qmfFdZ9ZS", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lift to check whether the spoon 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": 836, "cache_read_input_tokens": 17972, "cache_creation": { "ephemeral_5m_input_tokens": 836, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 127, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezgtWEV8Ui5JUB3HS8wt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LdwApfG37W5rF4kueZ3ycL", "name": "move_to", "input": { "targets": { "y": 0.19, "gripper": 1 }, "note": "Reopen gripper and move -0.06 in y as a calibration test to resolve image axis mapping." }, "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": 18808, "cache_creation": { "ephemeral_5m_input_tokens": 626, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 806, "output_tokens_details": { "thinking_tokens": 690 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezguNpXUgEsdg1UZ8YTb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CEHmezubZ7dSv5XCZ4p8Fc", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.227 }, "note": "Using calibrated mapping, shift so spoon handle lines up with the finger gap 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": 1300, "cache_read_input_tokens": 19434, "cache_creation": { "ephemeral_5m_input_tokens": 1300, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1230, "output_tokens_details": { "thinking_tokens": 1113 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezgvjk9RwvMGBdjmjB6n", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G7331UNkykW8jMmw1McAK2", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Spoon appears in the finger gap; descend to table level 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": 1724, "cache_read_input_tokens": 20734, "cache_creation": { "ephemeral_5m_input_tokens": 1724, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 307, "output_tokens_details": { "thinking_tokens": 210 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezgwB9NJHfAQbgYAAx5h", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012RDVrcwmeB33Y9cTWAaygK", "name": "move_to", "input": { "targets": { "z": 0.815 }, "note": "Lower to just above table surface for the flat spoon handle." }, "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": 22458, "cache_creation": { "ephemeral_5m_input_tokens": 801, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 246, "output_tokens_details": { "thinking_tokens": 152 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezgwb81hECRP8TdN44rr", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015rSdAjPVUAmSRRZ7qPTQGM", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to grasp the spoon handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 740, "cache_read_input_tokens": 23259, "cache_creation": { "ephemeral_5m_input_tokens": 740, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 90, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezgwmwdGmJSadM12eJyW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013BLTMGJyEdnpGQpSMTyLfB", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Lift to verify grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 583, "cache_read_input_tokens": 23999, "cache_creation": { "ephemeral_5m_input_tokens": 583, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 138, "output_tokens_details": { "thinking_tokens": 53 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezgx3HccgTMkNfDCVtUk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AQA1rNPkExnb4EZAFKYPoW", "name": "move_to", "input": { "targets": { "z": 1.0, "gripper": 1 }, "note": "Open and raise for a wide wrist view to relocate the spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 631, "cache_read_input_tokens": 24582, "cache_creation": { "ephemeral_5m_input_tokens": 631, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 200, "output_tokens_details": { "thinking_tokens": 95 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezgxNXFaNachSzaVwgqN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CDfZdFG8H4EKDfERaNCX2H", "name": "move_to", "input": { "targets": { "z": 0.785 }, "note": "Previous closes may have been too high above the flat spoon; descend lower to table level." }, "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": 25213, "cache_creation": { "ephemeral_5m_input_tokens": 693, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 527, "output_tokens_details": { "thinking_tokens": 426 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezgy85ctChQKqxyVpDh4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EU6ndYgA8F9NXt54wyJXLM", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at lower height to catch the flat spoon handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1025, "cache_read_input_tokens": 25906, "cache_creation": { "ephemeral_5m_input_tokens": 1025, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 122, "output_tokens_details": { "thinking_tokens": 29 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezgyLjNXbSrXcrZtqaTS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F1JVzHxPCYBsEc5ajZqWkM", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Lift to check if the spoon came 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": 614, "cache_read_input_tokens": 26931, "cache_creation": { "ephemeral_5m_input_tokens": 614, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 241, "output_tokens_details": { "thinking_tokens": 149 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011Cezgyn4PKZgLxsSJsBN5e", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016rfKFKY1uWaySc2mipdREu", "name": "move_to", "input": { "targets": { "x": 0.435, "y": 0.24, "z": 0.79, "gripper": 1 }, "note": "Final attempt: open and nudge toward expected spoon offset (slightly -x, +y) at table level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 734, "cache_read_input_tokens": 27545, "cache_creation": { "ephemeral_5m_input_tokens": 734, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 513, "output_tokens_details": { "thinking_tokens": 380 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezgzTuGFca62Feco2WNW", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017cKDxgtpKQnq8NDRG5Eshc", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on spoon at nudged position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1007, "cache_read_input_tokens": 28279, "cache_creation": { "ephemeral_5m_input_tokens": 1007, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 86, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezgzeZxSPZkYG9NXHJbm", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013AH5eufznQA8AVcbvzLXDM", "name": "move_to", "input": { "targets": { "z": 0.86 }, "note": "Lift to check 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": 579, "cache_read_input_tokens": 29286, "cache_creation": { "ephemeral_5m_input_tokens": 579, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 87, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezgzqNM3QPEFQtVaWS5A", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GBMHirsovt7fLYXm9rrKnA", "name": "give_up", "input": { "note": "Repeated grasp attempts closed on empty air; wrist-camera parallax made aligning the thin flat spoon handle with the fingers unreliable 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": 580, "cache_read_input_tokens": 29865, "cache_creation": { "ephemeral_5m_input_tokens": 580, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 139, "output_tokens_details": { "thinking_tokens": 34 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.03427, -0.79939, 0.03184, -2.34925, -0.02347, 1.56884, 0.00469 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30585, 0.01364, 1.02279 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99846, 0.05122, 0.0213 ], [ 0.05214, -0.99762, -0.04515 ], [ 0.01894, 0.04619, -0.99875 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.607456982135773, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.05 }, "note": "Move forward over table to get a better view of the yellow spoon." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0215, -0.34851, 0.02851, -1.94762, -0.03643, 1.61818, -0.00194 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44866, 0.01363, 1.04969 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00014, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99846, 0.0512, 0.02116 ], [ 0.05211, -0.99762, -0.04514 ], [ 0.01879, 0.04618, -0.99876 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 56 }, "api_seconds": 8.006156086921692, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Test move right (-y) to center the spoon in the wrist view." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.02018, -0.34666, -0.05127, -1.94674, -0.06107, 1.62462, -0.11753 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44866, -0.04883, 1.04969 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00015, -0.00028 ], "tcp_rotation_matrix": [ [ 0.99848, 0.05095, 0.02114 ], [ 0.05186, -0.99763, -0.04511 ], [ 0.01879, 0.04614, -0.99876 ] ], "simulated_seconds_remaining": 28.05, "calls_remaining_including_this": 55 }, "api_seconds": 9.007319217547774, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.09 }, "note": "Wrong direction previously; image +x corresponds to +y, so move left to center spoon." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.07114, -0.31905, 0.12423, -1.91585, -0.00947, 1.61137, 0.13801 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44866, 0.08881, 1.04968 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00015, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99846, 0.05121, 0.02114 ], [ 0.05212, -0.99762, -0.04514 ], [ 0.01878, 0.04618, -0.99876 ] ], "simulated_seconds_remaining": 26.796, "calls_remaining_including_this": 54 }, "api_seconds": 11.209220479242504, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.14, "z": 0.98 }, "note": "Spoon slightly right of center; shift left and descend for closer view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.10719, -0.30002, 0.19055, -2.06917, 0.00683, 1.78139, 0.23634 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44862, 0.13925, 0.98099 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00041, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99846, 0.05137, 0.0209 ], [ 0.05227, -0.99761, -0.04522 ], [ 0.01853, 0.04625, -0.99876 ] ], "simulated_seconds_remaining": 25.938, "calls_remaining_including_this": 53 }, "api_seconds": 9.006955998949707, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.49, "z": 0.95 }, "note": "Descend and shift forward to test image-y axis mapping and get closer." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0956, -0.17657, 0.18965, -2.02383, -0.01681, 1.85755, 0.23538 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48903, 0.13921, 0.95061 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00066, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99847, 0.05131, 0.02064 ], [ 0.0522, -0.99761, -0.04526 ], [ 0.01827, 0.04627, -0.99876 ] ], "simulated_seconds_remaining": 25.278, "calls_remaining_including_this": 52 }, "api_seconds": 15.211976922117174, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Descend to inspect spoon orientation more clearly before choosing yaw." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.0961, -0.16676, 0.19128, -2.08939, -0.01891, 1.93241, 0.23972 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.489, 0.1392, 0.92095 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.0009, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99847, 0.05132, 0.02041 ], [ 0.0522, -0.99761, -0.04532 ], [ 0.01803, 0.04632, -0.99876 ] ], "simulated_seconds_remaining": 24.75, "calls_remaining_including_this": 51 }, "api_seconds": 13.210191830992699, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.785, "x": 0.48, "y": 0.16, "z": 0.9 }, "note": "Rotate yaw 45° so fingers straddle the diagonal spoon handle; center over spoon and descend." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.17247, -0.18542, 0.15387, -2.17141, -0.00382, 2.02641, -0.50625 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48004, 0.1599, 0.9001 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00092, 0.78031 ], "tcp_rotation_matrix": [ [ 0.67293, 0.73825, 0.04634 ], [ 0.73949, -0.67293, -0.01785 ], [ 0.01801, 0.04629, -0.99877 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 50 }, "api_seconds": 7.205485294573009, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.785 }, "note": "At +45° yaw the spoon lies along the finger axis; rotate to -45° so fingers close across the handle." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.064, -0.13664, 0.26223, -2.0999, -0.00349, 1.93657, 1.05326 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48004, 0.15989, 0.9001 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00094, -0.7803 ], "tcp_rotation_matrix": [ [ 0.7463, -0.66538, -0.01739 ], [ -0.66537, -0.74507, -0.04651 ], [ 0.01799, 0.04628, -0.99877 ] ], "simulated_seconds_remaining": 21.054, "calls_remaining_including_this": 49 }, "api_seconds": 10.407963902689517, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.488, "y": 0.196, "z": 0.88 }, "note": "Spoon now vertical in image (perpendicular to fingers). Shift to center it and descend a bit." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.09015, -0.06256, 0.29968, -2.06858, -0.01956, 1.97485, 1.12534 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48774, 0.19506, 0.88049 ], "tcp_roll_pitch_yaw": [ -0.00027, 0.00101, -0.78013 ], "tcp_rotation_matrix": [ [ 0.74642, -0.66525, -0.01753 ], [ -0.66524, -0.74518, -0.04655 ], [ 0.01791, 0.04641, -0.99876 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 48 }, "api_seconds": 5.804683264344931, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.228, "z": 0.86 }, "note": "Still offset; shift further along image +x direction (mostly +y) and descend." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.11783, -0.00619, 0.33119, -2.05615, -0.03577, 2.01388, 1.19306 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48768, 0.22696, 0.86062 ], "tcp_roll_pitch_yaw": [ -0.00042, 0.00109, -0.77992 ], "tcp_rotation_matrix": [ [ 0.74656, -0.66509, -0.01767 ], [ -0.66508, -0.74531, -0.04661 ], [ 0.01783, 0.04655, -0.99876 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 47 }, "api_seconds": 10.007601700723171, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.472, "y": 0.25 }, "note": "Spoon now below image center partly under gripper; shift so handle sits at image center." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.14148, -0.01654, 0.35526, -2.06743, -0.0297, 2.01401, 1.23776 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47263, 0.24911, 0.86064 ], "tcp_roll_pitch_yaw": [ -0.0004, 0.00108, -0.77968 ], "tcp_rotation_matrix": [ [ 0.74672, -0.66491, -0.01764 ], [ -0.6649, -0.74548, -0.04661 ], [ 0.01784, 0.04653, -0.99876 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 46 }, "api_seconds": 4.403766157105565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Spoon occluded by fingers—likely beneath; descend toward table to check clearance." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.14258, 0.01279, 0.35646, -2.11312, -0.04244, 2.08665, 1.24868 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47259, 0.24907, 0.83094 ], "tcp_roll_pitch_yaw": [ -0.00062, 0.00118, -0.77969 ], "tcp_rotation_matrix": [ [ 0.74671, -0.6649, -0.01787 ], [ -0.66491, -0.74546, -0.0467 ], [ 0.01773, 0.04675, -0.99875 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 45 }, "api_seconds": 4.404016103595495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lost sight of spoon; rise to re-acquire it in wrist view." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.13873, -0.06241, 0.35071, -1.89047, -0.01176, 1.79444, 1.21916 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47265, 0.24911, 0.94884 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.00104, -0.77969 ], "tcp_rotation_matrix": [ [ 0.74671, -0.66492, -0.01756 ], [ -0.66491, -0.74547, -0.04658 ], [ 0.01788, 0.04645, -0.99876 ] ], "simulated_seconds_remaining": 17.82, "calls_remaining_including_this": 44 }, "api_seconds": 14.611604468896985, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.512 }, "note": "Calibration move: +0.04 in x only, to measure image-shift direction of the spoon." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.13192, 0.04986, 0.34476, -1.76349, -0.05117, 1.77303, 1.21588 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51071, 0.24904, 0.94877 ], "tcp_roll_pitch_yaw": [ -0.00042, 0.00112, -0.77983 ], "tcp_rotation_matrix": [ [ 0.74662, -0.66502, -0.01769 ], [ -0.66501, -0.74538, -0.04659 ], [ 0.01779, 0.04655, -0.99876 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 43 }, "api_seconds": 15.210339810699224, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Descend toward table near the spoon to judge finger/table clearance and alignment." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.13567, 0.12652, 0.342, -2.00201, -0.08672, 2.08216, 1.24795 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51065, 0.249, 0.82115 ], "tcp_roll_pitch_yaw": [ -0.00074, 0.00126, -0.77985 ], "tcp_rotation_matrix": [ [ 0.74661, -0.66502, -0.01802 ], [ -0.66503, -0.74536, -0.04672 ], [ 0.01764, 0.04686, -0.99875 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 42 }, "api_seconds": 6.004721582867205, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current pose; spoon is occluded beneath the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.13567, 0.12652, 0.342, -2.00201, -0.08672, 2.08216, 1.24795 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51065, 0.249, 0.82114 ], "tcp_roll_pitch_yaw": [ -0.00074, 0.00126, -0.77985 ], "tcp_rotation_matrix": [ [ 0.74661, -0.66502, -0.01801 ], [ -0.66503, -0.74536, -0.04671 ], [ 0.01764, 0.04686, -0.99875 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 41 }, "api_seconds": 2.6023564226925373, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lift to check whether the spoon was grasped." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.13183, 0.04982, 0.34484, -1.76334, -0.05117, 1.77283, 1.21589 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.51071, 0.24904, 0.94884 ], "tcp_roll_pitch_yaw": [ -0.00043, 0.00112, -0.77985 ], "tcp_rotation_matrix": [ [ 0.74661, -0.66503, -0.01769 ], [ -0.66503, -0.74536, -0.0466 ], [ 0.0178, 0.04656, -0.99876 ] ], "simulated_seconds_remaining": 13.992, "calls_remaining_including_this": 40 }, "api_seconds": 11.408905644901097, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.19, "gripper": 1 }, "note": "Reopen gripper and move -0.06 in y as a calibration test to resolve image axis mapping." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.07781, -0.02886, 0.29271, -1.85506, -0.02946, 1.79395, 1.10551 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.51074, 0.1912, 0.94885 ], "tcp_roll_pitch_yaw": [ -0.00042, 0.0011, -0.78001 ], "tcp_rotation_matrix": [ [ 0.7465, -0.66516, -0.01768 ], [ -0.66515, -0.74525, -0.0466 ], [ 0.01782, 0.04655, -0.99876 ] ], "simulated_seconds_remaining": 13.068, "calls_remaining_including_this": 39 }, "api_seconds": 18.213469811715186, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.227 }, "note": "Using calibrated mapping, shift so spoon handle lines up with the finger gap in the wrist view." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12173, -0.15939, 0.33529, -1.99332, 0.01852, 1.8064, 1.1755 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45101, 0.22649, 0.9489 ], "tcp_roll_pitch_yaw": [ -0.00035, 0.00104, -0.77977 ], "tcp_rotation_matrix": [ [ 0.74666, -0.66498, -0.01758 ], [ -0.66497, -0.74542, -0.0466 ], [ 0.01788, 0.04648, -0.99876 ] ], "simulated_seconds_remaining": 12.276, "calls_remaining_including_this": 38 }, "api_seconds": 5.604669077321887, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Spoon appears in the finger gap; descend to table level before closing." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12447, -0.09054, 0.34775, -2.2014, -0.00312, 2.0791, 1.19993 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45096, 0.22645, 0.84115 ], "tcp_roll_pitch_yaw": [ -0.00066, 0.00117, -0.77979 ], "tcp_rotation_matrix": [ [ 0.74665, -0.66497, -0.01789 ], [ -0.66498, -0.7454, -0.04672 ], [ 0.01773, 0.04678, -0.99875 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 37 }, "api_seconds": 5.404643017798662, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.815 }, "note": "Lower to just above table surface for the flat spoon handle." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12455, -0.06078, 0.35051, -2.23725, -0.01489, 2.14259, 1.21039 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45091, 0.22642, 0.81604 ], "tcp_roll_pitch_yaw": [ -0.00089, 0.00128, -0.7798 ], "tcp_rotation_matrix": [ [ 0.74665, -0.66497, -0.01813 ], [ -0.66499, -0.74539, -0.04681 ], [ 0.01761, 0.04701, -0.99874 ] ], "simulated_seconds_remaining": 10.758, "calls_remaining_including_this": 36 }, "api_seconds": 2.202189465984702, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to grasp the spoon handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12455, -0.06078, 0.35051, -2.23725, -0.01489, 2.14259, 1.21039 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45091, 0.22642, 0.81603 ], "tcp_roll_pitch_yaw": [ -0.00089, 0.00128, -0.7798 ], "tcp_rotation_matrix": [ [ 0.74665, -0.66497, -0.01813 ], [ -0.66499, -0.74539, -0.04681 ], [ 0.01761, 0.04701, -0.99874 ] ], "simulated_seconds_remaining": 9.834, "calls_remaining_including_this": 35 }, "api_seconds": 3.203219120390713, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Lift to verify grasp." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12235, -0.1537, 0.33734, -2.03877, 0.01728, 1.857, 1.17793 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.45098, 0.22646, 0.92879 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00113, -0.7798 ], "tcp_rotation_matrix": [ [ 0.74664, -0.66499, -0.0178 ], [ -0.66499, -0.74539, -0.04669 ], [ 0.01778, 0.0467, -0.99875 ] ], "simulated_seconds_remaining": 8.778, "calls_remaining_including_this": 34 }, "api_seconds": 4.003725973889232, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0, "gripper": 1 }, "note": "Open and raise for a wide wrist view to relocate the spoon." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.11937, -0.15889, 0.33244, -1.86505, 0.01732, 1.67866, 1.17285 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.45102, 0.22648, 0.99905 ], "tcp_roll_pitch_yaw": [ -0.00036, 0.00103, -0.7798 ], "tcp_rotation_matrix": [ [ 0.74664, -0.665, -0.01758 ], [ -0.66499, -0.7454, -0.04661 ], [ 0.01789, 0.04649, -0.99876 ] ], "simulated_seconds_remaining": 7.854, "calls_remaining_including_this": 33 }, "api_seconds": 9.807869468815625, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.785 }, "note": "Previous closes may have been too high above the flat spoon; descend lower to table level." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12444, -0.01876, 0.35297, -2.27368, -0.03362, 2.21839, 1.22608 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45095, 0.22643, 0.78624 ], "tcp_roll_pitch_yaw": [ -0.0007, 0.00118, -0.77982 ], "tcp_rotation_matrix": [ [ 0.74663, -0.665, -0.01793 ], [ -0.66501, -0.74537, -0.04675 ], [ 0.01773, 0.04682, -0.99875 ] ], "simulated_seconds_remaining": 6.138, "calls_remaining_including_this": 32 }, "api_seconds": 2.6027753688395023, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at lower height to catch the flat spoon handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12444, -0.01876, 0.35297, -2.27368, -0.03362, 2.21839, 1.22608 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45095, 0.22643, 0.78622 ], "tcp_roll_pitch_yaw": [ -0.00069, 0.00117, -0.77982 ], "tcp_rotation_matrix": [ [ 0.74663, -0.665, -0.01792 ], [ -0.66501, -0.74537, -0.04674 ], [ 0.01773, 0.04682, -0.99875 ] ], "simulated_seconds_remaining": 5.214, "calls_remaining_including_this": 31 }, "api_seconds": 5.404583716765046, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Lift to check if the spoon came with the gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.12354, -0.12545, 0.34347, -2.13867, 0.00906, 1.98383, 1.18802 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45103, 0.22647, 0.8788 ], "tcp_roll_pitch_yaw": [ -0.00038, 0.00102, -0.77982 ], "tcp_rotation_matrix": [ [ 0.74662, -0.66502, -0.01759 ], [ -0.66501, -0.74538, -0.04663 ], [ 0.0179, 0.04651, -0.99876 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 30 }, "api_seconds": 9.207104770466685, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.435, "y": 0.24, "z": 0.79, "gripper": 1 }, "note": "Final attempt: open and nudge toward expected spoon offset (slightly -x, +y) at table level." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.14141, -0.04908, 0.37262, -2.29337, -0.01756, 2.20901, 1.25203 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.43515, 0.23979, 0.79113 ], "tcp_roll_pitch_yaw": [ -0.00068, 0.00113, -0.77978 ], "tcp_rotation_matrix": [ [ 0.74666, -0.66497, -0.01788 ], [ -0.66497, -0.7454, -0.04677 ], [ 0.01777, 0.04681, -0.99875 ] ], "simulated_seconds_remaining": 3.366, "calls_remaining_including_this": 29 }, "api_seconds": 2.2023273557424545, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on spoon at nudged position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.14141, -0.04908, 0.37262, -2.29337, -0.01756, 2.20901, 1.25203 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43515, 0.23979, 0.79112 ], "tcp_roll_pitch_yaw": [ -0.00068, 0.00113, -0.77978 ], "tcp_rotation_matrix": [ [ 0.74665, -0.66497, -0.01788 ], [ -0.66497, -0.7454, -0.04677 ], [ 0.01777, 0.04681, -0.99875 ] ], "simulated_seconds_remaining": 2.442, "calls_remaining_including_this": 28 }, "api_seconds": 2.2021387042477727, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Lift to check final grasp attempt." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.14163, -0.13282, 0.36367, -2.19799, 0.01639, 2.03586, 1.22187 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43524, 0.23984, 0.85875 ], "tcp_roll_pitch_yaw": [ -0.00035, 0.00097, -0.77978 ], "tcp_rotation_matrix": [ [ 0.74665, -0.66499, -0.01753 ], [ -0.66497, -0.74541, -0.04664 ], [ 0.01795, 0.04649, -0.99876 ] ], "simulated_seconds_remaining": 1.716, "calls_remaining_including_this": 27 }, "api_seconds": 3.403086442500353, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasp attempts closed on empty air; wrist-camera parallax made aligning the thin flat spoon handle with the fingers unreliable and simulated time is exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 024 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 24, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "api_calls": 31, "wall_seconds": 345.26594519615173, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 35506, "cache_read_input_tokens": 498767, "output_tokens": 19204 }, "estimated_cost_usd": 0.951706 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezh2s37ZgkTfK22nLXp9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Kwti662xSJjuF9VtKPerSJ", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 90, "output_tokens_details": { "thinking_tokens": 66 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezh34hLAsKdKL3DRia4p", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FWuMGaTHrujbGmuF8q4mcp", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.2 }, "note": "Raise and move forward to view table top from wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 523, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 523, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 326, "output_tokens_details": { "thinking_tokens": 225 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezh3dJeAQm4ZVK4Li2mc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UgQ49R67vmdhgfJEST5Fc3", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.1, "z": 1.15 }, "note": "Move forward-left over the table to look for the cup from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 818, "cache_read_input_tokens": 2280, "cache_creation": { "ephemeral_5m_input_tokens": 818, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 279, "output_tokens_details": { "thinking_tokens": 170 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezh42PT1XCoU1yUhvqRR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015ZCGz361qnSpUA2uxSo8k6", "name": "move_to", "input": { "targets": { "x": 0.72, "y": 0.15, "z": 1.12 }, "note": "Continue advancing over table to center the white object 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": 770, "cache_read_input_tokens": 3098, "cache_creation": { "ephemeral_5m_input_tokens": 770, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 339, "output_tokens_details": { "thinking_tokens": 229 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezh4XxCaHT72ZyAV66cb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S7zFc4rpdAbP8s1XBjWEDh", "name": "move_to", "input": { "targets": { "z": 1.03 }, "note": "Lower toward table height to get closer view of objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 830, "cache_read_input_tokens": 3868, "cache_creation": { "ephemeral_5m_input_tokens": 830, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 122, "output_tokens_details": { "thinking_tokens": 31 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezh4oDEGrs273ph7fMWa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YEh13q9LJuccv27w6LTUSn", "name": "move_to", "input": { "targets": { "y": 0.25 }, "note": "Test move left to see how the white cup shifts in the wrist image." }, "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": 4698, "cache_creation": { "ephemeral_5m_input_tokens": 614, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 515, "output_tokens_details": { "thinking_tokens": 419 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezh5ZYUyNkjUUjDuJyvF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JNwjjr6QYkLQs4pivYBSMc", "name": "move_to", "input": { "targets": { "y": 0.06, "x": 0.52 }, "note": "Move back and right toward estimated cup position (y~0.06) to center it 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": 1007, "cache_read_input_tokens": 5312, "cache_creation": { "ephemeral_5m_input_tokens": 1007, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 524, "output_tokens_details": { "thinking_tokens": 412 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezh6CVENEADFygyQPVpQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AkrPgstyRwrWGSwRKWnvHx", "name": "move_to", "input": { "targets": { "z": 0.96 }, "note": "Descend to check alignment with the white object near 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": 1021, "cache_read_input_tokens": 6319, "cache_creation": { "ephemeral_5m_input_tokens": 1021, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 384, "output_tokens_details": { "thinking_tokens": 291 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezh6nytJyJBVARuS9Bii", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012vu5kEAuB4yi7kAimugS6y", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Continue descending toward tabletop level to gauge height and object relation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 876, "cache_read_input_tokens": 7340, "cache_creation": { "ephemeral_5m_input_tokens": 876, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 414, "output_tokens_details": { "thinking_tokens": 317 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezh7N8vxc37P69gMA2xm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EB57Pki3MBbqQbw6kewQ9C", "name": "move_to", "input": { "targets": { "z": 0.79 }, "note": "Descend further to tabletop level; cup should come 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": 906, "cache_read_input_tokens": 8216, "cache_creation": { "ephemeral_5m_input_tokens": 906, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 420, "output_tokens_details": { "thinking_tokens": 325 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezh7u8kavHEyAjR2MTDV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017MFRZEkL9VoAvKUg8WbLES", "name": "move_to", "input": { "targets": { "y": 0.09, "z": 0.9 }, "note": "Shift left slightly to center cup and raise for clearer view before final approach." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 912, "cache_read_input_tokens": 9122, "cache_creation": { "ephemeral_5m_input_tokens": 912, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1209, "output_tokens_details": { "thinking_tokens": 1102 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezh9PbnvtwLca3DrySra", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sx53LrAyMTNpw8cqEewzVp", "name": "move_to", "input": { "targets": { "x": 0.57 }, "note": "Test forward move to learn vertical image mapping for x." }, "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": 10034, "cache_creation": { "ephemeral_5m_input_tokens": 1701, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 526, "output_tokens_details": { "thinking_tokens": 433 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezhA6vUmqBZepyB4Kgkv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DVtcBNm1r6zshQz9hRfB9Y", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.09, "z": 0.8 }, "note": "Return to best-aligned pose just above table where cup was 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": 1018, "cache_read_input_tokens": 11735, "cache_creation": { "ephemeral_5m_input_tokens": 1018, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 931, "output_tokens_details": { "thinking_tokens": 818 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezhBPGkXsaVgsrEmA3Db", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Jz6jE6KPz5i35EpUwbdUzj", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasp of the cup that appears 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": 1421, "cache_read_input_tokens": 12753, "cache_creation": { "ephemeral_5m_input_tokens": 1421, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 244, "output_tokens_details": { "thinking_tokens": 145 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezhBjj4uF3ePM7sryDcE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0178tVLVU5VUSMmcYYXmwvpv", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.49, "y": 0.05, "z": 0.87 }, "note": "Empty close: reopen and shift back-right per wrist image offsets, raising slightly." }, "caller": { "type": "direct" } } ], "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": 14174, "cache_creation": { "ephemeral_5m_input_tokens": 735, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1176, "output_tokens_details": { "thinking_tokens": 1048 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezhD45AFw52jCDs1DnLS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019o3YGKwby77rxuU4XCTuUm", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Descend to cup body height with better lateral alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1666, "cache_read_input_tokens": 14909, "cache_creation": { "ephemeral_5m_input_tokens": 1666, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 222, "output_tokens_details": { "thinking_tokens": 130 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezhDWVtGwmDH8QpCZN9p", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X8Un5pgtZUE3YDkocMdmY9", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at this lower, re-aligned pose." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 713, "cache_read_input_tokens": 16575, "cache_creation": { "ephemeral_5m_input_tokens": 713, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 185, "output_tokens_details": { "thinking_tokens": 90 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezhDpEV8QfKTVSwTXhZ1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TfvA6uvToxJjmvVdhbUApA", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.46, "y": 0.015, "z": 0.87 }, "note": "Empty again; continue shifting back-right along the direction that previously centered the cup." }, "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": 17288, "cache_creation": { "ephemeral_5m_input_tokens": 675, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1897, "output_tokens_details": { "thinking_tokens": 1772 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezhFwv9qo51BsreWLWxQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016a3hDTcRkMZzgqu5JgTjix", "name": "move_to", "input": { "targets": { "x": 0.44, "z": 0.8 }, "note": "Small further back shift and descend to cup height for grasp check." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2388, "cache_read_input_tokens": 17963, "cache_creation": { "ephemeral_5m_input_tokens": 2388, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 661, "output_tokens_details": { "thinking_tokens": 559 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezhGp5QKQZ8y6EnztFU1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EVUhdagQu4XPpUpHP2wzac", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Cup now appears between the fingers; closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1152, "cache_read_input_tokens": 20351, "cache_creation": { "ephemeral_5m_input_tokens": 1152, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 137, "output_tokens_details": { "thinking_tokens": 43 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezhH9F4toASCAqE7fgu7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01J6zsyavjaTxD7iieBkeJuu", "name": "move_to", "input": { "targets": { "gripper": 1, "y": 0.17, "z": 0.88 }, "note": "Exterior shows the white cup further left of the gripper; moving +y to it and raising to inspect." }, "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": 21503, "cache_creation": { "ephemeral_5m_input_tokens": 627, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 738, "output_tokens_details": { "thinking_tokens": 615 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezhHzXUrTFFKuE1EHKMA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WBsJAjbYkWUPdXz5z4Y1Hv", "name": "move_to", "input": { "targets": { "y": 0.21 }, "note": "Small +y step to test whether the cup in exterior view gets closer to 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": 1228, "cache_read_input_tokens": 22130, "cache_creation": { "ephemeral_5m_input_tokens": 1228, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1258, "output_tokens_details": { "thinking_tokens": 1156 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezhKXcHB78q5SPsM747W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017DyQR36pZYUK6nxdpcVe5P", "name": "move_to", "input": { "targets": { "y": 0.26, "z": 0.85 }, "note": "Exterior-based estimate puts the cup near y=0.26; moving there and lowering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1753, "cache_read_input_tokens": 23358, "cache_creation": { "ephemeral_5m_input_tokens": 1753, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1310, "output_tokens_details": { "thinking_tokens": 1198 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezhM6Dd3BAQZHGJdpUQf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01C2M1Y8iz3BKXB8LBMVMbT3", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.15, "z": 1.02 }, "note": "Back off upward for a wider wrist view to distinguish the cup from the plate." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1801, "cache_read_input_tokens": 25111, "cache_creation": { "ephemeral_5m_input_tokens": 1801, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1223, "output_tokens_details": { "thinking_tokens": 1106 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezhNc4GFsjYxGwcikbuL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q86yYs7AMtaa6ChD69oWz3", "name": "move_to", "input": { "targets": { "y": 0.22, "z": 0.95 }, "note": "Both views now agree cup is near y=0.22; move over it and descend partway." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1719, "cache_read_input_tokens": 26912, "cache_creation": { "ephemeral_5m_input_tokens": 1719, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 618, "output_tokens_details": { "thinking_tokens": 510 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezhPQFP32t5zUUdEEHSx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01J4eDUk51hykknPvxuVam3n", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Descend at (0.50,0.22) where exterior suggests the gripper is above the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1109, "cache_read_input_tokens": 28631, "cache_creation": { "ephemeral_5m_input_tokens": 1109, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1638, "output_tokens_details": { "thinking_tokens": 1533 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezhRNVGTNR915YzjbZLj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S2ZChmEUEwULJvNtxjQ8JT", "name": "move_to", "input": { "targets": { "y": 0.3 }, "note": "Exterior still shows cup slightly left of gripper; shifting +y for 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": 2134, "cache_read_input_tokens": 29740, "cache_creation": { "ephemeral_5m_input_tokens": 2134, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 731, "output_tokens_details": { "thinking_tokens": 624 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezhSVt3XnDqgFw2Lmhef", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NvoMNwQMdKoVj61SxdMKy8", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Final grasp attempt at this position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1226, "cache_read_input_tokens": 31874, "cache_creation": { "ephemeral_5m_input_tokens": 1226, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 168, "output_tokens_details": { "thinking_tokens": 81 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezhSmyB8Qa8hwncGbpAU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FpwoNfi5ii1rr83s7SH6FS", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.55, "y": 0.24 }, "note": "Reopen and nudge forward/right for one last attempt within 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": 657, "cache_read_input_tokens": 33100, "cache_creation": { "ephemeral_5m_input_tokens": 657, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 611, "output_tokens_details": { "thinking_tokens": 496 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezhTmtVWsJSJesRBgd7G", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LrqrLCm66g4wFJm9b2M86g", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Last close 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": 1102, "cache_read_input_tokens": 33757, "cache_creation": { "ephemeral_5m_input_tokens": 1102, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 157, "output_tokens_details": { "thinking_tokens": 70 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezhU53N5WH9amQaVtrKy", "type": "message", "role": "assistant", "content": [ { "type": "text", "text": "Grasp attempts all closed empty and the simulated time budget is exhausted; I could not reliably localize the cup between the two conflicting camera mappings." }, { "type": "tool_use", "id": "toolu_013FjSoijpq2vHrPNaoWAeds", "name": "give_up", "input": { "note": "Out of simulated time. Repeated closes returned an empty gripper because the cup's lateral position could not be resolved (wrist and exterior views implied opposite y offsets)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 34859, "cache_creation": { "ephemeral_5m_input_tokens": 647, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 151, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.00626, -0.78157, 0.00853, -2.33141, 0.02922, 1.58444, -0.01408 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31517, 0.00824, 1.0272 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9993, 0.01448, 0.03457 ], [ 0.01368, -0.99964, 0.0232 ], [ 0.03489, -0.02271, -0.99913 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.20746170450002, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.2 }, "note": "Raise and move forward to view table top from wrist camera." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.00661, -0.17482, 0.00811, -1.3654, 0.02612, 1.22529, -0.00341 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44923, 0.00824, 1.19893 ], "tcp_roll_pitch_yaw": [ 1e-05, 2e-05, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9993, 0.01447, 0.03455 ], [ 0.01367, -0.99964, 0.02321 ], [ 0.03487, -0.02272, -0.99913 ] ], "simulated_seconds_remaining": 28.248, "calls_remaining_including_this": 56 }, "api_seconds": 5.004913775250316, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.1, "z": 1.15 }, "note": "Move forward-left over the table to look for the cup from above." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.10095, 0.3747, 0.09097, -0.778, -0.01807, 1.18921, 0.16377 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59895, 0.09937, 1.15017 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00041, 0.0001 ], "tcp_rotation_matrix": [ [ 0.99931, 0.01457, 0.03416 ], [ 0.01379, -0.99964, 0.02316 ], [ 0.03448, -0.02267, -0.99915 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 55 }, "api_seconds": 6.8060257295146585, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.72, "y": 0.15, "z": 1.12 }, "note": "Continue advancing over table to center the white object in wrist view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.10095, 0.3747, 0.09097, -0.778, -0.01807, 1.18921, 0.16377 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59895, 0.09937, 1.15017 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00041, 0.0001 ], "tcp_rotation_matrix": [ [ 0.99931, 0.01457, 0.03416 ], [ 0.01379, -0.99964, 0.02316 ], [ 0.03448, -0.02267, -0.99915 ] ], "simulated_seconds_remaining": 26.73, "calls_remaining_including_this": 54 }, "api_seconds": 3.202928762882948, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.03 }, "note": "Lower toward table height to get closer view of objects." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.07792, 0.13398, 0.08714, -1.45812, 0.00565, 1.62876, 0.14966 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59894, 0.09937, 1.03118 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00074, 0.00011 ], "tcp_rotation_matrix": [ [ 0.99932, 0.01457, 0.03383 ], [ 0.0138, -0.99964, 0.02311 ], [ 0.03415, -0.02262, -0.99916 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 53 }, "api_seconds": 10.008104669861495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25 }, "note": "Test move left to see how the white cup shifts in the wrist image." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.24575, 0.29455, 0.18403, -1.24126, -0.04581, 1.57142, 0.40557 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59889, 0.24883, 1.03114 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00083, 0.00042 ], "tcp_rotation_matrix": [ [ 0.99932, 0.01488, 0.03373 ], [ 0.0141, -0.99963, 0.02314 ], [ 0.03407, -0.02265, -0.99916 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 52 }, "api_seconds": 8.206558116711676, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06, "x": 0.52 }, "note": "Move back and right toward estimated cup position (y~0.06) to center it in wrist view." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.06544, -0.14061, 0.03863, -1.78919, 0.02507, 1.68471, 0.08715 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52055, 0.06113, 1.03119 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00074, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99932, 0.01461, 0.03383 ], [ 0.01383, -0.99964, 0.02312 ], [ 0.03415, -0.02264, -0.99916 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 51 }, "api_seconds": 7.606237407773733, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.96 }, "note": "Descend to check alignment with the white object near the fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.06602, -0.14997, 0.0394, -1.97814, 0.02646, 1.86396, 0.08366 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52051, 0.06113, 0.96113 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00106, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99933, 0.01461, 0.03351 ], [ 0.01384, -0.99964, 0.02309 ], [ 0.03383, -0.02261, -0.99917 ] ], "simulated_seconds_remaining": 21.846, "calls_remaining_including_this": 50 }, "api_seconds": 7.605974386446178, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Continue descending toward tabletop level to gauge height and object relation." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.06711, -0.08779, 0.04138, -2.19449, 0.02729, 2.14207, 0.07981 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52045, 0.06112, 0.85116 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00142, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99934, 0.0146, 0.03315 ], [ 0.01384, -0.99964, 0.02305 ], [ 0.03347, -0.02258, -0.99918 ] ], "simulated_seconds_remaining": 20.79, "calls_remaining_including_this": 49 }, "api_seconds": 7.011026551946998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79 }, "note": "Descend further to tabletop level; cup should come between fingers." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0677, -0.01456, 0.04236, -2.27407, 0.02655, 2.29451, 0.0786 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52038, 0.06111, 0.79109 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00175, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99935, 0.0146, 0.03281 ], [ 0.01385, -0.99964, 0.02302 ], [ 0.03314, -0.02255, -0.9992 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 48 }, "api_seconds": 19.814907494932413, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.09, "z": 0.9 }, "note": "Shift left slightly to center cup and raise for clearer view before final approach." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09167, -0.11476, 0.06914, -2.09911, 0.02819, 2.02091, 0.1344 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52045, 0.08971, 0.89886 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00141, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99934, 0.01467, 0.03316 ], [ 0.01391, -0.99964, 0.02307 ], [ 0.03349, -0.02259, -0.99918 ] ], "simulated_seconds_remaining": 19.008, "calls_remaining_including_this": 47 }, "api_seconds": 9.60752686765045, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57 }, "note": "Test forward move to learn vertical image mapping for x." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.08604, 0.02966, 0.06416, -1.9294, 0.01751, 1.99511, 0.12896 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56886, 0.08969, 0.89881 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.0015, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99935, 0.01462, 0.03307 ], [ 0.01386, -0.99964, 0.02307 ], [ 0.0334, -0.02259, -0.99919 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 46 }, "api_seconds": 16.81296183448285, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.09, "z": 0.8 }, "note": "Return to best-aligned pose just above table where cup was between fingers." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09312, -0.04368, 0.07125, -2.23231, 0.02191, 2.27076, 0.13617 ], "gripper_open": 1.0, "tcp_xyz": [ 0.53091, 0.09093, 0.82318 ], "tcp_roll_pitch_yaw": [ 0.00368, -0.0442, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99677, 0.01585, 0.07867 ], [ 0.01377, -0.99954, 0.02689 ], [ 0.07906, -0.02572, -0.99654 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 45 }, "api_seconds": 4.403847306035459, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasp of the cup that appears between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09704, -0.06159, 0.07612, -2.21699, 0.02437, 2.27275, 0.13626 ], "gripper_open": 0.0006, "tcp_xyz": [ 0.53803, 0.09722, 0.84039 ], "tcp_roll_pitch_yaw": [ 0.00989, -0.07883, 0.00716 ], "tcp_rotation_matrix": [ [ 0.99332, 0.02415, 0.11288 ], [ 0.02045, -0.99922, 0.0339 ], [ 0.11361, -0.03136, -0.99303 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 44 }, "api_seconds": 17.614034086465836, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.49, "y": 0.05, "z": 0.87 }, "note": "Empty close: reopen and shift back-right per wrist image offsets, raising slightly." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.06525, -0.25059, 0.027, -2.34316, 0.03744, 2.20827, 0.04897 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.49073, 0.05064, 0.86964 ], "tcp_roll_pitch_yaw": [ 0.00991, -0.07897, 0.00704 ], "tcp_rotation_matrix": [ [ 0.9933, 0.02404, 0.11302 ], [ 0.02033, -0.99922, 0.03389 ], [ 0.11375, -0.03137, -0.99301 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 43 }, "api_seconds": 5.605117121711373, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descend to cup body height with better lateral alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.06644, -0.16267, 0.02844, -2.4413, 0.04069, 2.39398, 0.04426 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49066, 0.05063, 0.80109 ], "tcp_roll_pitch_yaw": [ 0.00988, -0.07863, 0.00705 ], "tcp_rotation_matrix": [ [ 0.99334, 0.02404, 0.11269 ], [ 0.02034, -0.99922, 0.03387 ], [ 0.11341, -0.03135, -0.99305 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 42 }, "api_seconds": 4.00340430624783, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at this lower, re-aligned pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.06644, -0.16267, 0.02844, -2.4413, 0.04069, 2.39398, 0.04426 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49066, 0.05063, 0.80108 ], "tcp_roll_pitch_yaw": [ 0.00988, -0.07864, 0.00705 ], "tcp_rotation_matrix": [ [ 0.99334, 0.02404, 0.11269 ], [ 0.02034, -0.99922, 0.03387 ], [ 0.11342, -0.03135, -0.99305 ] ], "simulated_seconds_remaining": 13.728, "calls_remaining_including_this": 41 }, "api_seconds": 28.823597248643637, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.46, "y": 0.015, "z": 0.87 }, "note": "Empty again; continue shifting back-right along the direction that previously centered the cup." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0372, -0.35005, -0.01624, -2.43961, 0.03207, 2.20333, -0.01804 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.4605, 0.01547, 0.86914 ], "tcp_roll_pitch_yaw": [ 0.0099, -0.07892, 0.00696 ], "tcp_rotation_matrix": [ [ 0.99331, 0.02396, 0.11298 ], [ 0.02025, -0.99922, 0.03388 ], [ 0.1137, -0.03136, -0.99302 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 40 }, "api_seconds": 11.409158314578235, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "z": 0.8 }, "note": "Small further back shift and descend to cup height for grasp check." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.03962, -0.32196, -0.01654, -2.60203, 0.03818, 2.39348, -0.02507 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44029, 0.01547, 0.8011 ], "tcp_roll_pitch_yaw": [ 0.00989, -0.0786, 0.00697 ], "tcp_rotation_matrix": [ [ 0.99334, 0.02396, 0.11266 ], [ 0.02026, -0.99922, 0.03387 ], [ 0.11339, -0.03136, -0.99306 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 39 }, "api_seconds": 4.20383327268064, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Cup now appears between the fingers; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.03962, -0.32196, -0.01654, -2.60203, 0.03818, 2.39348, -0.02507 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44028, 0.01547, 0.80109 ], "tcp_roll_pitch_yaw": [ 0.00989, -0.07861, 0.00697 ], "tcp_rotation_matrix": [ [ 0.99334, 0.02396, 0.11267 ], [ 0.02026, -0.99922, 0.03387 ], [ 0.11339, -0.03136, -0.99306 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 38 }, "api_seconds": 11.209213070571423, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "y": 0.17, "z": 0.88 }, "note": "Exterior shows the white cup further left of the gripper; moving +y to it and raising to inspect." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.15906, -0.335, 0.19792, -2.39257, 0.07057, 2.18055, 0.29061 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4403, 0.16888, 0.87943 ], "tcp_roll_pitch_yaw": [ 0.00989, -0.07875, 0.00719 ], "tcp_rotation_matrix": [ [ 0.99332, 0.02419, 0.1128 ], [ 0.02048, -0.99922, 0.03389 ], [ 0.11353, -0.03135, -0.99304 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 37 }, "api_seconds": 20.61559829581529, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.21 }, "note": "Small +y step to test whether the cup in exterior view gets closer to the gripper." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.1827, -0.28796, 0.25267, -2.34467, 0.067, 2.18149, 0.3717 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44028, 0.20893, 0.87943 ], "tcp_roll_pitch_yaw": [ 0.00985, -0.07875, 0.00739 ], "tcp_rotation_matrix": [ [ 0.99332, 0.02438, 0.1128 ], [ 0.02068, -0.99921, 0.03387 ], [ 0.11353, -0.03131, -0.99304 ] ], "simulated_seconds_remaining": 9.042, "calls_remaining_including_this": 36 }, "api_seconds": 21.016116891987622, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.26, "z": 0.85 }, "note": "Exterior-based estimate puts the cup near y=0.26; moving there and lowering." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.20871, -0.18682, 0.32369, -2.31766, 0.04032, 2.2546, 0.48404 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44023, 0.25886, 0.85061 ], "tcp_roll_pitch_yaw": [ 0.00974, -0.07861, 0.00761 ], "tcp_rotation_matrix": [ [ 0.99333, 0.02458, 0.11265 ], [ 0.0209, -0.99921, 0.03379 ], [ 0.11339, -0.03121, -0.99306 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 35 }, "api_seconds": 20.01791723445058, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.15, "z": 1.02 }, "note": "Back off upward for a wider wrist view to distinguish the cup from the plate." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.11303, -0.22179, 0.15937, -1.92589, 0.03859, 1.8248, 0.24047 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49969, 0.15064, 1.01901 ], "tcp_roll_pitch_yaw": [ 0.00981, -0.07883, 0.00744 ], "tcp_rotation_matrix": [ [ 0.99331, 0.02443, 0.11287 ], [ 0.02073, -0.99921, 0.03385 ], [ 0.11361, -0.03128, -0.99303 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 34 }, "api_seconds": 10.609753524884582, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.22, "z": 0.95 }, "note": "Both views now agree cup is near y=0.22; move over it and descend partway." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.16201, -0.14775, 0.24232, -2.01932, 0.02425, 1.99287, 0.37238 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49963, 0.21909, 0.95086 ], "tcp_roll_pitch_yaw": [ 0.00971, -0.07859, 0.00764 ], "tcp_rotation_matrix": [ [ 0.99333, 0.02461, 0.11262 ], [ 0.02093, -0.99921, 0.03376 ], [ 0.11337, -0.03118, -0.99306 ] ], "simulated_seconds_remaining": 5.742, "calls_remaining_including_this": 33 }, "api_seconds": 26.421041726134717, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Descend at (0.50,0.22) where exterior suggests the gripper is above the cup." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.16354, -0.0427, 0.25306, -2.24616, -0.00551, 2.32137, 0.39769 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49957, 0.21906, 0.82117 ], "tcp_roll_pitch_yaw": [ 0.00959, -0.07824, 0.00763 ], "tcp_rotation_matrix": [ [ 0.99337, 0.02458, 0.11228 ], [ 0.02093, -0.99921, 0.03364 ], [ 0.11302, -0.03107, -0.99311 ] ], "simulated_seconds_remaining": 4.554, "calls_remaining_including_this": 32 }, "api_seconds": 15.011077743954957, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Exterior still shows cup slightly left of gripper; shifting +y for final grasp attempt." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.23306, 0.06776, 0.31972, -2.1141, -0.06834, 2.2909, 0.56998 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49952, 0.29884, 0.82116 ], "tcp_roll_pitch_yaw": [ 0.00959, -0.07822, 0.0079 ], "tcp_rotation_matrix": [ [ 0.99337, 0.02485, 0.11226 ], [ 0.02119, -0.99921, 0.03367 ], [ 0.113, -0.03107, -0.99311 ] ], "simulated_seconds_remaining": 3.696, "calls_remaining_including_this": 31 }, "api_seconds": 3.6031059892848134, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Final grasp attempt at this position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.23306, 0.06776, 0.31972, -2.1141, -0.06834, 2.2909, 0.56998 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49952, 0.29885, 0.82116 ], "tcp_roll_pitch_yaw": [ 0.00959, -0.07822, 0.00789 ], "tcp_rotation_matrix": [ [ 0.99337, 0.02485, 0.11226 ], [ 0.02119, -0.99921, 0.03367 ], [ 0.113, -0.03107, -0.99311 ] ], "simulated_seconds_remaining": 2.772, "calls_remaining_including_this": 30 }, "api_seconds": 13.213315433822572, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.55, "y": 0.24 }, "note": "Reopen and nudge forward/right for one last attempt within remaining time." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.16245, 0.11669, 0.26165, -2.05183, -0.05966, 2.28025, 0.43407 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.54935, 0.24071, 0.82114 ], "tcp_roll_pitch_yaw": [ 0.00958, -0.0782, 0.00763 ], "tcp_rotation_matrix": [ [ 0.99338, 0.02458, 0.11224 ], [ 0.02093, -0.99922, 0.03363 ], [ 0.11298, -0.03106, -0.99311 ] ], "simulated_seconds_remaining": 1.848, "calls_remaining_including_this": 29 }, "api_seconds": 3.60334290843457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Last close attempt with remaining time." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.16245, 0.11669, 0.26165, -2.05183, -0.05966, 2.28025, 0.43407 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54936, 0.2407, 0.82114 ], "tcp_roll_pitch_yaw": [ 0.00958, -0.0782, 0.00763 ], "tcp_rotation_matrix": [ [ 0.99338, 0.02458, 0.11224 ], [ 0.02093, -0.99922, 0.03363 ], [ 0.11298, -0.03106, -0.99311 ] ], "simulated_seconds_remaining": 0.924, "calls_remaining_including_this": 28 }, "api_seconds": 3.603466860949993, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Out of simulated time. Repeated closes returned an empty gripper because the cup's lateral position could not be resolved (wrist and exterior views implied opposite y offsets)." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 025 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 25, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 22, "api_calls": 23, "wall_seconds": 190.1520049571991, "usage": { "input_tokens": 46, "cache_creation_input_tokens": 21980, "cache_read_input_tokens": 260886, "output_tokens": 9525 }, "estimated_cost_usd": 0.506173 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezhB1gjp4x4cRAo1BieM", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UX5zEF9VHmoAnApcJGtua9", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 23, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezhBA7EoDQ1jBQ2BhuHr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BT4TJhiWUmbj2tHasRAubq", "name": "move_to", "input": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the counter to locate the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 458, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 458, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 198, "output_tokens_details": { "thinking_tokens": 99 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezhBVNNjxZvJqPjhJBZd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0186uvQbs4ni2gTc2VARxjXg", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.2 }, "note": "Move forward and up over counter to view objects from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 2217, "cache_creation": { "ephemeral_5m_input_tokens": 691, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 253, "output_tokens_details": { "thinking_tokens": 154 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezhBrV7igzogttyj191J", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JXSbpUSbRKHLqXUzd4pwWS", "name": "move_to", "input": { "targets": { "y": 0.15 }, "note": "Shift left to test how objects move in wrist view and approach the counter items." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 747, "cache_read_input_tokens": 2908, "cache_creation": { "ephemeral_5m_input_tokens": 747, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 488, "output_tokens_details": { "thinking_tokens": 390 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezhCV71z41sVVnSQHeXN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01B7CRPGtz9VyhHad9Q3maTi", "name": "move_to", "input": { "targets": { "x": 0.38, "y": 0.3 }, "note": "Moving toward the orange elongated object seen down-left in wrist view (possible bottle)." }, "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": 3655, "cache_creation": { "ephemeral_5m_input_tokens": 986, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 498, "output_tokens_details": { "thinking_tokens": 386 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezhDTxboXTvSKgJPFjdj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MGdUdcK7e8BcSDQTTwozDN", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.05 }, "note": "Reversing: objects appear at image-left which maps to -y, so move right (-y) to approach them." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 996, "cache_read_input_tokens": 4641, "cache_creation": { "ephemeral_5m_input_tokens": 996, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 459, "output_tokens_details": { "thinking_tokens": 344 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezhE7rtdmApPNNKpYV7Z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MmWgK2HwHnGGp6iQwxDBNj", "name": "move_to", "input": { "targets": { "y": -0.2 }, "note": "Test: move further -y to check whether bowl/orange objects center 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": 953, "cache_read_input_tokens": 5637, "cache_creation": { "ephemeral_5m_input_tokens": 953, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1592, "output_tokens_details": { "thinking_tokens": 1491 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezhG4czHnQCVEQvAECZm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DrpkrMFdTGnKreJFLqgNyq", "name": "move_to", "input": { "targets": { "x": 0.52, "y": -0.28, "z": 1.1 }, "note": "Centering over the orange/red object (candidate bottle) next to the bowl and lowering." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2086, "cache_read_input_tokens": 6590, "cache_creation": { "ephemeral_5m_input_tokens": 2086, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 529, "output_tokens_details": { "thinking_tokens": 409 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezhGmGyX3vD8b1k7MkYW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01B73YFAxs19uTME1sCep2VK", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Descending closer to counter for a clearer view of the candidate bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1022, "cache_read_input_tokens": 8676, "cache_creation": { "ephemeral_5m_input_tokens": 1022, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 495, "output_tokens_details": { "thinking_tokens": 397 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezhHRrTYxRraGJxDtYHV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MqCrp4pT9kLM5evxddYvxE", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.19, "z": 0.98 }, "note": "Moving over the yellow/teal object right of the bowl, which looks like a small bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 989, "cache_read_input_tokens": 9698, "cache_creation": { "ephemeral_5m_input_tokens": 989, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 717, "output_tokens_details": { "thinking_tokens": 597 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezhJByJSzKjA4pWQA7KN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FJvsQgzEV2dZcHb9UDY71m", "name": "move_to", "input": { "targets": { "y": -0.09 }, "note": "Object still right of center; continue +y to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1211, "cache_read_input_tokens": 10687, "cache_creation": { "ephemeral_5m_input_tokens": 1211, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 399, "output_tokens_details": { "thinking_tokens": 309 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezhJmQEE9CibBXnH8QHX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FwKdidrCXubBnaQBAGykzd", "name": "move_to", "input": { "targets": { "x": 0.52, "z": 0.93, "yaw": 1.57 }, "note": "Bottle centered; rotating gripper 90° so fingers close across its long axis, and descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 893, "cache_read_input_tokens": 11898, "cache_creation": { "ephemeral_5m_input_tokens": 893, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 656, "output_tokens_details": { "thinking_tokens": 532 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezhKd8QoG5XaHRMAAAHq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RRHaJdNsiX5gq9f35jHVTm", "name": "move_to", "input": { "targets": { "x": 0.49, "y": -0.13 }, "note": "Refine centering: bottle appears up-right in rotated wrist view → move -x and -y." }, "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": 12791, "cache_creation": { "ephemeral_5m_input_tokens": 1155, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 691, "output_tokens_details": { "thinking_tokens": 578 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezhLPGGZt4Bx7FYak1kw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013ZMcpevQmGTFKmrTqcjqSe", "name": "move_to", "input": { "targets": { "z": 0.89 }, "note": "Bottle centered; descending toward it to judge height and alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1191, "cache_read_input_tokens": 13946, "cache_creation": { "ephemeral_5m_input_tokens": 1191, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 446, "output_tokens_details": { "thinking_tokens": 350 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezhLyPbiLNgzRgNAS3ct", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BkaDEi4LeHKpkheyMUJnSQ", "name": "move_to", "input": { "targets": { "z": 0.855 }, "note": "Lowering further to bring fingers around the bottle 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": 945, "cache_read_input_tokens": 15137, "cache_creation": { "ephemeral_5m_input_tokens": 945, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 546, "output_tokens_details": { "thinking_tokens": 451 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezhNEkc4Sy8UG4JuHzph", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01A72i7dW5a2mZBjRR2Z9wPF", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Continue descending; bottle still centered 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": 1041, "cache_read_input_tokens": 16082, "cache_creation": { "ephemeral_5m_input_tokens": 1041, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 149, "output_tokens_details": { "thinking_tokens": 56 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezhNXKzxMEeSfdwUpCKb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CLjAD8fHC6YJXXbGvwpGVH", "name": "move_to", "input": { "targets": { "z": 0.785 }, "note": "Final descent to bottle level before closing gripper." }, "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": 17123, "cache_creation": { "ephemeral_5m_input_tokens": 644, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 221, "output_tokens_details": { "thinking_tokens": 130 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezhNrRSxhrQMWboK73hJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PAmdpfJDRGRAagKfeS9zsN", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper on the bottle." }, "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": 17767, "cache_creation": { "ephemeral_5m_input_tokens": 716, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 222, "output_tokens_details": { "thinking_tokens": 135 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezhPCDL8uu2xzXkShV2h", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SpRjNGEbsFVG3qRvC97qoU", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lifting to check if the bottle is grasped." }, "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": 18483, "cache_creation": { "ephemeral_5m_input_tokens": 718, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 149, "output_tokens_details": { "thinking_tokens": 58 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezhPb5FE24XhN3igJBMU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GJ1AW6xYytgngCyYFddnvo", "name": "move_to", "input": { "targets": { "z": 0.8, "gripper": 1 }, "note": "Gripper reopened due to unspecified value; descending again onto bottle with gripper open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 19201, "cache_creation": { "ephemeral_5m_input_tokens": 645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 439, "output_tokens_details": { "thinking_tokens": 327 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezhQH8GwKiPvA2gjT6MR", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QrP8Vu7k96tw3TtxfwqgY3", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper around the bottle." }, "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": 19846, "cache_creation": { "ephemeral_5m_input_tokens": 935, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 86, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezhQUmGr2CwyTHPuzhWT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RYSgZKvkhZpvH45p67MXfU", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Holding close command to let fingers finish closing on bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 582, "cache_read_input_tokens": 20781, "cache_creation": { "ephemeral_5m_input_tokens": 582, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 121, "output_tokens_details": { "thinking_tokens": 27 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezhQiqr7KDi9qcMLWgSP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R1rJQQN2Li6LehiThPKrYY", "name": "move_to", "input": { "targets": { "z": 0.98, "gripper": 0 }, "note": "Lifting the grasped bottle clear of the counter while keeping gripper closed." }, "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": 21363, "cache_creation": { "ephemeral_5m_input_tokens": 617, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 148, "output_tokens_details": { "thinking_tokens": 38 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00632, -0.75582, 0.03326, -2.31743, 0.02815, 1.55393, -0.01326 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31231, 0.01551, 1.02272 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99947, 0.0314, -0.00805 ], [ 0.03144, -0.99949, 0.00519 ], [ -0.00788, -0.00544, -0.99995 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.405147882178426, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the counter to locate the bottle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00892, -0.6171, 0.02996, -1.88574, 0.0238, 1.26118, -0.00881 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31234, 0.01551, 1.14869 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00022, -0.0 ], "tcp_rotation_matrix": [ [ 0.99948, 0.0314, -0.00783 ], [ 0.03144, -0.99949, 0.00521 ], [ -0.00767, -0.00545, -0.99996 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 56 }, "api_seconds": 4.604417841881514, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.2 }, "note": "Move forward and up over counter to view objects from above." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01253, -0.12871, 0.03748, -1.30055, 0.01112, 1.16403, -0.00243 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44877, 0.0155, 1.19944 ], "tcp_roll_pitch_yaw": [ 1e-05, 1e-05, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99948, 0.03138, -0.00806 ], [ 0.03142, -0.99949, 0.0052 ], [ -0.00789, -0.00545, -0.99995 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 55 }, "api_seconds": 8.207120512612164, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Shift left to test how objects move in wrist view and approach the counter items." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.1074, -0.04796, 0.19659, -1.20563, 0.01833, 1.15246, 0.27944 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44876, 0.14876, 1.19941 ], "tcp_roll_pitch_yaw": [ 1e-05, 6e-05, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99947, 0.03167, -0.00811 ], [ 0.03171, -0.99948, 0.0052 ], [ -0.00795, -0.00545, -0.99995 ] ], "simulated_seconds_remaining": 26.466, "calls_remaining_including_this": 54 }, "api_seconds": 12.61025207489729, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": 0.3 }, "note": "Moving toward the orange elongated object seen down-left in wrist view (possible bottle)." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.27123, -0.00944, 0.38462, -1.15936, 0.01385, 1.14737, 0.62949 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38051, 0.29885, 1.1994 ], "tcp_roll_pitch_yaw": [ 1e-05, 8e-05, 0.00058 ], "tcp_rotation_matrix": [ [ 0.99946, 0.03198, -0.00813 ], [ 0.03202, -0.99947, 0.0052 ], [ -0.00796, -0.00546, -0.99995 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 53 }, "api_seconds": 8.407214902341366, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.05 }, "note": "Reversing: objects appear at image-left which maps to -y, so move right (-y) to approach them." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.03209, -0.11677, -0.06887, -1.28677, -0.00399, 1.16158, -0.13374 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44975, -0.04875, 1.19937 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00016, 0.00028 ], "tcp_rotation_matrix": [ [ 0.99946, 0.03168, -0.00821 ], [ 0.03172, -0.99948, 0.00521 ], [ -0.00804, -0.00547, -0.99995 ] ], "simulated_seconds_remaining": 22.44, "calls_remaining_including_this": 52 }, "api_seconds": 26.019854387268424, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.2 }, "note": "Test: move further -y to check whether bowl/orange objects center in wrist view." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.18114, 0.03175, -0.24524, -1.10744, 0.00999, 1.12853, -0.45348 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44974, -0.19878, 1.19932 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00027, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99947, 0.03139, -0.00832 ], [ 0.03143, -0.99949, 0.00523 ], [ -0.00815, -0.00548, -0.99995 ] ], "simulated_seconds_remaining": 21.12, "calls_remaining_including_this": 51 }, "api_seconds": 9.206950671970844, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": -0.28, "z": 1.1 }, "note": "Centering over the orange/red object (candidate bottle) next to the bowl and lowering." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.2553, 0.211, -0.29236, -1.1648, 0.06192, 1.3573, -0.56035 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51935, -0.27927, 1.10076 ], "tcp_roll_pitch_yaw": [ 0.00015, 0.00062, -9e-05 ], "tcp_rotation_matrix": [ [ 0.99947, 0.03131, -0.00867 ], [ 0.03135, -0.99949, 0.00534 ], [ -0.0085, -0.00561, -0.99995 ] ], "simulated_seconds_remaining": 19.866, "calls_remaining_including_this": 50 }, "api_seconds": 8.806859202682972, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Descending closer to counter for a clearer view of the candidate bottle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.22907, 0.10595, -0.28316, -1.56525, 0.03005, 1.65646, -0.54493 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51933, -0.27926, 1.00117 ], "tcp_roll_pitch_yaw": [ 0.00028, 0.00092, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99947, 0.0313, -0.00897 ], [ 0.03135, -0.99949, 0.00547 ], [ -0.0088, -0.00575, -0.99994 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 49 }, "api_seconds": 10.008151563815773, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.19, "z": 0.98 }, "note": "Moving over the yellow/teal object right of the bowl, which looks like a small bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.14926, -0.07978, -0.20761, -1.83814, -0.01463, 1.74972, -0.38503 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50032, -0.19114, 0.98032 ], "tcp_roll_pitch_yaw": [ 0.00031, 0.00092, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99946, 0.03154, -0.00897 ], [ 0.03159, -0.99949, 0.0055 ], [ -0.00879, -0.00578, -0.99994 ] ], "simulated_seconds_remaining": 17.952, "calls_remaining_including_this": 48 }, "api_seconds": 7.405455322936177, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.09 }, "note": "Object still right of center; continue +y to center it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.06994, -0.16302, -0.10321, -1.93174, -0.01307, 1.7598, -0.20105 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50035, -0.09116, 0.98033 ], "tcp_roll_pitch_yaw": [ 0.00031, 0.00089, 0.00043 ], "tcp_rotation_matrix": [ [ 0.99945, 0.03183, -0.00895 ], [ 0.03188, -0.99948, 0.0055 ], [ -0.00877, -0.00578, -0.99994 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 47 }, "api_seconds": 11.008306227624416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "z": 0.93, "yaw": 1.57 }, "note": "Bottle centered; rotating gripper 90° so fingers close across its long axis, and descending." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.01615, -0.10165, -0.17782, -1.99256, -0.0291, 1.88827, -1.74837 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51994, -0.09116, 0.93012 ], "tcp_roll_pitch_yaw": [ 0.00036, 0.00089, 1.56527 ], "tcp_rotation_matrix": [ [ -0.02593, 0.99965, -0.0056 ], [ 0.99963, 0.02588, -0.00891 ], [ -0.00876, -0.00583, -0.99994 ] ], "simulated_seconds_remaining": 14.586, "calls_remaining_including_this": 46 }, "api_seconds": 10.208619615994394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.49, "y": -0.13 }, "note": "Refine centering: bottle appears up-right in rotated wrist view → move -x and -y." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0194, -0.1669, -0.21841, -2.06172, -0.04848, 1.89504, -1.81572 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4908, -0.12905, 0.93015 ], "tcp_roll_pitch_yaw": [ 0.0003, 0.00089, 1.56501 ], "tcp_rotation_matrix": [ [ -0.02566, 0.99966, -0.00554 ], [ 0.99963, 0.02561, -0.0089 ], [ -0.00876, -0.00577, -0.99994 ] ], "simulated_seconds_remaining": 13.992, "calls_remaining_including_this": 45 }, "api_seconds": 7.60669722687453, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.89 }, "note": "Bottle centered; descending toward it to judge height and alignment." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02052, -0.14644, -0.22185, -2.14111, -0.04619, 1.99427, -1.81739 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49076, -0.12904, 0.891 ], "tcp_roll_pitch_yaw": [ 0.00057, 0.00085, 1.56502 ], "tcp_rotation_matrix": [ [ -0.02567, 0.99965, -0.00582 ], [ 0.99963, 0.02562, -0.00887 ], [ -0.00872, -0.00604, -0.99994 ] ], "simulated_seconds_remaining": 13.398, "calls_remaining_including_this": 44 }, "api_seconds": 17.012506868690252, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.855 }, "note": "Lowering further to bring fingers around the bottle before closing." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02122, -0.11794, -0.22515, -2.20223, -0.04167, 2.08308, -1.82076 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4907, -0.12903, 0.85611 ], "tcp_roll_pitch_yaw": [ 0.00088, 0.00081, 1.56502 ], "tcp_rotation_matrix": [ [ -0.02568, 0.99965, -0.00612 ], [ 0.99963, 0.02563, -0.00883 ], [ -0.00867, -0.00634, -0.99994 ] ], "simulated_seconds_remaining": 12.87, "calls_remaining_including_this": 43 }, "api_seconds": 3.8034875271841884, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Continue descending; bottle still centered in wrist view." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02164, -0.07956, -0.22828, -2.25443, -0.03407, 2.1726, -1.82631 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49064, -0.12901, 0.82111 ], "tcp_roll_pitch_yaw": [ 0.00118, 0.00077, 1.56503 ], "tcp_rotation_matrix": [ [ -0.02569, 0.99965, -0.00642 ], [ 0.99963, 0.02564, -0.00878 ], [ -0.00861, -0.00665, -0.99994 ] ], "simulated_seconds_remaining": 12.342, "calls_remaining_including_this": 42 }, "api_seconds": 4.203389944508672, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.785 }, "note": "Final descent to bottle level before closing gripper." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02178, -0.03944, -0.2304, -2.28892, -0.02209, 2.26558, -1.83469 ], "gripper_open": 1.0, "tcp_xyz": [ 0.49604, -0.12992, 0.79408 ], "tcp_roll_pitch_yaw": [ -0.01793, 0.00337, 1.56526 ], "tcp_rotation_matrix": [ [ -0.02576, 0.99959, 0.01268 ], [ 0.9996, 0.0259, -0.01149 ], [ -0.01181, 0.01238, -0.99985 ] ], "simulated_seconds_remaining": 11.814, "calls_remaining_including_this": 41 }, "api_seconds": 4.003839207813144, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper on the bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01987, -0.0477, -0.22787, -2.27855, -0.02076, 2.28442, -1.83489 ], "gripper_open": 0.5466, "tcp_xyz": [ 0.50669, -0.12983, 0.80473 ], "tcp_roll_pitch_yaw": [ -0.05485, 0.00949, 1.56885 ], "tcp_rotation_matrix": [ [ -0.02902, 0.99835, 0.0496 ], [ 0.9994, 0.02992, -0.01762 ], [ -0.01908, 0.04906, -0.99861 ] ], "simulated_seconds_remaining": 10.89, "calls_remaining_including_this": 40 }, "api_seconds": 5.204374505206943, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lifting to check if the bottle is grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01723, -0.16747, -0.21583, -2.02826, -0.04408, 1.91704, -1.81749 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50676, -0.12985, 0.94878 ], "tcp_roll_pitch_yaw": [ -0.05522, 0.00954, 1.56885 ], "tcp_rotation_matrix": [ [ -0.02901, 0.99833, 0.04997 ], [ 0.9994, 0.02993, -0.01767 ], [ -0.01914, 0.04942, -0.99859 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 39 }, "api_seconds": 9.007541659288108, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "gripper": 1 }, "note": "Gripper reopened due to unspecified value; descending again onto bottle with gripper open." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01973, -0.04262, -0.22824, -2.28278, -0.01939, 2.29362, -1.83588 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50669, -0.12983, 0.80117 ], "tcp_roll_pitch_yaw": [ -0.05485, 0.00948, 1.56886 ], "tcp_rotation_matrix": [ [ -0.02903, 0.99835, 0.04961 ], [ 0.9994, 0.02994, -0.01762 ], [ -0.01907, 0.04906, -0.99861 ] ], "simulated_seconds_remaining": 8.316, "calls_remaining_including_this": 38 }, "api_seconds": 2.2022623140364885, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper around the bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02018, -0.0465, -0.22876, -2.27895, -0.01962, 2.29457, -1.8359 ], "gripper_open": 0.5302, "tcp_xyz": [ 0.50881, -0.13084, 0.80498 ], "tcp_roll_pitch_yaw": [ -0.06334, 0.01086, 1.56792 ], "tcp_rotation_matrix": [ [ -0.02801, 0.99792, 0.05806 ], [ 0.99939, 0.02916, -0.01905 ], [ -0.02071, 0.05749, -0.99813 ] ], "simulated_seconds_remaining": 7.392, "calls_remaining_including_this": 37 }, "api_seconds": 2.8028880786150694, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Holding close command to let fingers finish closing on bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02049, -0.04716, -0.22914, -2.27899, -0.0199, 2.29351, -1.83596 ], "gripper_open": 0.5299, "tcp_xyz": [ 0.5085, -0.13115, 0.80518 ], "tcp_roll_pitch_yaw": [ -0.06287, 0.01082, 1.56748 ], "tcp_rotation_matrix": [ [ -0.02757, 0.99796, 0.05758 ], [ 0.99941, 0.02871, -0.01904 ], [ -0.02066, 0.05702, -0.99816 ] ], "simulated_seconds_remaining": 6.468, "calls_remaining_including_this": 36 }, "api_seconds": 4.40390307828784, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.98, "gripper": 0 }, "note": "Lifting the grasped bottle clear of the counter while keeping gripper closed." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 026 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 26, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 29, "api_calls": 30, "wall_seconds": 406.3815314769745, "usage": { "input_tokens": 60, "cache_creation_input_tokens": 37954, "cache_read_input_tokens": 497118, "output_tokens": 22124 }, "estimated_cost_usd": 1.0391715 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezhSpqpfLC9soe1Yibwm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WHB5RwLAqQf5NjdQ5nn3sj", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 96, "output_tokens_details": { "thinking_tokens": 72 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezhT34HZgKhc4ToCU5ma", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VFGbVNkjfeLRT5Erwfmmx6", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Raise and move forward to get a top-down overview of the table objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 531, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 531, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 418, "output_tokens_details": { "thinking_tokens": 306 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezhTcj5gpzsNzrr666D4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sihvf2FqMZ9fvYEJV5A2pm", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.05, "z": 1.2 }, "note": "Go higher for a wider top-down view to identify the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 911, "cache_read_input_tokens": 2290, "cache_creation": { "ephemeral_5m_input_tokens": 911, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 431, "output_tokens_details": { "thinking_tokens": 320 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezhUGJmrRHHPoM7sDfWu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T4gjzUYuxsnQpjy63D2214", "name": "move_to", "input": { "targets": { "y": 0.0 }, "note": "Test move +y 0.05 to calibrate wrist image direction relative to base frame." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 924, "cache_read_input_tokens": 3201, "cache_creation": { "ephemeral_5m_input_tokens": 924, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 473, "output_tokens_details": { "thinking_tokens": 370 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezhUxMoa6LJx5dk8awmu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011S7BAxqD1CpgCDtqBd2qbF", "name": "move_to", "input": { "targets": { "x": 0.6 }, "note": "Test large +x move to calibrate wrist image axes." }, "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": 4125, "cache_creation": { "ephemeral_5m_input_tokens": 967, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 421, "output_tokens_details": { "thinking_tokens": 328 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezhVZhpUpNyWR1MBbDJM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LVT9MLXu9xB8Qfg4QNpUSs", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Descend to 1.05 m to get closer view of the ladle and gauge scale." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 913, "cache_read_input_tokens": 5092, "cache_creation": { "ephemeral_5m_input_tokens": 913, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 138, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezhVtC4knUR26mkAuSbw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tw1NAdES8GwUyvpKo9YRXg", "name": "move_to", "input": { "targets": { "x": 0.55, "z": 0.95 }, "note": "Move forward and down toward the white ladle seen just ahead 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": 632, "cache_read_input_tokens": 6005, "cache_creation": { "ephemeral_5m_input_tokens": 632, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 670, "output_tokens_details": { "thinking_tokens": 562 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezhWqSPcYqT7rF2uQkUS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QcB8S2XXXu98P3oN4aydDK", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Shift +y 0.05 to calibrate image-left direction now that objects are large." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1164, "cache_read_input_tokens": 6637, "cache_creation": { "ephemeral_5m_input_tokens": 1164, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 296, "output_tokens_details": { "thinking_tokens": 194 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezhXJb3HXTaGcZXxcRvC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N1wuBfrn4Nufa51xvCspCn", "name": "move_to", "input": { "targets": { "y": -0.09 }, "note": "Based on calibration (360 px/m, image x ∝ relative y), move to y=-0.09 to center the ladle horizontally." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 789, "cache_read_input_tokens": 7801, "cache_creation": { "ephemeral_5m_input_tokens": 789, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 757, "output_tokens_details": { "thinking_tokens": 639 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezhYJkF9QT4hhX1bKCuh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SUhUWbnipoZmGZEEatVVQ4", "name": "move_to", "input": { "targets": { "x": 0.51 }, "note": "Test -0.04 x move to calibrate vertical image axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1251, "cache_read_input_tokens": 8590, "cache_creation": { "ephemeral_5m_input_tokens": 1251, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 207, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezhYeMD5tMV47G9F8Dxj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XupJWjTZWdTF5NWfZFjB1e", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Descend toward table to approach the ladle; will reassess alignment closer up." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 701, "cache_read_input_tokens": 9841, "cache_creation": { "ephemeral_5m_input_tokens": 701, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 493, "output_tokens_details": { "thinking_tokens": 393 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezhZN3CWBASGUZ62f8AV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01THLBBQHJfU4kqUxiEi5ZfC", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Continue descending slowly toward table surface to see ladle relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 992, "cache_read_input_tokens": 10542, "cache_creation": { "ephemeral_5m_input_tokens": 992, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 285, "output_tokens_details": { "thinking_tokens": 185 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezhZphaXy9dibSfgvYwP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01At6NFSzi2Ri52bDQM5DjWQ", "name": "move_to", "input": { "targets": { "z": 0.9, "x": 0.47 }, "note": "Back off up and slightly to see both fingers and ladle for alignment." }, "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": 11534, "cache_creation": { "ephemeral_5m_input_tokens": 779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 797, "output_tokens_details": { "thinking_tokens": 691 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezhaz2voefw1zWu8Y1Fj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014TnkoK7fi6wDM8sJ3RZ36A", "name": "move_to", "input": { "targets": { "x": 0.51, "z": 0.79 }, "note": "Return over estimated ladle bowl position and descend to 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": 1291, "cache_read_input_tokens": 12313, "cache_creation": { "ephemeral_5m_input_tokens": 1291, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 378, "output_tokens_details": { "thinking_tokens": 273 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezhbcwD6zwYa3MXi8SAz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RJbiUjdL63naTDUSpRJQ11", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to test whether the ladle 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": 872, "cache_read_input_tokens": 13604, "cache_creation": { "ephemeral_5m_input_tokens": 872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 189, "output_tokens_details": { "thinking_tokens": 94 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezhby9scPqKioN98vQWo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GN6qyhKesifF1SSzJYPLWL", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Lift to check if ladle 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": 682, "cache_read_input_tokens": 14476, "cache_creation": { "ephemeral_5m_input_tokens": 682, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 141, "output_tokens_details": { "thinking_tokens": 52 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezhcGuU1bqstb7i7N8Kr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RFkrggmbiaHW14Lvtds25w", "name": "move_to", "input": { "targets": { "x": 0.44, "z": 0.9, "gripper": 1 }, "note": "Grasp failed; the bowl likely sits closer to the robot (it appeared below image center). Retract x to 0.44 to re-view." }, "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": 15158, "cache_creation": { "ephemeral_5m_input_tokens": 639, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1991, "output_tokens_details": { "thinking_tokens": 1855 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezheaZADfA2Lnbz3DXvr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014zXzNPgw4rwjJuBg7JG4gH", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.05, "z": 0.95 }, "note": "Offset left so the bowl is visible; first of two x-calibration views." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2484, "cache_read_input_tokens": 15797, "cache_creation": { "ephemeral_5m_input_tokens": 2484, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1230, "output_tokens_details": { "thinking_tokens": 1116 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezhg9ijQVKLzyoSJqZnr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HPBEqe24vdsG2qvSSdkvYc", "name": "move_to", "input": { "targets": { "x": 0.52, "y": -0.021 }, "note": "Move along the diagonal that shouldn't change image-x, to calibrate image-y sensitivity." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1723, "cache_read_input_tokens": 18281, "cache_creation": { "ephemeral_5m_input_tokens": 1723, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 4112, "output_tokens_details": { "thinking_tokens": 3996 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezhkjVr2QUn8DrmZne1m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UT95AWtJqkEY3mZziQT3P3", "name": "move_to", "input": { "targets": { "x": 0.54, "y": -0.06, "z": 0.79 }, "note": "Using calibrated diagonal axis, move to estimated bowl location at 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": 4606, "cache_read_input_tokens": 20004, "cache_creation": { "ephemeral_5m_input_tokens": 4606, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2683, "output_tokens_details": { "thinking_tokens": 2564 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezhp4kZu3EjYMumx3Sjo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WETM1z2Tp1hEYrTjypxJQu", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "The ladle handle/bowl appears between the fingers; closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 3182, "cache_read_input_tokens": 24610, "cache_creation": { "ephemeral_5m_input_tokens": 3182, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 170, "output_tokens_details": { "thinking_tokens": 70 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezhpQj74cLrrz9uEiWYp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BNosrYnwLneStPQy4LabuB", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check whether the handle was caught." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 663, "cache_read_input_tokens": 27792, "cache_creation": { "ephemeral_5m_input_tokens": 663, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 174, "output_tokens_details": { "thinking_tokens": 85 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezhpj97zt91pPk8M4A8q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016MRQiCDg6eBvkPPV7WxXH9", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.02, "z": 0.775, "gripper": 1 }, "note": "Same diagonal sum but shifted along the uncalibrated axis, slightly lower; reopening gripper." }, "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": 28455, "cache_creation": { "ephemeral_5m_input_tokens": 667, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 723, "output_tokens_details": { "thinking_tokens": 588 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezhqeqwQBLeyB12LqePY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TtjAVPGt6cZE8GnLArbd5q", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Bowl occluded directly under gripper; 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": 1222, "cache_read_input_tokens": 29122, "cache_creation": { "ephemeral_5m_input_tokens": 1222, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 180, "output_tokens_details": { "thinking_tokens": 84 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezhr2m4JpyJETYgG3LD5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EHdgMT9ZmbwQectH21BBZW", "name": "move_to", "input": { "targets": { "z": 0.95, "yaw": 1.5, "gripper": 1 }, "note": "Rotate wrist 90° and rise, to resolve the object position along the previously uncalibrated axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 30344, "cache_creation": { "ephemeral_5m_input_tokens": 674, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1404, "output_tokens_details": { "thinking_tokens": 1277 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezhsmg1TLN38DLKkKc7E", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CgsAgJ2ezr1ELAEzP4QgKp", "name": "move_to", "input": { "targets": { "x": 0.565, "y": -0.098, "z": 0.785 }, "note": "Triangulated ladle bowl position from two wrist orientations; moving directly above it at 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": 1897, "cache_read_input_tokens": 31018, "cache_creation": { "ephemeral_5m_input_tokens": 1897, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 918, "output_tokens_details": { "thinking_tokens": 794 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezhu7a7rVEyVrcb9g1re", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LS9VrUnVAvq2DZS8EZPUVS", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle/bowl neck appears between fingers; closing to grasp the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1411, "cache_read_input_tokens": 32915, "cache_creation": { "ephemeral_5m_input_tokens": 1411, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 233, "output_tokens_details": { "thinking_tokens": 131 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezhuuSe7Z5Y3Nmv7k6sB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MBJ1vYqpbyeH8mH11PDocF", "name": "move_to", "input": { "targets": { "y": -0.16, "gripper": 1 }, "note": "Empty grasp; bowl is left in image, testing -y shift to bring it 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": 725, "cache_read_input_tokens": 34326, "cache_creation": { "ephemeral_5m_input_tokens": 725, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 893, "output_tokens_details": { "thinking_tokens": 779 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011Cezhw8obRJN8GSGxsXq8s", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011PG5n8S7xeWJwzWMZ7Cx8u", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle appears to pass right through the finger region; closing to catch 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": 1384, "cache_read_input_tokens": 35051, "cache_creation": { "ephemeral_5m_input_tokens": 1384, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1029, "output_tokens_details": { "thinking_tokens": 930 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezhxSnqwqt3swY38QLaD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HJoFkHEKKF6rHSBuNNp9sz", "name": "give_up", "input": { "note": "Could not reliably localize the ladle from the wrist view (its bowl was repeatedly occluded by the gripper and my image-to-base-frame calibration proved inconsistent). Several grasp attempts closed on empty air and the simulated motion budget is now exhausted." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1519, "cache_read_input_tokens": 36435, "cache_creation": { "ephemeral_5m_input_tokens": 1519, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 194, "output_tokens_details": { "thinking_tokens": 61 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.04004, -0.75331, 0.04018, -2.33284, -0.0113, 1.61753, 0.01004 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32664, -0.00346, 1.02054 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9991, -0.02065, 0.03718 ], [ -0.01919, -0.99905, -0.03915 ], [ 0.03796, 0.0384, -0.99854 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.01133425347507, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Raise and move forward to get a top-down overview of the table objects." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.04877, -0.32657, 0.05673, -1.80095, -0.02119, 1.51183, 0.02361 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44887, -4e-05, 1.09923 ], "tcp_roll_pitch_yaw": [ 0.0, 6e-05, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9991, -0.02066, 0.03713 ], [ -0.0192, -0.99905, -0.03914 ], [ 0.0379, 0.03839, -0.99854 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 56 }, "api_seconds": 8.406870443373919, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.05, "z": 1.2 }, "note": "Go higher for a wider top-down view to identify the ladle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.08522, 0.00425, 0.00776, -1.15782, -0.0388, 1.20244, -0.07211 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4995, -0.04951, 1.19891 ], "tcp_roll_pitch_yaw": [ 0.0, 2e-05, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99909, -0.02076, 0.03716 ], [ -0.0193, -0.99905, -0.03914 ], [ 0.03794, 0.03839, -0.99854 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 55 }, "api_seconds": 9.007312681525946, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0 }, "note": "Test move +y 0.05 to calibrate wrist image direction relative to base frame." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0357, -0.00071, 0.05726, -1.16309, -0.0428, 1.19906, 0.02508 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49951, -0.00104, 1.19892 ], "tcp_roll_pitch_yaw": [ 3e-05, 1e-05, 0.00014 ], "tcp_rotation_matrix": [ [ 0.9991, -0.02051, 0.03718 ], [ -0.01905, -0.99905, -0.03911 ], [ 0.03795, 0.03837, -0.99854 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 54 }, "api_seconds": 8.206928422674537, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Test large +x move to calibrate wrist image axes." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0357, -0.00071, 0.05726, -1.16309, -0.0428, 1.19906, 0.02508 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49951, -0.00104, 1.19892 ], "tcp_roll_pitch_yaw": [ 3e-05, 1e-05, 0.00014 ], "tcp_rotation_matrix": [ [ 0.9991, -0.02051, 0.03718 ], [ -0.01905, -0.99905, -0.03911 ], [ 0.03795, 0.03837, -0.99854 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 53 }, "api_seconds": 3.803704008460045, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Descend to 1.05 m to get closer view of the ladle and gauge scale." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03881, -0.20796, 0.04991, -1.80988, -0.02927, 1.63866, 0.03145 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4995, -0.00104, 1.05121 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00031, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99911, -0.0205, 0.03688 ], [ -0.01905, -0.99905, -0.03912 ], [ 0.03764, 0.03838, -0.99855 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 52 }, "api_seconds": 12.410412449389696, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "z": 0.95 }, "note": "Move forward and down toward the white ladle seen just ahead of the fingers." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03899, -0.07085, 0.05223, -1.91566, -0.03771, 1.88073, 0.04383 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54937, -0.00105, 0.95103 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00068, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99912, -0.02049, 0.03651 ], [ -0.01906, -0.99905, -0.03912 ], [ 0.03727, 0.03839, -0.99857 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 51 }, "api_seconds": 5.804859519004822, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Shift +y 0.05 to calibrate image-left direction now that objects are large." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.0033, -0.06147, 0.10086, -1.90368, -0.03827, 1.8746, 0.13446 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54937, 0.04895, 0.95103 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00068, 0.0004 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02022, 0.03652 ], [ -0.01879, -0.99906, -0.03911 ], [ 0.03727, 0.03839, -0.99857 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 50 }, "api_seconds": 13.210044863633811, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.09 }, "note": "Based on calibration (360 px/m, image x ∝ relative y), move to y=-0.09 to center the ladle horizontally." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1131, -0.05334, -0.03245, -1.89675, -0.03696, 1.88505, -0.11502 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54936, -0.08885, 0.95102 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.0007, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99912, -0.02053, 0.03649 ], [ -0.0191, -0.99905, -0.03912 ], [ 0.03726, 0.03839, -0.99857 ] ], "simulated_seconds_remaining": 22.704, "calls_remaining_including_this": 49 }, "api_seconds": 4.403826018795371, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51 }, "note": "Test -0.04 x move to calibrate vertical image axis." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1176, -0.16883, -0.03699, -2.02585, -0.04148, 1.89908, -0.12178 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51133, -0.08886, 0.9511 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00059, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99912, -0.02057, 0.0366 ], [ -0.01914, -0.99905, -0.03913 ], [ 0.03737, 0.0384, -0.99856 ] ], "simulated_seconds_remaining": 22.176, "calls_remaining_including_this": 48 }, "api_seconds": 9.20664608757943, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Descend toward table to approach the ladle; will reassess alignment closer up." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11871, -0.12563, -0.03875, -2.18578, -0.04383, 2.1018, -0.11598 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51127, -0.08886, 0.87113 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00093, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02056, 0.03626 ], [ -0.01914, -0.99905, -0.03909 ], [ 0.03703, 0.03837, -0.99858 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 47 }, "api_seconds": 5.804486214183271, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Continue descending slowly toward table surface to see ladle relative to fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11979, -0.04696, -0.04028, -2.28651, -0.0458, 2.2808, -0.11107 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5112, -0.08885, 0.80111 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00127, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99914, -0.02055, 0.03591 ], [ -0.01914, -0.99905, -0.03905 ], [ 0.03668, 0.03833, -0.99859 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 46 }, "api_seconds": 15.413665797561407, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9, "x": 0.47 }, "note": "Back off up and slightly to see both fingers and ladle for alignment." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12478, -0.26822, -0.04371, -2.26251, -0.04936, 2.03637, -0.12606 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47061, -0.08887, 0.89888 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.0009, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02057, 0.03629 ], [ -0.01915, -0.99905, -0.0391 ], [ 0.03706, 0.03837, -0.99858 ] ], "simulated_seconds_remaining": 19.536, "calls_remaining_including_this": 45 }, "api_seconds": 8.005977125838399, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51, "z": 0.79 }, "note": "Return over estimated ladle bowl position and descend to grasp height." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12015, -0.03745, -0.04082, -2.30363, -0.04635, 2.30744, -0.11067 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50947, -0.08885, 0.79114 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00126, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99914, -0.02055, 0.03592 ], [ -0.01914, -0.99905, -0.03906 ], [ 0.03669, 0.03834, -0.99859 ] ], "simulated_seconds_remaining": 18.48, "calls_remaining_including_this": 44 }, "api_seconds": 4.403483907692134, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to test whether the ladle is between the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12015, -0.03745, -0.04082, -2.30363, -0.04635, 2.30744, -0.11067 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50947, -0.08885, 0.79113 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00126, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99914, -0.02055, 0.03593 ], [ -0.01914, -0.99905, -0.03906 ], [ 0.0367, 0.03834, -0.99859 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 43 }, "api_seconds": 3.6031872406601906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Lift to check if ladle was grasped." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11819, -0.16248, -0.03797, -2.1016, -0.04269, 1.98084, -0.11972 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50955, -0.08886, 0.91884 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00091, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02056, 0.03628 ], [ -0.01914, -0.99905, -0.0391 ], [ 0.03705, 0.03837, -0.99858 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 42 }, "api_seconds": 30.63025978859514, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "z": 0.9, "gripper": 1 }, "note": "Grasp failed; the bowl likely sits closer to the robot (it appeared below image center). Retract x to 0.44 to re-view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12969, -0.35987, -0.04881, -2.34584, -0.05501, 2.02838, -0.13258 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.441, -0.08887, 0.9003 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.0009, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02059, 0.03629 ], [ -0.01917, -0.99905, -0.0391 ], [ 0.03706, 0.03837, -0.99858 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 41 }, "api_seconds": 20.815748897381127, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.05, "z": 0.95 }, "note": "Offset left so the bowl is visible; first of two x-calibration views." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0237, -0.36738, 0.13396, -2.22058, 0.00562, 1.88846, 0.12017 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44994, 0.04879, 0.94957 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00079, 0.00028 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02034, 0.0364 ], [ -0.01892, -0.99905, -0.03913 ], [ 0.03717, 0.03841, -0.99857 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 40 }, "api_seconds": 61.84542055148631, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": -0.021 }, "note": "Move along the diagonal that shouldn't change image-x, to calibrate image-y sensitivity." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.08293, -0.16341, 0.05719, -2.02277, -0.03044, 1.89683, 0.00274 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51902, -0.02011, 0.94953 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00089, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02055, 0.0363 ], [ -0.01913, -0.99905, -0.03909 ], [ 0.03707, 0.03836, -0.99858 ] ], "simulated_seconds_remaining": 13.266, "calls_remaining_including_this": 39 }, "api_seconds": 44.43463353719562, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54, "y": -0.06, "z": 0.79 }, "note": "Using calibrated diagonal axis, move to estimated bowl location at grasp height." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1173, 0.03603, 0.01929, -2.21224, -0.04782, 2.28731, -0.0474 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53974, -0.0597, 0.79117 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00127, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99914, -0.02061, 0.03592 ], [ -0.01921, -0.99905, -0.03906 ], [ 0.03669, 0.03834, -0.99859 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 38 }, "api_seconds": 4.403516379185021, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "The ladle handle/bowl appears between the fingers; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1173, 0.03603, 0.01929, -2.21224, -0.04782, 2.28731, -0.0474 ], "gripper_open": 0.0, "tcp_xyz": [ 0.53975, -0.0597, 0.79116 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00126, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99914, -0.02061, 0.03592 ], [ -0.01921, -0.99905, -0.03906 ], [ 0.03669, 0.03834, -0.99859 ] ], "simulated_seconds_remaining": 10.956, "calls_remaining_including_this": 37 }, "api_seconds": 3.8032998386770487, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check whether the handle was caught." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11638, -0.07188, 0.02005, -2.05205, -0.03773, 2.01984, -0.06072 ], "gripper_open": 0.0, "tcp_xyz": [ 0.53984, -0.05971, 0.89876 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00087, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99913, -0.02063, 0.03631 ], [ -0.0192, -0.99905, -0.0391 ], [ 0.03708, 0.03836, -0.99858 ] ], "simulated_seconds_remaining": 9.966, "calls_remaining_including_this": 36 }, "api_seconds": 11.818572071380913, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.02, "z": 0.775, "gripper": 1 }, "note": "Same diagonal sum but shifted along the uncalibrated axis, slightly lower; reopening gripper." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0852, -0.05745, 0.0577, -2.36997, -0.04886, 2.34909, 0.02599 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50032, -0.02036, 0.77612 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00121, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99914, -0.02053, 0.03597 ], [ -0.01912, -0.99905, -0.03909 ], [ 0.03674, 0.03837, -0.99859 ] ], "simulated_seconds_remaining": 8.778, "calls_remaining_including_this": 35 }, "api_seconds": 5.004452761262655, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Bowl occluded directly under gripper; attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0852, -0.05745, 0.0577, -2.36997, -0.04886, 2.34909, 0.02599 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.50032, -0.02036, 0.77611 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00121, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99914, -0.02054, 0.03598 ], [ -0.01913, -0.99905, -0.03909 ], [ 0.03675, 0.03837, -0.99859 ] ], "simulated_seconds_remaining": 7.854, "calls_remaining_including_this": 34 }, "api_seconds": 22.617744450457394, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "yaw": 1.5, "gripper": 1 }, "note": "Rotate wrist 90° and rise, to resolve the object position along the previously uncalibrated axis." } } } ] } } ] }, "execution": { "steps": 35, "motion_seconds": 2.31, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.02349, -0.22286, -0.07345, -2.08548, 0.01979, 1.90339, -1.53004 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50036, -0.02037, 0.94957 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00119, 1.49531 ], "tcp_rotation_matrix": [ [ 0.09448, 0.99465, 0.04188 ], [ 0.99485, -0.09589, 0.03293 ], [ 0.03677, 0.03855, -0.99858 ] ], "simulated_seconds_remaining": 5.544, "calls_remaining_including_this": 33 }, "api_seconds": 17.213709950447083, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.565, "y": -0.098, "z": 0.785 }, "note": "Triangulated ladle bowl position from two wrist orientations; moving directly above it at grasp height." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03952, 0.12975, -0.14798, -2.10472, 0.07711, 2.2664, -1.70967 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56447, -0.09749, 0.78602 ], "tcp_roll_pitch_yaw": [ 0.0002, 0.00117, 1.49521 ], "tcp_rotation_matrix": [ [ 0.0946, 0.99465, 0.04156 ], [ 0.99484, -0.09599, 0.03297 ], [ 0.03678, 0.03822, -0.99859 ] ], "simulated_seconds_remaining": 3.96, "calls_remaining_including_this": 32 }, "api_seconds": 10.608197784982622, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle/bowl neck appears between fingers; closing to grasp the ladle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03952, 0.12975, -0.14798, -2.10472, 0.07711, 2.2664, -1.70967 ], "gripper_open": 0.0, "tcp_xyz": [ 0.56448, -0.0975, 0.78601 ], "tcp_roll_pitch_yaw": [ 0.00019, 0.00117, 1.49521 ], "tcp_rotation_matrix": [ [ 0.09459, 0.99465, 0.04156 ], [ 0.99484, -0.09599, 0.03297 ], [ 0.03678, 0.03823, -0.99859 ] ], "simulated_seconds_remaining": 3.036, "calls_remaining_including_this": 31 }, "api_seconds": 16.21194420941174, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.16, "gripper": 1 }, "note": "Empty grasp; bowl is left in image, testing -y shift to bring it between the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.10449, 0.17141, -0.19017, -2.04884, 0.09706, 2.24533, -1.82612 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.56445, -0.15875, 0.786 ], "tcp_roll_pitch_yaw": [ 0.0002, 0.00119, 1.495 ], "tcp_rotation_matrix": [ [ 0.0948, 0.99463, 0.04156 ], [ 0.99482, -0.0962, 0.03294 ], [ 0.03676, 0.03823, -0.99859 ] ], "simulated_seconds_remaining": 2.112, "calls_remaining_including_this": 30 }, "api_seconds": 17.413817706517875, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle appears to pass right through the finger region; closing to catch the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.10449, 0.17141, -0.19017, -2.04884, 0.09706, 2.24533, -1.82612 ], "gripper_open": 0.0, "tcp_xyz": [ 0.56445, -0.15876, 0.786 ], "tcp_roll_pitch_yaw": [ 0.0002, 0.00119, 1.495 ], "tcp_rotation_matrix": [ [ 0.0948, 0.99463, 0.04156 ], [ 0.99482, -0.09619, 0.03294 ], [ 0.03676, 0.03823, -0.99859 ] ], "simulated_seconds_remaining": 1.188, "calls_remaining_including_this": 29 }, "api_seconds": 4.804300830699503, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably localize the ladle from the wrist view (its bowl was repeatedly occluded by the gripper and my image-to-base-frame calibration proved inconsistent). Several grasp attempts closed on empty air and the simulated motion budget is now exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 027 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 27, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 37, "api_calls": 38, "wall_seconds": 364.5969886779785, "usage": { "input_tokens": 76, "cache_creation_input_tokens": 38086, "cache_read_input_tokens": 742122, "output_tokens": 18303 }, "estimated_cost_usd": 1.0670535 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezhWGcCdxceMvRJxVpiH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LiuKJi6mFuMbnSyXypbEpK", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 78, "output_tokens_details": { "thinking_tokens": 54 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezhWTss4iWjFvzha9ZeG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Se2pdRRuak52VUHHy9iQLR", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Descending toward the cyan ladle visible below the gripper to get a closer view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 513, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 513, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 232, "output_tokens_details": { "thinking_tokens": 131 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezhWvBeA5XYaENbfUXPd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01J3UUQ58Waw86Qr9ro4gGcv", "name": "move_to", "input": { "targets": { "x": 0.35 }, "note": "Test move forward in +x to calibrate wrist image axes relative to base frame." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 727, "cache_read_input_tokens": 2272, "cache_creation": { "ephemeral_5m_input_tokens": 727, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 506, "output_tokens_details": { "thinking_tokens": 405 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezhXbMMBUuFeBS5hQRPp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016SMTy5qBma9LioDD7U9Bru", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Test lateral move to calibrate image left/right vs base y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1001, "cache_read_input_tokens": 2999, "cache_creation": { "ephemeral_5m_input_tokens": 1001, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 533, "output_tokens_details": { "thinking_tokens": 438 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezhYb3m6AGdsf8CoJgXc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S6hEq9CEob2TCj5mykgnpH", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Image right = +y, so moving to y=+0.06 to center the ladle handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1030, "cache_read_input_tokens": 4000, "cache_creation": { "ephemeral_5m_input_tokens": 1030, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 859, "output_tokens_details": { "thinking_tokens": 757 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezhZi4DdD8H5aNrHBwui", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TgPJsvKoxmGHuro57981pY", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Ladle handle now near center; descending for a closer view before aligning yaw." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1353, "cache_read_input_tokens": 5030, "cache_creation": { "ephemeral_5m_input_tokens": 1353, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 375, "output_tokens_details": { "thinking_tokens": 275 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezhaF4HQ1qKWsET8btdP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019fJ31pnCKsbhWAmNc8wjzs", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.09 }, "note": "Handle center is down-right in wrist view; moving +x and +y to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 869, "cache_read_input_tokens": 6383, "cache_creation": { "ephemeral_5m_input_tokens": 869, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 391, "output_tokens_details": { "thinking_tokens": 283 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezhaoRiKegLxH2YUGQ1C", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014bgjVkvZ8uXYFRAHcexqAv", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.1, "z": 0.8 }, "note": "Centering further on the handle and descending for a clearer view of its orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 885, "cache_read_input_tokens": 7252, "cache_creation": { "ephemeral_5m_input_tokens": 885, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1184, "output_tokens_details": { "thinking_tokens": 1070 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezhcA8BByD9AXo7CQ2Ds", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DGd7iV8vv5Zzj6kUtsBmA2", "name": "move_to", "input": { "targets": { "yaw": -0.7, "z": 0.83 }, "note": "Rotating gripper to align fingers across the diagonal handle; lifting slightly to avoid contact while rotating." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1683, "cache_read_input_tokens": 8137, "cache_creation": { "ephemeral_5m_input_tokens": 1683, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1238, "output_tokens_details": { "thinking_tokens": 1115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezhdesqiJLrvGwqv6ogS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L5jxDeXXYQbn36QFBzTijh", "name": "move_to", "input": { "targets": { "x": 0.45 }, "note": "Fingers now appear perpendicular to the handle; handle is still below image center, so advancing +x to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1734, "cache_read_input_tokens": 9820, "cache_creation": { "ephemeral_5m_input_tokens": 1734, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 708, "output_tokens_details": { "thinking_tokens": 598 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezheVZn1B8HBM6D1REp2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VjUEPt8xh25sHV3MBm9vsC", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Handle nearly centered; descending toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1203, "cache_read_input_tokens": 11554, "cache_creation": { "ephemeral_5m_input_tokens": 1203, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 178, "output_tokens_details": { "thinking_tokens": 88 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezhepyq2Ko2wuPQ5vjDf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WEPiVKp2qvbC7WhgfZS1yn", "name": "move_to", "input": { "targets": { "z": 0.75 }, "note": "Continuing descent toward the handle, watching for the table surface." }, "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": 12757, "cache_creation": { "ephemeral_5m_input_tokens": 673, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 207, "output_tokens_details": { "thinking_tokens": 112 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezhfDvi6m4KXtckibGRt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GdZ5u7aRSG9fU3n669zYc8", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Descending further; handle may be a vertical rod, continue until fingers straddle it." }, "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": 13430, "cache_creation": { "ephemeral_5m_input_tokens": 703, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 402, "output_tokens_details": { "thinking_tokens": 300 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezhfnivc2WRC1jtPpFba", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X1r99yUHL8eevaG5jTV9UQ", "name": "move_to", "input": { "targets": { "x": 0.41, "z": 0.76 }, "note": "Fingers appear at image bottom, so the handle (upper in view) is beyond the grasp point; retracting x slightly and lifting a touch." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 894, "cache_read_input_tokens": 14133, "cache_creation": { "ephemeral_5m_input_tokens": 894, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1487, "output_tokens_details": { "thinking_tokens": 1357 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezhhdV7bW9xCAtLsWxJc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EJsoL9UnAkEKKqRSjspGPr", "name": "move_to", "input": { "targets": { "x": 0.421, "y": 0.146 }, "note": "Handle sits right of the finger gap; shifting to bring it 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": 1985, "cache_read_input_tokens": 15027, "cache_creation": { "ephemeral_5m_input_tokens": 1985, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 632, "output_tokens_details": { "thinking_tokens": 523 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezhiUCXq6tGfs1Deo7bw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W5PVLgRKxirhSmCsMjvS6n", "name": "move_to", "input": { "targets": { "z": 0.748 }, "note": "Handle appears in the finger gap region; descending to 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": 1131, "cache_read_input_tokens": 17012, "cache_creation": { "ephemeral_5m_input_tokens": 1131, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 276, "output_tokens_details": { "thinking_tokens": 180 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezhj5c1hTEH31zRfcSxQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WywKXHh7Za8B2AU3oM54gy", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempting to 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": 769, "cache_read_input_tokens": 18143, "cache_creation": { "ephemeral_5m_input_tokens": 769, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 119, "output_tokens_details": { "thinking_tokens": 33 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezhjPFR5Z5XstixxfRe8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PPF42cGfu9kvKRJru9tiYx", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Lifting to check whether anything 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": 613, "cache_read_input_tokens": 18912, "cache_creation": { "ephemeral_5m_input_tokens": 613, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 201, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezhjjFBfXRcDoJfaTExo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019KDaiEhyAFZorREsQ3AU9E", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.77 }, "note": "Missed; reopening gripper and returning to just above the ladle for a careful re-alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 19525, "cache_creation": { "ephemeral_5m_input_tokens": 694, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 427, "output_tokens_details": { "thinking_tokens": 314 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezhkLai5nWCum1tvAVu4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DomzKWchyM1JBTcMx2S5Bs", "name": "move_to", "input": { "targets": { "z": 0.742 }, "note": "Going as low as the table allows so the fingertips reach the flat-lying handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 921, "cache_read_input_tokens": 20219, "cache_creation": { "ephemeral_5m_input_tokens": 921, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 913, "output_tokens_details": { "thinking_tokens": 812 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezhmbYt9X642boUSAyGH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F18WfERCyRoan3x3fqbEKy", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing at the lowest reachable height to catch the flat handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1406, "cache_read_input_tokens": 21140, "cache_creation": { "ephemeral_5m_input_tokens": 1406, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 214, "output_tokens_details": { "thinking_tokens": 118 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezhn4QAi1nXC13Xgzycd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LpFrDX3vZ7qaKPzvj3ypnC", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Gripper stopped at 0.45 indicating an object is held; lifting to verify." }, "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": 22546, "cache_creation": { "ephemeral_5m_input_tokens": 708, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 135, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezhnMnS26KxSy4CVt89D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PMoNbAmhMN5qn6AABaQyUz", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Object slipped; opening gripper and rising for a wide wrist view to re-assess the ladle's pose." }, "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": 23254, "cache_creation": { "ephemeral_5m_input_tokens": 626, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 515, "output_tokens_details": { "thinking_tokens": 397 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezho6WhCB1GeUjHzuEpo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L3NXJQyjpzcHvTh16kcaDo", "name": "move_to", "input": { "targets": { "yaw": -1.57, "z": 0.85 }, "note": "Wide view shows handle axis nearly along base +y; rotating fingers to close across it (yaw=-90 deg)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1008, "cache_read_input_tokens": 23880, "cache_creation": { "ephemeral_5m_input_tokens": 1008, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1067, "output_tokens_details": { "thinking_tokens": 943 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezhpL2KqqLFDf6ATXUpq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DQXKyfCteVvmmwr4nampDL", "name": "move_to", "input": { "targets": { "yaw": -1.12 }, "note": "Handle appears at -45 deg in wrist view; rotating yaw so it appears vertical (perpendicular to finger closing direction)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1561, "cache_read_input_tokens": 24888, "cache_creation": { "ephemeral_5m_input_tokens": 1561, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1071, "output_tokens_details": { "thinking_tokens": 950 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezhqZaSPbon1F6782G2U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UtiUYEQbGCwpMQERjdZRd9", "name": "move_to", "input": { "targets": { "z": 0.745 }, "note": "Handle now vertical in view; descending to table-level 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": 1570, "cache_read_input_tokens": 26449, "cache_creation": { "ephemeral_5m_input_tokens": 1570, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 346, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezhrTqvnfRNF6bK2uJmY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019CLKUefFuokzRYpBYsngv8", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing across the handle with corrected orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 840, "cache_read_input_tokens": 28019, "cache_creation": { "ephemeral_5m_input_tokens": 840, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 302, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezhrz8qCEULrGdKseJAY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Lcacg9f6PxbSovPaWu5q2f", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Gripper stopped at 0.77 opening suggesting contact; lifting slightly to check for grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 796, "cache_read_input_tokens": 28859, "cache_creation": { "ephemeral_5m_input_tokens": 796, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 233, "output_tokens_details": { "thinking_tokens": 123 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezhsQu72ycYXw31VPjGL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017hmXqKX8Yee5njMp64VrWH", "name": "move_to", "input": { "targets": { "z": 0.7455 }, "note": "Gripper auto-reopened; descending again to grasp height over 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": 727, "cache_read_input_tokens": 29655, "cache_creation": { "ephemeral_5m_input_tokens": 727, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 474, "output_tokens_details": { "thinking_tokens": 374 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezht4xpPVFoWTAcsMCyf", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VxTnh7dECvMVkC97ceRdmQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing 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": 968, "cache_read_input_tokens": 30382, "cache_creation": { "ephemeral_5m_input_tokens": 968, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 82, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezhtKddWbVy4aKkiH6TP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SXUttGsKSGcvdA6VQxk51D", "name": "move_to", "input": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Lifting while explicitly commanding the gripper closed to check 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": 574, "cache_read_input_tokens": 31350, "cache_creation": { "ephemeral_5m_input_tokens": 574, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 306, "output_tokens_details": { "thinking_tokens": 198 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011Cezhtr5TUkasMQT7GstAd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H3RZ481F8augXgHp9zswnY", "name": "move_to", "input": { "targets": { "x": 0.452, "y": 0.172, "z": 0.7455, "gripper": 1 }, "note": "Shifting slightly right/down in image terms so the handle falls deeper into the finger gap, at grasp height with gripper open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 31924, "cache_creation": { "ephemeral_5m_input_tokens": 798, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 724, "output_tokens_details": { "thinking_tokens": 583 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011CezhurgScoV3JrNpwTWys", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019Jy9bpvA6BxmznQXrZh9EF", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing on the handle at the adjusted position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1217, "cache_read_input_tokens": 32722, "cache_creation": { "ephemeral_5m_input_tokens": 1217, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 113, "output_tokens_details": { "thinking_tokens": 23 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 34, "response": { "model": "claude-opus-5", "id": "msg_011Cezhv9G62Djg31o2on1pc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018spsEpjwqgW5orSpsvZiro", "name": "move_to", "input": { "targets": { "z": 0.82, "gripper": 0 }, "note": "Lifting with gripper commanded closed to check if the handle is held." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 607, "cache_read_input_tokens": 33939, "cache_creation": { "ephemeral_5m_input_tokens": 607, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 835, "output_tokens_details": { "thinking_tokens": 730 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 35, "response": { "model": "claude-opus-5", "id": "msg_011CezhwJDPAxWwUNzM7ECHd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FUCH4KhuZh7zkBGsfVnM1G", "name": "move_to", "input": { "targets": { "x": 0.432, "y": 0.212, "z": 0.7455, "gripper": 1 }, "note": "Final attempt: shifting so the handle sits lower in the image (deeper between fingertips), open gripper at 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": 1328, "cache_read_input_tokens": 34546, "cache_creation": { "ephemeral_5m_input_tokens": 1328, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 474, "output_tokens_details": { "thinking_tokens": 334 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 36, "response": { "model": "claude-opus-5", "id": "msg_011Cezhx2YaWwWLkJkpTy8i2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NHtbk5vyCdKEQuUV9cg7gi", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Handle hidden beneath the gripper; closing now." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 968, "cache_read_input_tokens": 35874, "cache_creation": { "ephemeral_5m_input_tokens": 968, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 153, "output_tokens_details": { "thinking_tokens": 60 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 37, "response": { "model": "claude-opus-5", "id": "msg_011CezhxRKncoapJAxPCxWm1", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_013JrJXMZJBAKbNgxuke4coQ", "name": "move_to", "input": { "targets": { "z": 0.82, "gripper": 0 }, "note": "Final lift with gripper closed to attempt to raise the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 36842, "cache_creation": { "ephemeral_5m_input_tokens": 647, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 104, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 38, "response": { "model": "claude-opus-5", "id": "msg_011CezhxgenSkEVBFeRyCESN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sugrhg8PLx2y4QAhYrw7Ge", "name": "give_up", "input": { "note": "Out of simulated motion time. I aligned the gripper with the ladle handle and made several grasp attempts; one briefly held the handle (gripper stalled at 0.45) but it slipped during the lift, and subsequent closes came up empty." }, "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": 37489, "cache_creation": { "ephemeral_5m_input_tokens": 597, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 86 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00702, -0.80394, 0.04679, -2.39544, -0.04359, 1.57762, 0.02111 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29985, -0.00072, 1.00343 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99991, 0.0052, -0.01243 ], [ 0.00422, -0.99698, -0.07753 ], [ -0.0128, 0.07747, -0.99691 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.607832796871662, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Descending toward the cyan ladle visible below the gripper to get a closer view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00289, -0.82668, 0.05022, -2.66923, -0.04162, 1.82783, 0.03703 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.2998, -0.00072, 0.90124 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00029, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99991, 0.00521, -0.01272 ], [ 0.00421, -0.99698, -0.07755 ], [ -0.01308, 0.07749, -0.99691 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 56 }, "api_seconds": 8.807692121714354, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35 }, "note": "Test move forward in +x to calibrate wrist image axes relative to base frame." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.01215, -0.64818, 0.05216, -2.55973, -0.04828, 1.89674, 0.04031 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34883, -0.00072, 0.90123 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00038, -2e-05 ], "tcp_rotation_matrix": [ [ 0.9999, 0.0052, -0.01281 ], [ 0.0042, -0.99698, -0.07754 ], [ -0.01318, 0.07748, -0.99691 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 55 }, "api_seconds": 13.210029436275363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Test lateral move to calibrate image left/right vs base y." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.05875, -0.64473, -0.02435, -2.55955, -0.09847, 1.90669, -0.04981 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34884, -0.04869, 0.90122 ], "tcp_roll_pitch_yaw": [ 6e-05, 0.00037, -0.00022 ], "tcp_rotation_matrix": [ [ 0.99991, 0.005, -0.01282 ], [ 0.004, -0.99699, -0.07747 ], [ -0.01317, 0.07741, -0.99691 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 54 }, "api_seconds": 14.811681929044425, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Image right = +y, so moving to y=+0.06 to center the ladle handle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04303, -0.6265, 0.14662, -2.5377, 0.01181, 1.89116, 0.15244 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34885, 0.05866, 0.90123 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00036, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9999, 0.00521, -0.01279 ], [ 0.00421, -0.99698, -0.07754 ], [ -0.01316, 0.07748, -0.99691 ] ], "simulated_seconds_remaining": 26.796, "calls_remaining_including_this": 53 }, "api_seconds": 6.805461621843278, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Ladle handle now near center; descending for a closer view before aligning yaw." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04359, -0.57871, 0.1586, -2.66038, 0.01395, 2.06088, 0.1641 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34879, 0.05865, 0.84113 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00065, -2e-05 ], "tcp_rotation_matrix": [ [ 0.9999, 0.00523, -0.01309 ], [ 0.0042, -0.99698, -0.07759 ], [ -0.01345, 0.07753, -0.9969 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 52 }, "api_seconds": 7.20660238340497, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.09 }, "note": "Handle center is down-right in wrist view; moving +x and +y to center it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04194, -0.38924, 0.20461, -2.50552, 0.00525, 2.09302, 0.22299 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39898, 0.08938, 0.84113 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00069, 2e-05 ], "tcp_rotation_matrix": [ [ 0.9999, 0.00527, -0.01312 ], [ 0.00424, -0.99697, -0.07762 ], [ -0.01349, 0.07755, -0.9969 ] ], "simulated_seconds_remaining": 25.344, "calls_remaining_including_this": 51 }, "api_seconds": 18.01527266856283, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.1, "z": 0.8 }, "note": "Centering further on the handle and descending for a clearer view of its orientation." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.03546, -0.26331, 0.22681, -2.49879, -0.0166, 2.2093, 0.25909 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41936, 0.09969, 0.80104 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00098, 2e-05 ], "tcp_rotation_matrix": [ [ 0.9999, 0.00529, -0.01341 ], [ 0.00423, -0.99697, -0.07769 ], [ -0.01378, 0.07762, -0.99689 ] ], "simulated_seconds_remaining": 24.75, "calls_remaining_including_this": 50 }, "api_seconds": 19.61609696224332, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.7, "z": 0.83 }, "note": "Rotating gripper to align fingers across the diagonal handle; lifting slightly to avoid contact while rotating." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.04561, -0.28011, 0.28408, -2.42149, 0.04728, 2.08147, 0.89156 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41938, 0.09968, 0.82985 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00096, -0.69558 ], "tcp_rotation_matrix": [ [ 0.77031, -0.63484, -0.06002 ], [ -0.63752, -0.76874, -0.05101 ], [ -0.01376, 0.07756, -0.99689 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 49 }, "api_seconds": 11.208470145240426, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Fingers now appear perpendicular to the handle; handle is still below image center, so advancing +x to center it." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.05991, -0.18945, 0.28524, -2.33249, 0.01864, 2.08062, 0.89986 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44897, 0.09966, 0.82983 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.001, -0.69564 ], "tcp_rotation_matrix": [ [ 0.77027, -0.63488, -0.06006 ], [ -0.63757, -0.7687, -0.05098 ], [ -0.0138, 0.07756, -0.99689 ] ], "simulated_seconds_remaining": 22.968, "calls_remaining_including_this": 48 }, "api_seconds": 4.203878737054765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Handle nearly centered; descending toward it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06221, -0.12053, 0.29319, -2.39669, -0.00166, 2.21084, 0.91968 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4489, 0.09964, 0.78106 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.0012, -0.69565 ], "tcp_rotation_matrix": [ [ 0.77025, -0.63487, -0.06036 ], [ -0.63758, -0.76869, -0.05102 ], [ -0.014, 0.07779, -0.99687 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 47 }, "api_seconds": 5.004493222571909, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Continuing descent toward the handle, watching for the table surface." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06427, -0.06749, 0.29674, -2.42696, -0.02144, 2.29151, 0.93676 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44884, 0.09962, 0.75097 ], "tcp_roll_pitch_yaw": [ -0.00051, 0.00137, -0.69567 ], "tcp_rotation_matrix": [ [ 0.77024, -0.63487, -0.06061 ], [ -0.6376, -0.76868, -0.05106 ], [ -0.01417, 0.07797, -0.99685 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 46 }, "api_seconds": 7.207304990850389, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Descending further; handle may be a vertical rod, continue until fingers straddle it." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06295, -0.05939, 0.30138, -2.44012, -0.04666, 2.33147, 0.95598 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45186, 0.10034, 0.74509 ], "tcp_roll_pitch_yaw": [ 0.00566, -0.02278, -0.68939 ], "tcp_rotation_matrix": [ [ 0.77432, -0.63166, -0.03779 ], [ -0.63272, -0.7719, -0.06201 ], [ 0.01, 0.07193, -0.99736 ] ], "simulated_seconds_remaining": 21.252, "calls_remaining_including_this": 45 }, "api_seconds": 24.82001285813749, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.41, "z": 0.76 }, "note": "Fingers appear at image bottom, so the handle (upper in view) is beyond the grasp point; retracting x slightly and lifting a touch." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.04055, -0.20576, 0.30362, -2.55317, 0.01425, 2.30427, 0.931 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41116, 0.10037, 0.75964 ], "tcp_roll_pitch_yaw": [ 0.00568, -0.02287, -0.68929 ], "tcp_rotation_matrix": [ [ 0.77438, -0.6316, -0.0377 ], [ -0.63264, -0.77196, -0.06206 ], [ 0.01009, 0.07191, -0.99736 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 44 }, "api_seconds": 11.00881171040237, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.421, "y": 0.146 }, "note": "Handle sits right of the finger gap; shifting to bring it between the fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00903, -0.13955, 0.35926, -2.48036, 0.00435, 2.29304, 1.02781 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42073, 0.1448, 0.75964 ], "tcp_roll_pitch_yaw": [ 0.00568, -0.02289, -0.68907 ], "tcp_rotation_matrix": [ [ 0.77452, -0.63143, -0.03768 ], [ -0.63247, -0.77209, -0.06208 ], [ 0.01011, 0.07191, -0.99736 ] ], "simulated_seconds_remaining": 20.064, "calls_remaining_including_this": 43 }, "api_seconds": 8.0065334495157, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.748 }, "note": "Handle appears in the finger gap region; descending to grasp height." } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.01074, -0.11864, 0.36147, -2.49023, -0.00503, 2.32243, 1.0359 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.42069, 0.14479, 0.74908 ], "tcp_roll_pitch_yaw": [ 0.00559, -0.0228, -0.68907 ], "tcp_rotation_matrix": [ [ 0.77452, -0.63142, -0.0378 ], [ -0.63247, -0.77209, -0.0621 ], [ 0.01003, 0.072, -0.99735 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 42 }, "api_seconds": 3.6032488979399204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempting to close on the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0092, -0.12354, 0.36304, -2.48094, -0.00383, 2.35203, 1.03605 ], "gripper_open": 0.0184, "tcp_xyz": [ 0.43245, 0.15073, 0.75721 ], "tcp_roll_pitch_yaw": [ 0.04252, -0.04573, -0.68649 ], "tcp_rotation_matrix": [ [ 0.77605, -0.63066, 0.00349 ], [ -0.6298, -0.77526, -0.04822 ], [ 0.03311, 0.03522, -0.99883 ] ], "simulated_seconds_remaining": 18.744, "calls_remaining_including_this": 41 }, "api_seconds": 4.203651753254235, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Lifting to check whether anything was grasped." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00045, -0.24078, 0.34473, -2.39413, 0.04064, 2.15441, 0.99429 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43255, 0.15075, 0.82883 ], "tcp_roll_pitch_yaw": [ 0.04278, -0.04595, -0.6865 ], "tcp_rotation_matrix": [ [ 0.77605, -0.63066, 0.00383 ], [ -0.62979, -0.77527, -0.04816 ], [ 0.03334, 0.03497, -0.99883 ] ], "simulated_seconds_remaining": 17.952, "calls_remaining_including_this": 40 }, "api_seconds": 7.806891728192568, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.77 }, "note": "Missed; reopening gripper and returning to just above the ladle for a careful re-alignment." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0072, -0.15033, 0.36017, -2.46719, 0.00848, 2.31327, 1.02545 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.4325, 0.15073, 0.77121 ], "tcp_roll_pitch_yaw": [ 0.04262, -0.04583, -0.68651 ], "tcp_rotation_matrix": [ [ 0.77605, -0.63067, 0.00362 ], [ -0.6298, -0.77526, -0.0482 ], [ 0.03321, 0.03513, -0.99883 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 39 }, "api_seconds": 16.8133432129398, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.742 }, "note": "Going as low as the table allows so the fingertips reach the flat-lying handle." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.01198, -0.09637, 0.36614, -2.49236, -0.01847, 2.39032, 1.04803 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43284, 0.15082, 0.7441 ], "tcp_roll_pitch_yaw": [ 0.04345, -0.04694, -0.68623 ], "tcp_rotation_matrix": [ [ 0.7762, -0.63047, 0.00503 ], [ -0.62956, -0.77545, -0.04827 ], [ 0.03433, 0.0343, -0.99882 ] ], "simulated_seconds_remaining": 16.566, "calls_remaining_including_this": 38 }, "api_seconds": 5.604803767986596, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing at the lowest reachable height to catch the flat handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.00855, -0.10581, 0.36983, -2.47927, -0.01627, 2.40888, 1.04811 ], "gripper_open": 0.4506, "tcp_xyz": [ 0.44358, 0.15831, 0.75521 ], "tcp_roll_pitch_yaw": [ 0.07731, -0.06911, -0.68141 ], "tcp_rotation_matrix": [ [ 0.7787, -0.62587, 0.0438 ], [ -0.62484, -0.77993, -0.03592 ], [ 0.05664, 0.0006, -0.99839 ] ], "simulated_seconds_remaining": 15.642, "calls_remaining_including_this": 37 }, "api_seconds": 3.6036719726398587, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Gripper stopped at 0.45 indicating an object is held; lifting to verify." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.00406, -0.284, 0.33772, -2.31119, 0.051, 2.07212, 0.98299 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.44367, 0.15834, 0.87877 ], "tcp_roll_pitch_yaw": [ 0.07758, -0.06934, -0.68143 ], "tcp_rotation_matrix": [ [ 0.77868, -0.62587, 0.04415 ], [ -0.62484, -0.77993, -0.03585 ], [ 0.05687, 0.00033, -0.99838 ] ], "simulated_seconds_remaining": 14.52, "calls_remaining_including_this": 36 }, "api_seconds": 9.409505960531533, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Object slipped; opening gripper and rising for a wide wrist view to re-assess the ladle's pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.00226, -0.32282, 0.32211, -2.16577, 0.05575, 1.8895, 0.96994 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44372, 0.15836, 0.94905 ], "tcp_roll_pitch_yaw": [ 0.07777, -0.06949, -0.68144 ], "tcp_rotation_matrix": [ [ 0.77867, -0.62586, 0.04439 ], [ -0.62484, -0.77993, -0.03579 ], [ 0.05702, 0.00014, -0.99837 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 35 }, "api_seconds": 16.212153086438775, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -1.57, "z": 0.85 }, "note": "Wide view shows handle axis nearly along base +y; rotating fingers to close across it (yaw=-90 deg)." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11178, -0.23077, 0.45727, -2.3133, 0.0542, 2.08639, 1.86693 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44369, 0.15835, 0.85043 ], "tcp_roll_pitch_yaw": [ 0.07758, -0.06951, -1.56522 ], "tcp_rotation_matrix": [ [ 0.01077, -0.99994, 0.00029 ], [ -0.99831, -0.01076, -0.05704 ], [ 0.05704, 0.00033, -0.99837 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 34 }, "api_seconds": 16.212707422673702, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -1.12 }, "note": "Handle appears at -45 deg in wrist view; rotating yaw so it appears vertical (perpendicular to finger closing direction)." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06073, -0.24456, 0.4096, -2.33718, 0.04665, 2.11781, 1.43358 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44369, 0.15834, 0.85043 ], "tcp_roll_pitch_yaw": [ 0.0776, -0.0695, -1.12477 ], "tcp_rotation_matrix": [ [ 0.43537, -0.89992, 0.02459 ], [ -0.89844, -0.43606, -0.05146 ], [ 0.05703, 0.00031, -0.99837 ] ], "simulated_seconds_remaining": 11.286, "calls_remaining_including_this": 33 }, "api_seconds": 11.41047519724816, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.745 }, "note": "Handle now vertical in view; descending to table-level grasp height." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.07558, -0.07529, 0.4395, -2.46461, -0.03678, 2.40048, 1.50959 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44362, 0.15829, 0.74623 ], "tcp_roll_pitch_yaw": [ 0.07724, -0.06944, -1.12479 ], "tcp_rotation_matrix": [ [ 0.43535, -0.89994, 0.02424 ], [ -0.89846, -0.43602, -0.05156 ], [ 0.05697, 0.00067, -0.99838 ] ], "simulated_seconds_remaining": 10.296, "calls_remaining_including_this": 32 }, "api_seconds": 6.80623777769506, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing across the handle with corrected orientation." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.07526, -0.08093, 0.43963, -2.4622, -0.0367, 2.39651, 1.50938 ], "gripper_open": 0.7697, "tcp_xyz": [ 0.4446, 0.15846, 0.74928 ], "tcp_roll_pitch_yaw": [ 0.08057, -0.07218, -1.12458 ], "tcp_rotation_matrix": [ [ 0.4355, -0.89974, 0.02844 ], [ -0.8982, -0.43642, -0.05259 ], [ 0.05973, -0.00264, -0.99821 ] ], "simulated_seconds_remaining": 9.372, "calls_remaining_including_this": 31 }, "api_seconds": 5.404791876673698, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Gripper stopped at 0.77 opening suggesting contact; lifting slightly to check for grasp." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06663, -0.17352, 0.42706, -2.41106, 0.01592, 2.26148, 1.46423 ], "gripper_open": 0.9963, "tcp_xyz": [ 0.44469, 0.15849, 0.79892 ], "tcp_roll_pitch_yaw": [ 0.08086, -0.07228, -1.12459 ], "tcp_rotation_matrix": [ [ 0.43549, -0.89973, 0.02874 ], [ -0.8982, -0.43643, -0.05256 ], [ 0.05983, -0.00293, -0.9982 ] ], "simulated_seconds_remaining": 8.712, "calls_remaining_including_this": 30 }, "api_seconds": 8.407324094325304, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.7455 }, "note": "Gripper auto-reopened; descending again to grasp height over the handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.07626, -0.07525, 0.44054, -2.46429, -0.04055, 2.40367, 1.5125 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44462, 0.15844, 0.74663 ], "tcp_roll_pitch_yaw": [ 0.08054, -0.07223, -1.12461 ], "tcp_rotation_matrix": [ [ 0.43547, -0.89975, 0.02843 ], [ -0.89821, -0.43639, -0.05264 ], [ 0.05977, -0.00261, -0.99821 ] ], "simulated_seconds_remaining": 8.052, "calls_remaining_including_this": 29 }, "api_seconds": 3.003045864403248, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing on the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.076, -0.08064, 0.4406, -2.46294, -0.04051, 2.39858, 1.51228 ], "gripper_open": 0.7814, "tcp_xyz": [ 0.44485, 0.15824, 0.74905 ], "tcp_roll_pitch_yaw": [ 0.08148, -0.07473, -1.12443 ], "tcp_rotation_matrix": [ [ 0.43557, -0.89964, 0.03036 ], [ -0.898, -0.43662, -0.05449 ], [ 0.06228, -0.00353, -0.99805 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 28 }, "api_seconds": 6.605415855534375, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Lifting while explicitly commanding the gripper closed to check the grasp." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06186, -0.24269, 0.4122, -2.34081, 0.04105, 2.12819, 1.4376 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44494, 0.15826, 0.84882 ], "tcp_roll_pitch_yaw": [ 0.08181, -0.07483, -1.12445 ], "tcp_rotation_matrix": [ [ 0.43556, -0.89964, 0.0307 ], [ -0.898, -0.43662, -0.05444 ], [ 0.06238, -0.00386, -0.99805 ] ], "simulated_seconds_remaining": 6.138, "calls_remaining_including_this": 27 }, "api_seconds": 13.210420166142285, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.452, "y": 0.172, "z": 0.7455, "gripper": 1 }, "note": "Shifting slightly right/down in image terms so the handle falls deeper into the finger gap, at grasp height with gripper open." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.07022, -0.0411, 0.45523, -2.42639, -0.06477, 2.39612, 1.55128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45184, 0.17178, 0.7467 ], "tcp_roll_pitch_yaw": [ 0.08146, -0.07478, -1.12445 ], "tcp_rotation_matrix": [ [ 0.43555, -0.89965, 0.03036 ], [ -0.898, -0.4366, -0.05454 ], [ 0.06232, -0.00351, -0.99805 ] ], "simulated_seconds_remaining": 5.148, "calls_remaining_including_this": 26 }, "api_seconds": 3.403110006824136, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing on the handle at the adjusted position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 33, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06998, -0.04667, 0.45537, -2.42494, -0.06468, 2.39104, 1.55102 ], "gripper_open": 0.7747, "tcp_xyz": [ 0.45214, 0.1716, 0.74928 ], "tcp_roll_pitch_yaw": [ 0.08268, -0.07749, -1.12426 ], "tcp_rotation_matrix": [ [ 0.43567, -0.89952, 0.03264 ], [ -0.89775, -0.43686, -0.05645 ], [ 0.06504, -0.00471, -0.99787 ] ], "simulated_seconds_remaining": 4.224, "calls_remaining_including_this": 25 }, "api_seconds": 15.2117716986686, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82, "gripper": 0 }, "note": "Lifting with gripper commanded closed to check if the handle is held." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 34, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.06109, -0.16823, 0.44043, -2.3496, 0.00855, 2.20716, 1.48803 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4522, 0.17162, 0.81863 ], "tcp_roll_pitch_yaw": [ 0.08292, -0.07756, -1.12427 ], "tcp_rotation_matrix": [ [ 0.43566, -0.89951, 0.03289 ], [ -0.89775, -0.43687, -0.05641 ], [ 0.06511, -0.00495, -0.99787 ] ], "simulated_seconds_remaining": 3.3, "calls_remaining_including_this": 24 }, "api_seconds": 9.407487410120666, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.432, "y": 0.212, "z": 0.7455, "gripper": 1 }, "note": "Final attempt: shifting so the handle sits lower in the image (deeper between fingertips), open gripper at grasp height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 35, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03022, -0.04573, 0.50832, -2.42973, -0.06311, 2.39182, 1.64255 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.43221, 0.21144, 0.74644 ], "tcp_roll_pitch_yaw": [ 0.08267, -0.07755, -1.12413 ], "tcp_rotation_matrix": [ [ 0.43578, -0.89946, 0.03266 ], [ -0.8977, -0.43698, -0.0565 ], [ 0.0651, -0.0047, -0.99787 ] ], "simulated_seconds_remaining": 2.376, "calls_remaining_including_this": 23 }, "api_seconds": 4.8041738756001, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Handle hidden beneath the gripper; closing now." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 36, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.02973, -0.05092, 0.50875, -2.42842, -0.06284, 2.38672, 1.64224 ], "gripper_open": 0.7996, "tcp_xyz": [ 0.43227, 0.21145, 0.74873 ], "tcp_roll_pitch_yaw": [ 0.08349, -0.08012, -1.12347 ], "tcp_rotation_matrix": [ [ 0.43631, -0.89913, 0.03455 ], [ -0.89725, -0.43764, -0.05844 ], [ 0.06767, -0.0055, -0.99769 ] ], "simulated_seconds_remaining": 1.452, "calls_remaining_including_this": 22 }, "api_seconds": 3.203162436373532, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82, "gripper": 0 }, "note": "Final lift with gripper closed to attempt to raise the ladle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 37, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.01886, -0.17722, 0.49027, -2.35168, 0.01887, 2.19981, 1.57203 ], "gripper_open": 0.0, "tcp_xyz": [ 0.43234, 0.21148, 0.81904 ], "tcp_roll_pitch_yaw": [ 0.08374, -0.08018, -1.12348 ], "tcp_rotation_matrix": [ [ 0.4363, -0.89913, 0.0348 ], [ -0.89725, -0.43765, -0.05839 ], [ 0.06773, -0.00575, -0.99769 ] ], "simulated_seconds_remaining": 0.528, "calls_remaining_including_this": 21 }, "api_seconds": 6.405619043856859, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Out of simulated motion time. I aligned the gripper with the ladle handle and made several grasp attempts; one briefly held the handle (gripper stalled at 0.45) but it slipped during the lift, and subsequent closes came up empty." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 028 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 28, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 25, "api_calls": 26, "wall_seconds": 433.5822160243988, "usage": { "input_tokens": 52, "cache_creation_input_tokens": 28455, "cache_read_input_tokens": 359093, "output_tokens": 14610 }, "estimated_cost_usd": 0.72290025 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezhzhLFuAXJtrjJ7aQy2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018q5mezapDqirs7ND3Sta37", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 66, "output_tokens_details": { "thinking_tokens": 42 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezhzthdpn5LqhEnKAgxZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E86WKy4kfkREfTdMcQKWPu", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.15, "z": 1.1 }, "note": "Raise and shift left toward counter to survey for the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 499, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 499, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 236, "output_tokens_details": { "thinking_tokens": 125 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezi1WuVEQ9dVsth1hR2Q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UzNVz1iHy5RxDzwoPmhGt9", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.3, "z": 1.25 }, "note": "Move higher over the counter for a top-down wrist view to locate the ladle." }, "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": 2256, "cache_creation": { "ephemeral_5m_input_tokens": 730, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 462, "output_tokens_details": { "thinking_tokens": 346 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezi2EAw85uXdr3DEdhwK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VM6d1QiHGaNNvzL8XnKhei", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.3, "z": 1.15 }, "note": "Move over counter (z within bounds) for top-down view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 953, "cache_read_input_tokens": 2986, "cache_creation": { "ephemeral_5m_input_tokens": 953, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 157, "output_tokens_details": { "thinking_tokens": 48 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezi2dNCfqLoDv8Fb4PAK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014mcSZ31cEGrWBLYMdK2bYu", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.5, "z": 1.15 }, "note": "Shift further left over the marble counter to see its top in the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 3939, "cache_creation": { "ephemeral_5m_input_tokens": 650, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 378, "output_tokens_details": { "thinking_tokens": 264 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezi3KXAzSpmz4pd7rSXk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LxRVkUcWNYHbD7huQVUz3V", "name": "move_to", "input": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist to look forward/horizontally to survey the counter and find the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 871, "cache_read_input_tokens": 4589, "cache_creation": { "ephemeral_5m_input_tokens": 871, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 346, "output_tokens_details": { "thinking_tokens": 240 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezi4C5isHWGzRXTjaE4z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017tcRMn59jLBAmnEVk5jhVZ", "name": "move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Reduce tilt to get an angled view of the counter top to identify the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 5460, "cache_creation": { "ephemeral_5m_input_tokens": 844, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 196, "output_tokens_details": { "thinking_tokens": 93 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezi4oHodYcXTnPVbddd6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RCfsbcaPCHwA14YCSprJKV", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.0, "z": 1.1, "pitch": -0.4 }, "note": "Center in front of robot with slight forward tilt to see the work surface ahead." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 689, "cache_read_input_tokens": 6304, "cache_creation": { "ephemeral_5m_input_tokens": 689, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 546, "output_tokens_details": { "thinking_tokens": 420 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezi5qgCrz1bXQQYt7pdH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E5rDQvs2q1CQ6EAqXUyoQ1", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.1, "z": 1.05, "pitch": -0.2 }, "note": "Ladle spotted forward-left on marble counter; approach it and look more downward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1044, "cache_read_input_tokens": 6993, "cache_creation": { "ephemeral_5m_input_tokens": 1044, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 296, "output_tokens_details": { "thinking_tokens": 169 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezi6njsNAhKTraWpXxoP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T4vRqnow4C35qsY5aw1qDJ", "name": "move_to", "input": { "targets": { "x": 0.58, "y": 0.18, "pitch": 0.0 }, "note": "Ladle still up-left in wrist view; shift left/forward and point straight down." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 789, "cache_read_input_tokens": 8037, "cache_creation": { "ephemeral_5m_input_tokens": 789, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 475, "output_tokens_details": { "thinking_tokens": 356 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezi7nuKbpAZSLvNnvZ1Y", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AFZegDzXvv4JbW7y8YRvLx", "name": "move_to", "input": { "targets": { "y": 0.3 }, "note": "Test move further left to confirm image-axis mapping toward the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 974, "cache_read_input_tokens": 8826, "cache_creation": { "ephemeral_5m_input_tokens": 974, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1242, "output_tokens_details": { "thinking_tokens": 1144 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezi9Kuux26qegBj6Ha4g", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XYwcKvXQJFyryAEWveTVyy", "name": "move_to", "input": { "targets": { "x": 0.51, "y": -0.09, "z": 1.05 }, "note": "Estimated ladle at x~0.51, y~-0.09 from image geometry; move 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": 1736, "cache_read_input_tokens": 9800, "cache_creation": { "ephemeral_5m_input_tokens": 1736, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1602, "output_tokens_details": { "thinking_tokens": 1480 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CeziBKgKVDvAMhEtaKKd8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CV79DoTS6SYRjoyGw6rX5G", "name": "move_to", "input": { "targets": { "x": 0.535, "y": -0.085, "yaw": 1.05 }, "note": "Center over the ladle handle and rotate fingers perpendicular to the handle axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2095, "cache_read_input_tokens": 11536, "cache_creation": { "ephemeral_5m_input_tokens": 2095, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1182, "output_tokens_details": { "thinking_tokens": 1061 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CeziD2MLhALiSicoovZqj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LRLXkwJZN5BktVpDQS66pA", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.185, "z": 0.85, "yaw": 0.0 }, "note": "Revert yaw to 0 for consistent image mapping; move over estimated ladle position and descend to inspect." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1680, "cache_read_input_tokens": 13631, "cache_creation": { "ephemeral_5m_input_tokens": 1680, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2935, "output_tokens_details": { "thinking_tokens": 2798 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CeziGxivBimgnKQR3nQqr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GhnignafwGtiD9bHijtLDb", "name": "move_to", "input": { "targets": { "x": 0.53, "y": -0.135 }, "note": "Ladle bowl appears down-right in wrist view; nudge toward it in xy before descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 3430, "cache_read_input_tokens": 15311, "cache_creation": { "ephemeral_5m_input_tokens": 3430, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 521, "output_tokens_details": { "thinking_tokens": 407 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CeziPGCofCMdtfsevapmr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LcmutQDgUZoLe6fhTX4c12", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Descend toward the ladle to gauge surface height and refine alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1015, "cache_read_input_tokens": 18741, "cache_creation": { "ephemeral_5m_input_tokens": 1015, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 500, "output_tokens_details": { "thinking_tokens": 402 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CeziQgjTmtkr8DidVwb62", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FVoMvj89HJcc5VZDwGNK99", "name": "move_to", "input": { "targets": { "x": 0.505, "y": -0.168 }, "note": "Align gripper fingers over the ladle: shift back/right so bowl+handle sit 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": 992, "cache_read_input_tokens": 19756, "cache_creation": { "ephemeral_5m_input_tokens": 992, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 640, "output_tokens_details": { "thinking_tokens": 524 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CeziRiUAsrmsc52xJaxPT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011n3wHxYPqEkQDHdGqpc119", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Ladle likely occluded directly under fingers; descend further to check proximity and surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1140, "cache_read_input_tokens": 20748, "cache_creation": { "ephemeral_5m_input_tokens": 1140, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 310, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CeziSk3x46dEt4FnseDy2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Tt73Xkesu5cV4DFfwvXimp", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Likely touched the surface; retreat upward to re-locate the ladle visually." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 21888, "cache_creation": { "ephemeral_5m_input_tokens": 803, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 317, "output_tokens_details": { "thinking_tokens": 216 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CeziTJ3JJAzu6j9wz47wV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XMPtXyJZk3fnXYFAAPgdf9", "name": "move_to", "input": { "targets": { "z": 0.757 }, "note": "Ladle bowl sits just under the open fingers; descend to grasp height just above the surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 816, "cache_read_input_tokens": 22691, "cache_creation": { "ephemeral_5m_input_tokens": 816, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 520, "output_tokens_details": { "thinking_tokens": 415 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CeziU9HDtpXHL1zKS86PT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Kp7HNXtEZLVKyzEyJfZwa2", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Close gripper on the ladle which is under 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": 1013, "cache_read_input_tokens": 23507, "cache_creation": { "ephemeral_5m_input_tokens": 1013, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 119, "output_tokens_details": { "thinking_tokens": 24 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CeziUaoPafxdQjqUZ5hHz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UKhe7gg7r6E8nMwKNEzZVp", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check whether the ladle 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": 612, "cache_read_input_tokens": 24520, "cache_creation": { "ephemeral_5m_input_tokens": 612, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 143, "output_tokens_details": { "thinking_tokens": 52 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CeziVSDyFkxDqj5A1mP1C", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WvqkRvX3f8FtWeCbM6daEN", "name": "move_to", "input": { "targets": { "x": 0.482, "y": -0.186, "z": 0.757, "gripper": 1.0 }, "note": "Reopen gripper and shift back/right by the measured offset to straddle the ladle bowl at 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": 636, "cache_read_input_tokens": 25132, "cache_creation": { "ephemeral_5m_input_tokens": 636, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 902, "output_tokens_details": { "thinking_tokens": 765 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CeziWrDeNuFhycuSbhYPM", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015kZ1eE45ggm6NwkZpk658N", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Close gripper at the corrected position to grasp the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1396, "cache_read_input_tokens": 25768, "cache_creation": { "ephemeral_5m_input_tokens": 1396, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 96, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CeziXH2PskGzzAFhF6mPT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XsVaq6LYNQGEKKbBWCENvn", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Lift to verify grasp of the ladle." }, "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": 27164, "cache_creation": { "ephemeral_5m_input_tokens": 589, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 119 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CeziY4YLCgFjjiNswjeTm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Fp51XwRe4yp2kuASU5GaFZ", "name": "give_up", "input": { "note": "Located the ladle on the marble surface and made two grasp attempts, but alignment was off by a few centimeters and the simulated motion budget is exhausted (1.7 s left), too little for another approach-close-lift cycle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 27753, "cache_creation": { "ephemeral_5m_input_tokens": 702, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 214, "output_tokens_details": { "thinking_tokens": 97 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04744, -0.77864, -0.04597, -2.38117, -0.02357, 1.53516, -0.03765 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29353, -0.0047, 0.99851 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99628, 0.053, -0.06796 ], [ 0.05364, -0.99853, 0.00765 ], [ -0.06746, -0.01126, -0.99766 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.808140113018453, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.15, "z": 1.1 }, "note": "Raise and shift left toward counter to survey for the ladle." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.11939, -0.45626, 0.1834, -1.88328, 0.10881, 1.37136, 0.24655 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34961, 0.14896, 1.09929 ], "tcp_roll_pitch_yaw": [ -3e-05, -3e-05, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99627, 0.05314, -0.06793 ], [ 0.05378, -0.99852, 0.00761 ], [ -0.06742, -0.01123, -0.99766 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 56 }, "api_seconds": 9.608002205379307, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.3, "z": 1.25 }, "note": "Move higher over the counter for a top-down wrist view to locate the ladle." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 3, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.11939, -0.45626, 0.1834, -1.88328, 0.10881, 1.37136, 0.24655 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34961, 0.14896, 1.09929 ], "tcp_roll_pitch_yaw": [ -3e-05, -3e-05, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99627, 0.05314, -0.06793 ], [ 0.05378, -0.99852, 0.00761 ], [ -0.06742, -0.01123, -0.99766 ] ], "simulated_seconds_remaining": 28.446, "calls_remaining_including_this": 55 }, "api_seconds": 4.804588752798736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.3, "z": 1.15 }, "note": "Move over counter (z within bounds) for top-down view." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.23781, 0.16182, 0.38925, -1.08859, -0.01648, 1.18756, 0.56453 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44931, 0.299, 1.14956 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00013, 0.00032 ], "tcp_rotation_matrix": [ [ 0.99625, 0.05332, -0.0681 ], [ 0.05396, -0.99852, 0.00751 ], [ -0.0676, -0.01115, -0.99765 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 54 }, "api_seconds": 9.207591630518436, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.5, "z": 1.15 }, "note": "Shift further left over the marble counter to see its top in the wrist camera." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 5, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.23781, 0.16182, 0.38925, -1.08859, -0.01648, 1.18756, 0.56453 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44931, 0.299, 1.14956 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00013, 0.00032 ], "tcp_rotation_matrix": [ [ 0.99625, 0.05332, -0.0681 ], [ 0.05396, -0.99852, 0.00751 ], [ -0.0676, -0.01115, -0.99765 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 53 }, "api_seconds": 11.007838951423764, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -1.2 }, "note": "Tilt wrist to look forward/horizontally to survey the counter and find the ladle." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.04432, -0.70252, 0.54488, -2.35622, -0.53601, 2.64894, 0.95563 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44934, 0.29892, 1.14956 ], "tcp_roll_pitch_yaw": [ -0.00059, -1.19569, 0.0003 ], "tcp_rotation_matrix": [ [ 0.42779, 0.02965, 0.90339 ], [ 0.05373, -0.99853, 0.00733 ], [ 0.90228, 0.0454, -0.42875 ] ], "simulated_seconds_remaining": 24.948, "calls_remaining_including_this": 52 }, "api_seconds": 7.806754411198199, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Reduce tilt to get an angled view of the counter top to identify the ladle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.22346, -0.43824, 0.39918, -1.96049, -0.21487, 2.07495, 0.63133 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4495, 0.29887, 1.14964 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.70439, -0.00014 ], "tcp_rotation_matrix": [ [ 0.80287, 0.04731, 0.59427 ], [ 0.05351, -0.99854, 0.0072 ], [ 0.59375, 0.02601, -0.80423 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 51 }, "api_seconds": 13.010895553044975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.0, "z": 1.1, "pitch": -0.4 }, "note": "Center in front of robot with slight forward tilt to see the work surface ahead." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.16546, -0.42202, -0.12763, -1.98507, -0.06138, 1.89929, -0.00427 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4998, 0.00119, 1.10018 ], "tcp_roll_pitch_yaw": [ -0.00031, -0.40127, -0.00044 ], "tcp_rotation_matrix": [ [ 0.94352, 0.05264, 0.32711 ], [ 0.05321, -0.99856, 0.0072 ], [ 0.32702, 0.01061, -0.94496 ] ], "simulated_seconds_remaining": 21.582, "calls_remaining_including_this": 50 }, "api_seconds": 12.410141112282872, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.1, "z": 1.05, "pitch": -0.2 }, "note": "Ladle spotted forward-left on marble counter; approach it and look more downward." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.22664, -0.10516, -0.03755, -1.72788, -0.02219, 1.75514, 0.13777 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5496, 0.09928, 1.05029 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.20142, -0.00024 ], "tcp_rotation_matrix": [ [ 0.98965, 0.05387, 0.13301 ], [ 0.05338, -0.99855, 0.00725 ], [ 0.1332, -8e-05, -0.99109 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 49 }, "api_seconds": 13.210080944001675, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "y": 0.18, "pitch": 0.0 }, "note": "Ladle still up-left in wrist view; shift left/forward and point straight down." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.27877, 0.25938, 0.0117, -1.21343, 0.0231, 1.41187, 0.2398 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57971, 0.17917, 1.05017 ], "tcp_roll_pitch_yaw": [ -0.00035, -0.00226, -8e-05 ], "tcp_rotation_matrix": [ [ 0.99643, 0.05295, -0.06571 ], [ 0.05354, -0.99854, 0.0073 ], [ -0.06522, -0.01079, -0.99781 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 48 }, "api_seconds": 20.4153414927423, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Test move further left to confirm image-axis mapping toward the ladle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.41966, 0.49189, 0.06972, -0.86144, 0.00424, 1.29728, 0.42947 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57967, 0.29884, 1.05009 ], "tcp_roll_pitch_yaw": [ -0.00035, -0.00211, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99641, 0.05322, -0.06586 ], [ 0.05382, -0.99852, 0.00728 ], [ -0.06537, -0.0108, -0.9978 ] ], "simulated_seconds_remaining": 18.48, "calls_remaining_including_this": 47 }, "api_seconds": 26.01940813846886, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51, "y": -0.09, "z": 1.05 }, "note": "Estimated ladle at x~0.51, y~-0.09 from image geometry; move above it." } } } ] } } ] }, "execution": { "steps": 44, "motion_seconds": 2.904, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.05339, -0.06044, -0.21432, -1.62602, -0.01619, 1.50076, -0.214 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51023, -0.08878, 1.05001 ], "tcp_roll_pitch_yaw": [ -0.00037, -0.00213, -0.00013 ], "tcp_rotation_matrix": [ [ 0.99643, 0.05289, -0.06583 ], [ 0.05349, -0.99854, 0.00728 ], [ -0.06535, -0.01078, -0.9978 ] ], "simulated_seconds_remaining": 15.576, "calls_remaining_including_this": 46 }, "api_seconds": 22.217258903197944, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.535, "y": -0.085, "yaw": 1.05 }, "note": "Center over the ladle handle and rotate fingers perpendicular to the handle axis." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.08202, -0.01384, -0.20917, -1.57997, -0.0608, 1.53422, -1.22724 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5349, -0.085, 1.05001 ], "tcp_roll_pitch_yaw": [ -0.00038, -0.00214, 1.04544 ], "tcp_rotation_matrix": [ [ 0.45334, 0.89047, -0.0393 ], [ 0.88894, -0.45492, -0.0533 ], [ -0.06534, -0.01077, -0.9978 ] ], "simulated_seconds_remaining": 13.86, "calls_remaining_including_this": 45 }, "api_seconds": 52.64146405272186, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.185, "z": 0.85, "yaw": 0.0 }, "note": "Revert yaw to 0 for consistent image mapping; move over estimated ladle position and descend to inspect." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03671, 0.00925, -0.3113, -2.05881, -0.0144, 2.00293, -0.39909 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50007, -0.18467, 0.85066 ], "tcp_roll_pitch_yaw": [ -0.00029, -0.00184, 0.00412 ], "tcp_rotation_matrix": [ [ 0.99617, 0.05713, -0.06615 ], [ 0.05773, -0.99831, 0.00708 ], [ -0.06564, -0.01087, -0.99778 ] ], "simulated_seconds_remaining": 12.078, "calls_remaining_including_this": 44 }, "api_seconds": 12.009344203397632, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": -0.135 }, "note": "Ladle bowl appears down-right in wrist view; nudge toward it in xy before descending." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.01213, 0.05115, -0.26393, -2.00809, 0.00403, 1.99156, -0.3115 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52935, -0.13602, 0.85064 ], "tcp_roll_pitch_yaw": [ -0.00029, -0.00181, 0.00442 ], "tcp_rotation_matrix": [ [ 0.99615, 0.05743, -0.06618 ], [ 0.05803, -0.99829, 0.00706 ], [ -0.06566, -0.01088, -0.99778 ] ], "simulated_seconds_remaining": 11.418, "calls_remaining_including_this": 43 }, "api_seconds": 92.27302007377148, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Descend toward the ladle to gauge surface height and refine alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.00819, 0.12846, -0.26247, -2.10021, 0.02818, 2.15788, -0.32755 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52928, -0.136, 0.78111 ], "tcp_roll_pitch_yaw": [ -0.00024, -0.00147, 0.00444 ], "tcp_rotation_matrix": [ [ 0.99613, 0.05745, -0.06652 ], [ 0.05804, -0.99829, 0.00711 ], [ -0.066, -0.01094, -0.99776 ] ], "simulated_seconds_remaining": 10.626, "calls_remaining_including_this": 42 }, "api_seconds": 13.61007615365088, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.505, "y": -0.168 }, "note": "Align gripper fingers over the ladle: shift back/right so bowl+handle sit between fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.02545, 0.08885, -0.2931, -2.15211, 0.01404, 2.17169, -0.38423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50564, -0.16723, 0.78112 ], "tcp_roll_pitch_yaw": [ -0.00025, -0.00149, 0.0042 ], "tcp_rotation_matrix": [ [ 0.99614, 0.05721, -0.06651 ], [ 0.05781, -0.9983, 0.00711 ], [ -0.06599, -0.01093, -0.99776 ] ], "simulated_seconds_remaining": 10.032, "calls_remaining_including_this": 41 }, "api_seconds": 13.410184071399271, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Ladle likely occluded directly under fingers; descend further to check proximity and surface." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03341, 0.14355, -0.28932, -2.19296, 0.05036, 2.28194, -0.40683 ], "gripper_open": 1.0, "tcp_xyz": [ 0.50845, -0.16823, 0.74401 ], "tcp_roll_pitch_yaw": [ 0.00488, -0.02158, -0.00157 ], "tcp_rotation_matrix": [ [ 0.99758, 0.05177, -0.04639 ], [ 0.0524, -0.99855, 0.01259 ], [ -0.04568, -0.01499, -0.99884 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 40 }, "api_seconds": 7.005711687728763, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Likely touched the surface; retreat upward to re-locate the ladle visually." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.02504, -0.01833, -0.29162, -2.01999, -0.0083, 1.95476, -0.36533 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50855, -0.16826, 0.87877 ], "tcp_roll_pitch_yaw": [ 0.00482, -0.02196, -0.00157 ], "tcp_rotation_matrix": [ [ 0.9976, 0.05177, -0.04602 ], [ 0.0524, -0.99855, 0.01252 ], [ -0.0453, -0.0149, -0.99886 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 39 }, "api_seconds": 11.008805489167571, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.757 }, "note": "Ladle bowl sits just under the open fingers; descend to grasp height just above the surface." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03153, 0.12046, -0.29135, -2.18142, 0.04084, 2.24842, -0.40026 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50846, -0.16822, 0.75818 ], "tcp_roll_pitch_yaw": [ 0.0049, -0.0216, -0.00155 ], "tcp_rotation_matrix": [ [ 0.99758, 0.05179, -0.04638 ], [ 0.05243, -0.99855, 0.0126 ], [ -0.04566, -0.015, -0.99884 ] ], "simulated_seconds_remaining": 6.996, "calls_remaining_including_this": 38 }, "api_seconds": 5.404485050588846, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Close gripper on the ladle which is under the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.03177, 0.12023, -0.29167, -2.18112, 0.04069, 2.24857, -0.40025 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50857, -0.16859, 0.75842 ], "tcp_roll_pitch_yaw": [ 0.00459, -0.02222, -0.00199 ], "tcp_rotation_matrix": [ [ 0.99763, 0.05135, -0.04576 ], [ 0.05196, -0.99857, 0.01232 ], [ -0.04506, -0.01467, -0.99888 ] ], "simulated_seconds_remaining": 6.072, "calls_remaining_including_this": 37 }, "api_seconds": 11.208348432555795, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check whether the ladle was grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.02433, -0.03064, -0.29128, -1.98219, -0.01188, 1.90584, -0.36281 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50865, -0.16861, 0.89881 ], "tcp_roll_pitch_yaw": [ 0.00453, -0.02258, -0.00199 ], "tcp_rotation_matrix": [ [ 0.99765, 0.05135, -0.0454 ], [ 0.05196, -0.99857, 0.01226 ], [ -0.0447, -0.01459, -0.99889 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 36 }, "api_seconds": 18.61528351623565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.482, "y": -0.186, "z": 0.757, "gripper": 1.0 }, "note": "Reopen gripper and shift back/right by the measured offset to straddle the ladle bowl at grasp height." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.05164, 0.06744, -0.31647, -2.24967, 0.0209, 2.26651, -0.43338 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48216, -0.18582, 0.7582 ], "tcp_roll_pitch_yaw": [ 0.00463, -0.02222, -0.00203 ], "tcp_rotation_matrix": [ [ 0.99763, 0.05132, -0.04575 ], [ 0.05193, -0.99857, 0.01236 ], [ -0.04505, -0.0147, -0.99888 ] ], "simulated_seconds_remaining": 3.564, "calls_remaining_including_this": 35 }, "api_seconds": 5.404526779428124, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Close gripper at the corrected position to grasp the ladle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.05185, 0.06722, -0.31675, -2.2494, 0.02076, 2.26662, -0.43337 ], "gripper_open": 0.0, "tcp_xyz": [ 0.48224, -0.18615, 0.75841 ], "tcp_roll_pitch_yaw": [ 0.00436, -0.02276, -0.00243 ], "tcp_rotation_matrix": [ [ 0.99768, 0.05092, -0.04521 ], [ 0.05151, -0.9986, 0.0121 ], [ -0.04453, -0.01441, -0.9989 ] ], "simulated_seconds_remaining": 2.64, "calls_remaining_including_this": 34 }, "api_seconds": 10.007832213304937, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lift to verify grasp of the ladle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.04782, -0.05255, -0.31422, -2.13772, -0.02337, 2.04138, -0.40144 ], "gripper_open": 0.0, "tcp_xyz": [ 0.48233, -0.18617, 0.84884 ], "tcp_roll_pitch_yaw": [ 0.00429, -0.02311, -0.00243 ], "tcp_rotation_matrix": [ [ 0.99769, 0.05092, -0.04486 ], [ 0.05151, -0.9986, 0.01204 ], [ -0.04418, -0.01432, -0.99892 ] ], "simulated_seconds_remaining": 1.716, "calls_remaining_including_this": 33 }, "api_seconds": 8.406454089097679, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Located the ladle on the marble surface and made two grasp attempts, but alignment was off by a few centimeters and the simulated motion budget is exhausted (1.7 s left), too little for another approach-close-lift cycle." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 029 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 29, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 20, "api_calls": 21, "wall_seconds": 196.71533274650574, "usage": { "input_tokens": 42, "cache_creation_input_tokens": 21210, "cache_read_input_tokens": 240767, "output_tokens": 9800 }, "estimated_cost_usd": 0.498156 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezi1CvzR6yaXL9K7bNgQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017ZkbDBXRRqEAetAcHc8Xyz", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Lowering to get a closer view of the fork on the counter." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 309, "output_tokens_details": { "thinking_tokens": 215 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezi1eCmnaVZXrZ3NyNbm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K5TGeFeFBXRG1V4jJXFrWg", "name": "move_to", "input": { "targets": { "x": 0.365 }, "note": "Test move forward 5cm to calibrate wrist image direction mapping." }, "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": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 807, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 354, "output_tokens_details": { "thinking_tokens": 255 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezi2GekjpjAvXtW8YmSC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FVUHWKFY7eNGoeLXx9seH6", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Test move in -y to calibrate lateral image direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 2565, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 570, "output_tokens_details": { "thinking_tokens": 477 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezi32mcZ1oSRsWJ4rtxX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0155qEwRWAgCG2zoq1FsLa9x", "name": "move_to", "input": { "targets": { "y": -0.14 }, "note": "Fork appears to the image-right which maps to -y; moving further -y to center over it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1063, "cache_read_input_tokens": 3412, "cache_creation": { "ephemeral_5m_input_tokens": 1063, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 767, "output_tokens_details": { "thinking_tokens": 665 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezi42byFUrz4XahEyBxu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0147PQhAF5rUgEhmJtBq1r1i", "name": "move_to", "input": { "targets": { "y": 0.08 }, "note": "Re-calibrated: scene features move opposite to camera, so fork is in +y direction. Moving +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1260, "cache_read_input_tokens": 4475, "cache_creation": { "ephemeral_5m_input_tokens": 1260, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 686, "output_tokens_details": { "thinking_tokens": 576 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezi4xXgUKWEfUzYwzd69", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EcSVdy2166uxPTUvwWSHmc", "name": "move_to", "input": { "targets": { "x": 0.385, "y": 0.053, "yaw": 1.57 }, "note": "Centering over fork and rotating yaw 90° so fingers close across the fork's long axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1177, "cache_read_input_tokens": 5735, "cache_creation": { "ephemeral_5m_input_tokens": 1177, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1376, "output_tokens_details": { "thinking_tokens": 1253 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezi6dD8bmPr8fyTrWR5i", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WekE2eY5rmszBYGW8nXc39", "name": "move_to", "input": { "targets": { "y": -0.01 }, "note": "After yaw rotation, fork appears above image center (-y direction); moving -y to test and approach." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1872, "cache_read_input_tokens": 6912, "cache_creation": { "ephemeral_5m_input_tokens": 1872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 705, "output_tokens_details": { "thinking_tokens": 599 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezi7Y7KcXhmr4nxy2AVM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HDWKuz18DK6q4NzWfLZruN", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Lowering closer to the counter to get clearer relative view of fingers vs fork." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1196, "cache_read_input_tokens": 8784, "cache_creation": { "ephemeral_5m_input_tokens": 1196, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 642, "output_tokens_details": { "thinking_tokens": 540 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezi8Q1SfNuCn5ZsZrrF6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WoQ9zEnDDmncZvGYdqiKab", "name": "move_to", "input": { "targets": { "x": 0.465 }, "note": "Testing larger forward motion to see how fork shifts in wrist view (calibrating depth)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1133, "cache_read_input_tokens": 9980, "cache_creation": { "ephemeral_5m_input_tokens": 1133, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1137, "output_tokens_details": { "thinking_tokens": 1032 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CeziA1bs8yKhsk2eFGKQb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q3kuAvrtwF6efQg3Jp5Ha1", "name": "move_to", "input": { "targets": { "x": 0.39, "y": -0.08 }, "note": "Using calibrated mapping (image right=-x, up=-y, ~380px/m) to move over estimated fork location." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1633, "cache_read_input_tokens": 11113, "cache_creation": { "ephemeral_5m_input_tokens": 1633, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 675, "output_tokens_details": { "thinking_tokens": 554 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CeziB6XKCDZdWXhRpsDDM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Re3mKZ99bHSdfUg4Qqpgxe", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Fork now near image center/fingers; descending gradually to gauge table height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1166, "cache_read_input_tokens": 12746, "cache_creation": { "ephemeral_5m_input_tokens": 1166, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 237, "output_tokens_details": { "thinking_tokens": 138 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CeziBegpL9bvMTA9kaw2j", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Foi3JRtwBAWznTUkTx7Kz1", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Continuing descent toward the counter surface." }, "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": 13912, "cache_creation": { "ephemeral_5m_input_tokens": 732, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 350, "output_tokens_details": { "thinking_tokens": 261 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CeziCHhYBD2zZ7eQ5bneH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ezcdv8exTyCPUym1F28ia4", "name": "move_to", "input": { "targets": { "z": 0.745 }, "note": "Descending further; fork growing in wrist view as expected." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 14644, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 257, "output_tokens_details": { "thinking_tokens": 164 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CeziCk3ZbZ2K5K5kxGSPM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LDaqSabKk5kfAA48eJ84Hh", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Fork appears in the finger gap; descending a bit more to surface level." }, "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": 15485, "cache_creation": { "ephemeral_5m_input_tokens": 748, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 417, "output_tokens_details": { "thinking_tokens": 319 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CeziDMndhYGhQ4ejPpA7F", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PEBCT1hz83zFWNDDVTqWTp", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "At table contact with fork between fingers; closing gripper." }, "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": 16233, "cache_creation": { "ephemeral_5m_input_tokens": 908, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 324, "output_tokens_details": { "thinking_tokens": 231 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CeziDp1iJxG1WYMRpbqxU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H3EhYpiAEusVKWbdWZqNNx", "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": 815, "cache_read_input_tokens": 17141, "cache_creation": { "ephemeral_5m_input_tokens": 815, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 73, "output_tokens_details": { "thinking_tokens": 49 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CeziEA7hJL275Uz2zPnqx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K3Vu2qGrdnCGF7paaBU5q9", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Re-commanding gripper close; it only reached 0.98 previously." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 508, "cache_read_input_tokens": 17956, "cache_creation": { "ephemeral_5m_input_tokens": 508, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 146, "output_tokens_details": { "thinking_tokens": 48 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CeziERWPzR6QWtBznisg8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KF1j8V1T26koijycS6FRSV", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Continuing to close gripper on the fork." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 637, "cache_read_input_tokens": 18464, "cache_creation": { "ephemeral_5m_input_tokens": 637, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 181, "output_tokens_details": { "thinking_tokens": 92 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CeziEmCKPiPzk6kxP511u", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AQd62hdgHcoGGsy2vaYQmx", "name": "move_to", "input": { "targets": { "z": 0.762, "gripper": 0 }, "note": "Fingers may be jammed on the table; raising slightly while closing." }, "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": 19101, "cache_creation": { "ephemeral_5m_input_tokens": 673, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 312, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CeziFCpgkmzaacCTF7gAZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JMSPHMr1LZ6kQuZvybhh1V", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Completing gripper close before lifting." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 19774, "cache_creation": { "ephemeral_5m_input_tokens": 803, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 141, "output_tokens_details": { "thinking_tokens": 54 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CeziFWES8jCkSHzVDViqA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0153xTDP6YEwM2YGZUhTkNUX", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Gripper stalled at 0.35 suggesting object grasped; lifting to check." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 20577, "cache_creation": { "ephemeral_5m_input_tokens": 633, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 141, "output_tokens_details": { "thinking_tokens": 38 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the fork.", "joint_positions": [ -0.00716, -0.78628, 0.01123, -2.36093, 0.00346, 1.60478, 0.01326 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31481, 0.00196, 1.01641 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99947, -0.0125, 0.0301 ], [ -0.01237, -0.99991, -0.00447 ], [ 0.03015, 0.00409, -0.99954 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 5.404608105309308, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Lowering to get a closer view of the fork on the counter." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the fork.", "joint_positions": [ -0.00634, -0.8164, 0.01249, -2.59628, 0.00469, 1.80973, 0.01374 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31477, 0.00196, 0.93126 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00029, 0.0 ], "tcp_rotation_matrix": [ [ 0.99948, -0.0125, 0.02981 ], [ -0.01237, -0.99991, -0.00447 ], [ 0.02987, 0.0041, -0.99955 ] ], "simulated_seconds_remaining": 29.172, "calls_remaining_including_this": 56 }, "api_seconds": 8.007023838348687, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.365 }, "note": "Test move forward 5cm to calibrate wrist image direction mapping." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the fork.", "joint_positions": [ -0.00802, -0.64448, 0.01342, -2.4897, 0.00368, 1.87497, 0.01423 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36383, 0.00196, 0.93124 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00039, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99948, -0.01251, 0.02971 ], [ -0.01238, -0.99991, -0.00447 ], [ 0.02976, 0.0041, -0.99955 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 55 }, "api_seconds": 9.808317764662206, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Test move in -y to calibrate lateral image direction." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the fork.", "joint_positions": [ -0.05143, -0.63525, -0.06697, -2.48218, -0.04298, 1.87777, -0.08096 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36384, -0.04884, 0.93124 ], "tcp_roll_pitch_yaw": [ 6e-05, 0.00039, -0.00019 ], "tcp_rotation_matrix": [ [ 0.99948, -0.01268, 0.02971 ], [ -0.01256, -0.99991, -0.00441 ], [ 0.02976, 0.00403, -0.99955 ] ], "simulated_seconds_remaining": 27.852, "calls_remaining_including_this": 54 }, "api_seconds": 12.810199464671314, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.14 }, "note": "Fork appears to the image-right which maps to -y; moving further -y to center over it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the fork.", "joint_positions": [ -0.11913, -0.5722, -0.20784, -2.42654, -0.11327, 1.89214, -0.24914 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36383, -0.13877, 0.93124 ], "tcp_roll_pitch_yaw": [ 0.00013, 0.00038, -0.00038 ], "tcp_rotation_matrix": [ [ 0.99948, -0.01288, 0.02971 ], [ -0.01276, -0.99991, -0.00435 ], [ 0.02977, 0.00396, -0.99955 ] ], "simulated_seconds_remaining": 26.928, "calls_remaining_including_this": 53 }, "api_seconds": 11.409173716790974, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08 }, "note": "Re-calibrated: scene features move opposite to camera, so fork is in +y direction. Moving +y." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.05592, -0.62089, 0.13481, -2.468, 0.07241, 1.87932, 0.1585 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36384, 0.07872, 0.93124 ], "tcp_roll_pitch_yaw": [ 6e-05, 0.00037, -0.00018 ], "tcp_rotation_matrix": [ [ 0.99948, -0.01267, 0.02973 ], [ -0.01255, -0.99991, -0.00441 ], [ 0.02978, 0.00404, -0.99955 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 52 }, "api_seconds": 21.016172491945326, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.385, "y": 0.053, "yaw": 1.57 }, "note": "Centering over fork and rotating yaw 90° so fingers close across the fork's long axis." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.36983, -0.55744, -0.20901, -2.4113, -0.08556, 1.87281, -1.33662 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38494, 0.05306, 0.93124 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00036, 1.56526 ], "tcp_rotation_matrix": [ [ 0.0179, 0.99983, 0.00456 ], [ 0.9994, -0.01803, 0.02971 ], [ 0.02979, 0.00402, -0.99955 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 51 }, "api_seconds": 11.810318760573864, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.01 }, "note": "After yaw rotation, fork appears above image center (-y direction); moving -y to test and approach." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.31759, -0.58011, -0.29746, -2.41463, -0.13765, 1.85895, -1.44765 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38496, -0.0088, 0.93125 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.0003, 1.56506 ], "tcp_rotation_matrix": [ [ 0.01811, 0.99983, 0.00459 ], [ 0.99939, -0.01824, 0.02977 ], [ 0.02985, 0.00405, -0.99955 ] ], "simulated_seconds_remaining": 22.044, "calls_remaining_including_this": 50 }, "api_seconds": 11.20961548667401, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Lowering closer to the counter to get clearer relative view of fingers vs fork." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.31355, -0.55477, -0.31626, -2.52419, -0.14816, 1.99342, -1.45007 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.38491, -0.00881, 0.8811 ], "tcp_roll_pitch_yaw": [ 0.00032, 0.00034, 1.56506 ], "tcp_rotation_matrix": [ [ 0.01811, 0.99983, 0.00432 ], [ 0.99939, -0.01823, 0.02973 ], [ 0.02981, 0.00378, -0.99955 ] ], "simulated_seconds_remaining": 21.384, "calls_remaining_including_this": 49 }, "api_seconds": 21.216887730173767, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.465 }, "note": "Testing larger forward motion to see how fork shifts in wrist view (calibrating depth)." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.35755, -0.29292, -0.36329, -2.3037, -0.08166, 2.0321, -1.50813 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46375, -0.0088, 0.88108 ], "tcp_roll_pitch_yaw": [ 0.00039, 0.00036, 1.56507 ], "tcp_rotation_matrix": [ [ 0.0181, 0.99983, 0.00424 ], [ 0.99939, -0.01822, 0.02972 ], [ 0.02979, 0.0037, -0.99955 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 48 }, "api_seconds": 14.011336174793541, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.39, "y": -0.08 }, "note": "Using calibrated mapping (image right=-x, up=-y, ~380px/m) to move over estimated fork location." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.25215, -0.52316, -0.42004, -2.48111, -0.19191, 1.99028, -1.59063 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39094, -0.07917, 0.88112 ], "tcp_roll_pitch_yaw": [ 0.00032, 0.00028, 1.56488 ], "tcp_rotation_matrix": [ [ 0.01829, 0.99982, 0.00432 ], [ 0.99939, -0.01841, 0.02979 ], [ 0.02986, 0.00377, -0.99955 ] ], "simulated_seconds_remaining": 19.536, "calls_remaining_including_this": 47 }, "api_seconds": 7.007098534144461, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Fork now near image center/fingers; descending gradually to gauge table height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.25217, -0.48308, -0.44272, -2.55519, -0.198, 2.10361, -1.59616 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39088, -0.07916, 0.84105 ], "tcp_roll_pitch_yaw": [ 0.00059, 0.00029, 1.5649 ], "tcp_rotation_matrix": [ [ 0.01828, 0.99982, 0.00406 ], [ 0.99939, -0.0184, 0.02978 ], [ 0.02985, 0.00351, -0.99955 ] ], "simulated_seconds_remaining": 18.942, "calls_remaining_including_this": 46 }, "api_seconds": 8.207209093496203, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Continuing descent toward the counter surface." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.2614, -0.38763, -0.48217, -2.64422, -0.19417, 2.28576, -1.61375 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39081, -0.07914, 0.78113 ], "tcp_roll_pitch_yaw": [ 0.0009, 0.00029, 1.56493 ], "tcp_rotation_matrix": [ [ 0.01827, 0.99983, 0.00374 ], [ 0.99939, -0.01837, 0.02979 ], [ 0.02985, 0.00319, -0.99955 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 45 }, "api_seconds": 5.60436896700412, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.745 }, "note": "Descending further; fork growing in wrist view as expected." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.27499, -0.31032, -0.50806, -2.68296, -0.17685, 2.39901, -1.63374 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39074, -0.07912, 0.74614 ], "tcp_roll_pitch_yaw": [ 0.00121, 0.00027, 1.56496 ], "tcp_rotation_matrix": [ [ 0.01824, 0.99983, 0.00343 ], [ 0.99939, -0.01834, 0.0298 ], [ 0.02986, 0.00288, -0.99955 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 44 }, "api_seconds": 8.00662850216031, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Fork appears in the finger gap; descending a bit more to surface level." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.28577, -0.30468, -0.52772, -2.68224, -0.15439, 2.41001, -1.65633 ], "gripper_open": 1.0, "tcp_xyz": [ 0.39235, -0.07948, 0.74439 ], "tcp_roll_pitch_yaw": [ -0.00488, -0.01772, 1.56253 ], "tcp_rotation_matrix": [ [ 0.02048, 0.99974, 0.00974 ], [ 0.99864, -0.02093, 0.04773 ], [ 0.04792, 0.00875, -0.99881 ] ], "simulated_seconds_remaining": 17.226, "calls_remaining_including_this": 43 }, "api_seconds": 5.604983203113079, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At table contact with fork between fingers; closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.285, -0.30806, -0.5277, -2.68153, -0.15438, 2.40479, -1.65594 ], "gripper_open": 0.9804, "tcp_xyz": [ 0.39182, -0.07957, 0.74541 ], "tcp_roll_pitch_yaw": [ -0.0036, -0.01908, 1.5615 ], "tcp_rotation_matrix": [ [ 0.02155, 0.99973, 0.00852 ], [ 0.99855, -0.02194, 0.04909 ], [ 0.04926, 0.00745, -0.99876 ] ], "simulated_seconds_remaining": 16.302, "calls_remaining_including_this": 42 }, "api_seconds": 7.606346747837961, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Re-commanding gripper close; it only reached 0.98 previously." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.28418, -0.31139, -0.52776, -2.68094, -0.1544, 2.39943, -1.65556 ], "gripper_open": 0.9477, "tcp_xyz": [ 0.39116, -0.07968, 0.74634 ], "tcp_roll_pitch_yaw": [ -0.002, -0.02045, 1.56041 ], "tcp_rotation_matrix": [ [ 0.02268, 0.99972, 0.00698 ], [ 0.99846, -0.02301, 0.05046 ], [ 0.0506, 0.00583, -0.9987 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 41 }, "api_seconds": 4.003403476439416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Continuing to close gripper on the fork." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.28337, -0.31492, -0.52774, -2.67997, -0.15442, 2.39426, -1.65517 ], "gripper_open": 0.9057, "tcp_xyz": [ 0.39077, -0.07983, 0.74752 ], "tcp_roll_pitch_yaw": [ -0.00117, -0.02175, 1.55934 ], "tcp_rotation_matrix": [ [ 0.02378, 0.9997, 0.00623 ], [ 0.99837, -0.02407, 0.05176 ], [ 0.0519, 0.00498, -0.99864 ] ], "simulated_seconds_remaining": 14.454, "calls_remaining_including_this": 40 }, "api_seconds": 5.404698841273785, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.762, "gripper": 0 }, "note": "Fingers may be jammed on the table; raising slightly while closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.27626, -0.34721, -0.51668, -2.66586, -0.16464, 2.34904, -1.6444 ], "gripper_open": 0.3463, "tcp_xyz": [ 0.39069, -0.07984, 0.76126 ], "tcp_roll_pitch_yaw": [ -0.00094, -0.02178, 1.55931 ], "tcp_rotation_matrix": [ [ 0.02381, 0.9997, 0.006 ], [ 0.99837, -0.02409, 0.0518 ], [ 0.05193, 0.00476, -0.99864 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 39 }, "api_seconds": 3.4031392661854625, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Completing gripper close before lifting." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.27626, -0.34717, -0.51668, -2.66592, -0.16466, 2.34902, -1.6444 ], "gripper_open": 0.3459, "tcp_xyz": [ 0.39066, -0.07983, 0.76122 ], "tcp_roll_pitch_yaw": [ -0.00083, -0.02177, 1.55933 ], "tcp_rotation_matrix": [ [ 0.02379, 0.9997, 0.00589 ], [ 0.99837, -0.02407, 0.05178 ], [ 0.05191, 0.00465, -0.99864 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 38 }, "api_seconds": 3.002896871417761, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Gripper stalled at 0.35 suggesting object grasped; lifting to check." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 030 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 30, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 29, "api_calls": 30, "wall_seconds": 293.2593140602112, "usage": { "input_tokens": 60, "cache_creation_input_tokens": 29837, "cache_read_input_tokens": 449293, "output_tokens": 13938 }, "estimated_cost_usd": 0.75987775 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CeziHfkjz4bjYN2qoiQVV", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01SSsTNJisuTSWa3aa1AyeVa", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 23, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CeziHoEhFmz3CsokfEW1q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013ZQF89tDAdM1wcAEPASjpm", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.05, "z": 0.98 }, "note": "Descending toward dresser top where blue remote lies to get a better top-down view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 457, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 457, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 542, "output_tokens_details": { "thinking_tokens": 426 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CeziJVufq1ULkvUEPp5Xk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AZvS34ZM7fPjjWHJJ9Bt7Q", "name": "move_to", "input": { "targets": { "y": 0.13 }, "note": "Probe motion: shift left to see how remote moves in wrist frame." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1035, "cache_read_input_tokens": 2215, "cache_creation": { "ephemeral_5m_input_tokens": 1035, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 314, "output_tokens_details": { "thinking_tokens": 216 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CeziJxxMzoAFETNBC9nvj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NR6MM66aeaprsw4fnX9imo", "name": "move_to", "input": { "targets": { "x": 0.3 }, "note": "Probe motion in x to determine wrist image axis mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 812, "cache_read_input_tokens": 3250, "cache_creation": { "ephemeral_5m_input_tokens": 812, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 458, "output_tokens_details": { "thinking_tokens": 363 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CeziKeKEBWZvKmLAv33v6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012TG9vALNzcZdoDuURMivwy", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Lower closer to dresser top to judge relative position of remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 951, "cache_read_input_tokens": 4062, "cache_creation": { "ephemeral_5m_input_tokens": 951, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 248, "output_tokens_details": { "thinking_tokens": 153 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CeziL2vm9oumU9TQ5yw63", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VLFMdTh61aCwXxVmuaoczS", "name": "move_to", "input": { "targets": { "y": 0.2 }, "note": "Testing further left motion to approach remote which appears left of 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": 741, "cache_read_input_tokens": 5013, "cache_creation": { "ephemeral_5m_input_tokens": 741, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1042, "output_tokens_details": { "thinking_tokens": 941 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CeziMHTQf6o2rxNWJavTb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WiTKfrhT9JPgFr4tLjutxh", "name": "move_to", "input": { "targets": { "y": 0.0, "z": 1.0 }, "note": "Large probe in -y (and raise for safety) to establish exterior image axis mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1535, "cache_read_input_tokens": 5754, "cache_creation": { "ephemeral_5m_input_tokens": 1535, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 724, "output_tokens_details": { "thinking_tokens": 613 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CeziNFiGbnfx5mwsWZrLF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RHJJFqbbDnVKqjczN3N7vS", "name": "move_to", "input": { "targets": { "x": 0.42 }, "note": "Probe forward +x by 0.12 to map exterior image axes." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1223, "cache_read_input_tokens": 7289, "cache_creation": { "ephemeral_5m_input_tokens": 1223, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 939, "output_tokens_details": { "thinking_tokens": 842 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CeziPgP71m42PfjEoNuRZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X7C43VEijdjGNTkXt4mZXx", "name": "move_to", "input": { "targets": { "y": 0.07 }, "note": "Small +y probe now that remote is visible near center-left of 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": 1433, "cache_read_input_tokens": 8512, "cache_creation": { "ephemeral_5m_input_tokens": 1433, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 348, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CeziQHDMyjSVSsLdn8gei", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Th1DuKWPrdDg3nL7ZCUN4S", "name": "move_to", "input": { "targets": { "y": -0.01 }, "note": "Moving -y to bring remote toward wrist image center (opposite of last probe's effect)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 9945, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 925, "output_tokens_details": { "thinking_tokens": 821 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CeziRsgZQu1J3V6HMrCaR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MW6TprQk1FVDBNE758fHzU", "name": "move_to", "input": { "targets": { "y": -0.08, "x": 0.47 }, "note": "Continue -y and forward to center the remote 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": 1419, "cache_read_input_tokens": 10786, "cache_creation": { "ephemeral_5m_input_tokens": 1419, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 193, "output_tokens_details": { "thinking_tokens": 91 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CeziSEJYGx2edKhyWPziw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q9wzRs2QbLs4o3dzyMGgSd", "name": "move_to", "input": { "targets": { "y": -0.11, "z": 0.95 }, "note": "Nudge -y to center remote and descend a bit toward dresser top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 12205, "cache_creation": { "ephemeral_5m_input_tokens": 691, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 279, "output_tokens_details": { "thinking_tokens": 173 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CeziShn2qcnkyAjeEB7hf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019TEDsf8BA3AzGqcAWvRsQB", "name": "move_to", "input": { "targets": { "y": -0.19 }, "note": "Further -y to keep centering the remote horizontally 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": 772, "cache_read_input_tokens": 12896, "cache_creation": { "ephemeral_5m_input_tokens": 772, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1018, "output_tokens_details": { "thinking_tokens": 920 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CeziTyLw1xjyJVL6fgdGP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PNiNNvgt1uC7ukZ298BizS", "name": "move_to", "input": { "targets": { "y": -0.16, "z": 0.92 }, "note": "Slight +y correction (overshot) and descend to test vertical alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1517, "cache_read_input_tokens": 13668, "cache_creation": { "ephemeral_5m_input_tokens": 1517, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 305, "output_tokens_details": { "thinking_tokens": 198 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CeziUSstRxGr4FcB7NhAU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RWG9M4vgA2JCUSzUyiQVww", "name": "move_to", "input": { "targets": { "z": 0.89 }, "note": "Continue descending toward the remote while it stays near wrist center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 803, "cache_read_input_tokens": 15185, "cache_creation": { "ephemeral_5m_input_tokens": 803, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 216, "output_tokens_details": { "thinking_tokens": 121 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CeziUnys26YWu45kdM96k", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BwDw42kLro5iKLWefZAbZo", "name": "move_to", "input": { "targets": { "x": 0.36, "y": 0.2, "z": 0.95 }, "note": "Returning to the pose where exterior view showed fingers adjacent to the blue remote; re-evaluating hypothesis that remote is at +y." }, "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": 15988, "cache_creation": { "ephemeral_5m_input_tokens": 709, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 649, "output_tokens_details": { "thinking_tokens": 511 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CeziVhVFZ9b3ELWpt7hBY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N9od3nx8acAJWFmNZBc52U", "name": "move_to", "input": { "targets": { "z": 0.89 }, "note": "Gripper appears directly above remote in exterior; descending toward dresser top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1140, "cache_read_input_tokens": 16697, "cache_creation": { "ephemeral_5m_input_tokens": 1140, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 220 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CeziW8wwRvc8jjaBoXRwY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RrhWX6BLRjpGuCLGPrUCCv", "name": "move_to", "input": { "targets": { "z": 0.86 }, "note": "Descending further to reach the remote on the dresser surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 813, "cache_read_input_tokens": 17837, "cache_creation": { "ephemeral_5m_input_tokens": 813, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 198, "output_tokens_details": { "thinking_tokens": 105 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CeziWTvhfpsMkdfdhGfJA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VVuqzkKUm8Mq6okUkzdur5", "name": "move_to", "input": { "targets": { "y": 0.25, "z": 0.9 }, "note": "Remote still appears slightly left of fingers in exterior; shifting +y after raising slightly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 691, "cache_read_input_tokens": 18650, "cache_creation": { "ephemeral_5m_input_tokens": 691, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 966, "output_tokens_details": { "thinking_tokens": 852 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CeziXevmTcS3sJe3ndEaM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018cAAPkwCxo17n9JrQvsRSR", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Remote now hidden behind gripper (aligned); descending to 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": 1459, "cache_read_input_tokens": 19341, "cache_creation": { "ephemeral_5m_input_tokens": 1459, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 223, "output_tokens_details": { "thinking_tokens": 123 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CeziXycurX4zUgqhsLxVM", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01DViZrLzbSgwQvsQbJPiXAW", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper at estimated grasp position on remote." }, "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": 20800, "cache_creation": { "ephemeral_5m_input_tokens": 715, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 92, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CeziYJ9t4qzWv1VLAFJQF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BrTZjUbtJtzyZ2C2donwWM", "name": "move_to", "input": { "targets": { "z": 0.97 }, "note": "Lifting to check whether the remote 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": 583, "cache_read_input_tokens": 21515, "cache_creation": { "ephemeral_5m_input_tokens": 583, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 129, "output_tokens_details": { "thinking_tokens": 38 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CeziYaLTmgGkWVFUyxJuY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0153xovSkUTKKkX5bh7xb8mj", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.33, "z": 0.875 }, "note": "Reopening gripper and shifting slightly -x for a second 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": 621, "cache_read_input_tokens": 22098, "cache_creation": { "ephemeral_5m_input_tokens": 621, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1076, "output_tokens_details": { "thinking_tokens": 959 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CeziZunni2oPFnXTjz84G", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0132fGeLgA4bpWGtqEmRRHG8", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Second grasp attempt slightly further back in x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1569, "cache_read_input_tokens": 22719, "cache_creation": { "ephemeral_5m_input_tokens": 1569, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 202, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CeziaEaduShbPwdXFwEwL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XBTEvmkDnhP5JnEYoamsDt", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.47, "y": -0.16, "z": 0.9 }, "note": "Wrist view suggests the actual remote (blue with buttons) is near x0.47,y-0.16; going there 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": 694, "cache_read_input_tokens": 24288, "cache_creation": { "ephemeral_5m_input_tokens": 694, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1311, "output_tokens_details": { "thinking_tokens": 1170 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezibuAPcAb6F4JB7bijc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GWoTfPHhVPsvwVwBJiZAmz", "name": "move_to", "input": { "targets": { "x": 0.52, "z": 0.87 }, "note": "Remote appears just beyond/below fingers; moving forward and down to bracket it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1805, "cache_read_input_tokens": 24982, "cache_creation": { "ephemeral_5m_input_tokens": 1805, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 132 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezicJuPZnfGE2zAZ6s1b", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CwLGzbGEHUi2ZXVkuN8JQQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper at this position where remote fills wrist view center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 736, "cache_read_input_tokens": 26787, "cache_creation": { "ephemeral_5m_input_tokens": 736, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 267, "output_tokens_details": { "thinking_tokens": 172 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezid31hJLFdDXG3G9Ejy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013voQpzAy6dSmhupJ8mp6MQ", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.36, "y": 0.25, "z": 0.85 }, "note": "Final attempt: return to pose where exterior showed gripper overlapping the remote, slightly lower." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 760, "cache_read_input_tokens": 27523, "cache_creation": { "ephemeral_5m_input_tokens": 760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 472, "output_tokens_details": { "thinking_tokens": 340 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CeziercBUn8Vq7mq3tYeB", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01UxsAyRngjVm3jkUV4NdBfV", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Last remaining time: closing gripper at this position in hope of catching the remote." }, "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": 28283, "cache_creation": { "ephemeral_5m_input_tokens": 964, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 99, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezif6rwAJdvBESscXybU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QgyxDGnuixBhqeYSCCTnN4", "name": "give_up", "input": { "note": "Could not reliably localize the remote: wrist and exterior views gave contradictory directional cues, all grasp attempts closed empty, 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": 590, "cache_read_input_tokens": 29247, "cache_creation": { "ephemeral_5m_input_tokens": 590, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 118, "output_tokens_details": { "thinking_tokens": 19 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.04187, -0.82395, -0.00526, -2.31231, -0.02395, 1.59651, 0.00815 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31518, -0.02109, 1.05112 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99272, -0.05548, 0.10688 ], [ -0.0531, -0.99828, -0.02498 ], [ 0.10809, 0.01912, -0.99396 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.608529427088797, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.05, "z": 0.98 }, "note": "Descending toward dresser top where blue remote lies to get a better top-down view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.00117, -0.74892, 0.12209, -2.44606, 0.04929, 1.80484, 0.14054 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34954, 0.04912, 0.98083 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00024, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99275, -0.05536, 0.10665 ], [ -0.05298, -0.99828, -0.02505 ], [ 0.10785, 0.01921, -0.99398 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 56 }, "api_seconds": 5.804792555980384, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.13 }, "note": "Probe motion: shift left to see how remote moves in wrist frame." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.05019, -0.69588, 0.25725, -2.39483, 0.11573, 1.81174, 0.28936 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34954, 0.12879, 0.98083 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00023, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99276, -0.05519, 0.10667 ], [ -0.0528, -0.99829, -0.0251 ], [ 0.10787, 0.01929, -0.99398 ] ], "simulated_seconds_remaining": 28.182, "calls_remaining_including_this": 55 }, "api_seconds": 8.606328248046339, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3 }, "note": "Probe motion in x to determine wrist image axis mapping." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.08668, -0.84915, 0.25572, -2.48233, 0.14078, 1.74587, 0.30324 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30114, 0.12881, 0.98089 ], "tcp_roll_pitch_yaw": [ -0.00018, 8e-05, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99275, -0.05512, 0.10681 ], [ -0.05273, -0.99829, -0.02512 ], [ 0.10801, 0.0193, -0.99396 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 4.804238509386778, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Lower closer to dresser top to judge relative position of remote." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.09765, -0.85939, 0.27577, -2.61351, 0.16006, 1.86636, 0.30484 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30111, 0.1288, 0.93111 ], "tcp_roll_pitch_yaw": [ -0.00025, 0.0003, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99277, -0.05512, 0.10659 ], [ -0.05272, -0.99829, -0.02519 ], [ 0.1078, 0.01938, -0.99398 ] ], "simulated_seconds_remaining": 26.862, "calls_remaining_including_this": 53 }, "api_seconds": 16.41140985302627, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Testing further left motion to approach remote which appears left of gripper in exterior view." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.12877, -0.76176, 0.4061, -2.52927, 0.21891, 1.89082, 0.43572 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30111, 0.19878, 0.93111 ], "tcp_roll_pitch_yaw": [ -0.00032, 0.00029, 0.00049 ], "tcp_rotation_matrix": [ [ 0.99278, -0.05499, 0.10661 ], [ -0.05258, -0.9983, -0.02524 ], [ 0.10782, 0.01946, -0.99398 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 52 }, "api_seconds": 12.01187070272863, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.0, "z": 1.0 }, "note": "Large probe in -y (and raise for safety) to establish exterior image axis mapping." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.00134, -0.91081, 0.01826, -2.49126, -0.01196, 1.68717, 0.0655 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30113, 0.00124, 0.99959 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.00021, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99276, -0.05513, 0.10669 ], [ -0.05273, -0.99829, -0.02516 ], [ 0.10789, 0.01936, -0.99397 ] ], "simulated_seconds_remaining": 24.354, "calls_remaining_including_this": 51 }, "api_seconds": 18.61401022505015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42 }, "note": "Probe forward +x by 0.12 to map exterior image axes." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.00763, -0.5305, 0.02036, -2.25341, -0.01653, 1.82946, 0.06799 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41872, 0.00124, 0.99954 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.00036, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99278, -0.05514, 0.10654 ], [ -0.05274, -0.99829, -0.02516 ], [ 0.10774, 0.01936, -0.99399 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 50 }, "api_seconds": 7.60569385252893, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.07 }, "note": "Small +y probe now that remote is visible near center-left of wrist view." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.03592, -0.51274, 0.11967, -2.23482, 0.01905, 1.82727, 0.19331 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41872, 0.06871, 0.99954 ], "tcp_roll_pitch_yaw": [ -0.00029, 0.00035, 0.00058 ], "tcp_rotation_matrix": [ [ 0.99279, -0.0549, 0.10655 ], [ -0.0525, -0.9983, -0.0252 ], [ 0.10775, 0.01943, -0.99399 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 49 }, "api_seconds": 21.0147342691198, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.01 }, "note": "Moving -y to bring remote toward wrist image center (opposite of last probe's effect)." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.01423, -0.53058, 0.00572, -2.25368, -0.02203, 1.83004, 0.0495 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41873, -0.00871, 0.99955 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.00035, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99278, -0.05514, 0.10654 ], [ -0.05275, -0.99829, -0.02516 ], [ 0.10775, 0.01936, -0.99399 ] ], "simulated_seconds_remaining": 21.714, "calls_remaining_including_this": 48 }, "api_seconds": 4.203849097713828, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08, "x": 0.47 }, "note": "Continue -y and forward to center the remote in wrist view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.05525, -0.35771, -0.09083, -2.10671, -0.04334, 1.85931, -0.07769 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4692, -0.07896, 0.9995 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00045, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99278, -0.05533, 0.10644 ], [ -0.05295, -0.99828, -0.02511 ], [ 0.10765, 0.0193, -0.994 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 47 }, "api_seconds": 6.021227843128145, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.11, "z": 0.95 }, "note": "Nudge -y to center remote and descend a bit toward dresser top." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.07693, -0.33641, -0.13418, -2.20893, -0.05131, 1.98422, -0.13357 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46916, -0.10933, 0.95104 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00073, 0.0 ], "tcp_rotation_matrix": [ [ 0.9928, -0.05546, 0.10616 ], [ -0.05308, -0.99828, -0.02506 ], [ 0.10736, 0.01925, -0.99403 ] ], "simulated_seconds_remaining": 20.196, "calls_remaining_including_this": 46 }, "api_seconds": 16.61351601406932, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.19 }, "note": "Further -y to keep centering the remote horizontally in the wrist view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.12747, -0.26642, -0.23742, -2.13633, -0.05243, 1.98508, -0.28695 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46913, -0.18884, 0.95103 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00074, -0.00025 ], "tcp_rotation_matrix": [ [ 0.99279, -0.05571, 0.10614 ], [ -0.05334, -0.99826, -0.02504 ], [ 0.10735, 0.0192, -0.99404 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 45 }, "api_seconds": 5.604979823343456, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.16, "z": 0.92 }, "note": "Slight +y correction (overshot) and descend to test vertical alignment." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.11089, -0.28261, -0.20529, -2.23197, -0.05473, 2.06326, -0.23351 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46913, -0.16073, 0.92078 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00093, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99282, -0.05556, 0.10596 ], [ -0.0532, -0.99827, -0.025 ], [ 0.10716, 0.01919, -0.99406 ] ], "simulated_seconds_remaining": 18.744, "calls_remaining_including_this": 44 }, "api_seconds": 4.604240037500858, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.89 }, "note": "Continue descending toward the remote while it stays near wrist center." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.11135, -0.26246, -0.20953, -2.29003, -0.05318, 2.14099, -0.23597 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46909, -0.16071, 0.89095 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00117, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99284, -0.05555, 0.10571 ], [ -0.0532, -0.99827, -0.02495 ], [ 0.10692, 0.01914, -0.99408 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 43 }, "api_seconds": 10.408166441135108, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.36, "y": 0.2, "z": 0.95 }, "note": "Returning to the pose where exterior view showed fingers adjacent to the blue remote; re-evaluating hypothesis that remote is at +y." } } } ] } } ] }, "execution": { "steps": 43, "motion_seconds": 2.838, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.15219, -0.56487, 0.32489, -2.37292, 0.11087, 1.91648, 0.4579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36039, 0.19877, 0.94981 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00109, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99285, -0.05532, 0.1058 ], [ -0.05297, -0.99828, -0.02497 ], [ 0.107, 0.01918, -0.99407 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 42 }, "api_seconds": 5.4052770510315895, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.89 }, "note": "Gripper appears directly above remote in exterior; descending toward dresser top." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.15651, -0.53782, 0.34733, -2.50249, 0.12033, 2.07244, 0.46598 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36034, 0.19875, 0.8911 ], "tcp_roll_pitch_yaw": [ -0.00011, 0.00135, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99287, -0.05533, 0.10554 ], [ -0.05296, -0.99828, -0.02508 ], [ 0.10675, 0.01931, -0.9941 ] ], "simulated_seconds_remaining": 14.652, "calls_remaining_including_this": 41 }, "api_seconds": 4.002974541857839, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Descending further to reach the remote on the dresser surface." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.1565, -0.51042, 0.36118, -2.56018, 0.12291, 2.15688, 0.47238 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3603, 0.19873, 0.86098 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00157, 0.00012 ], "tcp_rotation_matrix": [ [ 0.9929, -0.05533, 0.10533 ], [ -0.05296, -0.99828, -0.02517 ], [ 0.10654, 0.01941, -0.99412 ] ], "simulated_seconds_remaining": 14.124, "calls_remaining_including_this": 40 }, "api_seconds": 15.611977123655379, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 0.9 }, "note": "Remote still appears slightly left of fingers in exterior; shifting +y after raising slightly." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.17104, -0.46091, 0.42599, -2.40715, 0.1212, 2.05619, 0.56569 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36032, 0.24904, 0.89927 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00141, 0.00026 ], "tcp_rotation_matrix": [ [ 0.99289, -0.05519, 0.10548 ], [ -0.05282, -0.99829, -0.0251 ], [ 0.10669, 0.01935, -0.9941 ] ], "simulated_seconds_remaining": 13.398, "calls_remaining_including_this": 39 }, "api_seconds": 4.0031219301745296, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Remote now hidden behind gripper (aligned); descending to grasp height." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.17043, -0.43714, 0.43967, -2.46095, 0.121, 2.13279, 0.5734 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36028, 0.24901, 0.87118 ], "tcp_roll_pitch_yaw": [ -0.00028, 0.00166, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99291, -0.0552, 0.10524 ], [ -0.05282, -0.99829, -0.02523 ], [ 0.10645, 0.01949, -0.99413 ] ], "simulated_seconds_remaining": 12.936, "calls_remaining_including_this": 38 }, "api_seconds": 3.402845472097397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper at estimated grasp position on remote." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.17043, -0.43714, 0.43967, -2.46095, 0.121, 2.13279, 0.5734 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36028, 0.24901, 0.87117 ], "tcp_roll_pitch_yaw": [ -0.00028, 0.00165, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99291, -0.0552, 0.10525 ], [ -0.05282, -0.99829, -0.02523 ], [ 0.10646, 0.01949, -0.99413 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 37 }, "api_seconds": 3.403040600940585, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Lifting to check whether the remote was grasped." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.16598, -0.48737, 0.39895, -2.25153, 0.1131, 1.87485, 0.55427 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36034, 0.24905, 0.96872 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00137, 0.00026 ], "tcp_rotation_matrix": [ [ 0.99288, -0.05519, 0.10553 ], [ -0.05283, -0.99829, -0.02508 ], [ 0.10673, 0.01932, -0.9941 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 36 }, "api_seconds": 17.41525596100837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.33, "z": 0.875 }, "note": "Reopening gripper and shifting slightly -x for a second grasp attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.20512, -0.52829, 0.44315, -2.5145, 0.15905, 2.09766, 0.58089 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.33037, 0.24904, 0.87622 ], "tcp_roll_pitch_yaw": [ -0.00028, 0.0016, 0.00031 ], "tcp_rotation_matrix": [ [ 0.99291, -0.05514, 0.1053 ], [ -0.05276, -0.99829, -0.02522 ], [ 0.10651, 0.01948, -0.99412 ] ], "simulated_seconds_remaining": 10.164, "calls_remaining_including_this": 35 }, "api_seconds": 3.8036147002130747, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Second grasp attempt slightly further back in x." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.20512, -0.52829, 0.44315, -2.5145, 0.15905, 2.09766, 0.58089 ], "gripper_open": 0.0, "tcp_xyz": [ 0.33037, 0.24904, 0.87621 ], "tcp_roll_pitch_yaw": [ -0.00027, 0.0016, 0.00031 ], "tcp_rotation_matrix": [ [ 0.99291, -0.05514, 0.1053 ], [ -0.05277, -0.99829, -0.02522 ], [ 0.10651, 0.01948, -0.99412 ] ], "simulated_seconds_remaining": 9.24, "calls_remaining_including_this": 34 }, "api_seconds": 20.61548811662942, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.47, "y": -0.16, "z": 0.9 }, "note": "Wrist view suggests the actual remote (blue with buttons) is near x0.47,y-0.16; going there with open gripper." } } } ] } } ] }, "execution": { "steps": 48, "motion_seconds": 3.168, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.12223, -0.26885, -0.19397, -2.2735, -0.05016, 2.11716, -0.23404 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46955, -0.15877, 0.89991 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00161, 7e-05 ], "tcp_rotation_matrix": [ [ 0.9929, -0.05538, 0.10528 ], [ -0.05301, -0.99828, -0.02518 ], [ 0.10649, 0.01942, -0.99412 ] ], "simulated_seconds_remaining": 6.072, "calls_remaining_including_this": 33 }, "api_seconds": 5.004289887845516, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "z": 0.87 }, "note": "Remote appears just beyond/below fingers; moving forward and down to bracket it." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.10465, -0.10048, -0.19006, -2.17556, -0.01527, 2.18488, -0.23237 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51881, -0.15873, 0.8706 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00184, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99293, -0.0553, 0.10505 ], [ -0.05294, -0.99828, -0.02514 ], [ 0.10626, 0.0194, -0.99415 ] ], "simulated_seconds_remaining": 5.412, "calls_remaining_including_this": 32 }, "api_seconds": 9.20741449482739, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper at this position where remote fills wrist view center." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.10465, -0.10048, -0.19006, -2.17556, -0.01527, 2.18488, -0.23237 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51883, -0.15873, 0.87059 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00184, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99293, -0.0553, 0.10506 ], [ -0.05294, -0.99828, -0.02514 ], [ 0.10627, 0.0194, -0.99415 ] ], "simulated_seconds_remaining": 4.488, "calls_remaining_including_this": 31 }, "api_seconds": 22.616297455504537, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.36, "y": 0.25, "z": 0.85 }, "note": "Final attempt: return to pose where exterior showed gripper overlapping the remote, slightly lower." } } } ] } } ] }, "execution": { "steps": 49, "motion_seconds": 3.234, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.22971, -0.40288, 0.39258, -2.4983, 0.08681, 2.19466, 0.605 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36047, 0.24879, 0.85007 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00181, 0.0004 ], "tcp_rotation_matrix": [ [ 0.99294, -0.05504, 0.1051 ], [ -0.05268, -0.99829, -0.02517 ], [ 0.1063, 0.01945, -0.99414 ] ], "simulated_seconds_remaining": 1.254, "calls_remaining_including_this": 30 }, "api_seconds": 2.6028087586164474, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Last remaining time: closing gripper at this position in hope of catching the remote." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.22971, -0.40288, 0.39258, -2.4983, 0.08681, 2.19466, 0.605 ], "gripper_open": 0.0, "tcp_xyz": [ 0.36047, 0.24881, 0.85007 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00181, 0.0004 ], "tcp_rotation_matrix": [ [ 0.99294, -0.05505, 0.1051 ], [ -0.05268, -0.99829, -0.02516 ], [ 0.1063, 0.01945, -0.99414 ] ], "simulated_seconds_remaining": 0.33, "calls_remaining_including_this": 29 }, "api_seconds": 2.802633859217167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably localize the remote: wrist and exterior views gave contradictory directional cues, all grasp attempts closed empty, and simulated time is exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 031 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 31, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 16, "api_calls": 18, "wall_seconds": 203.77480816841125, "usage": { "input_tokens": 36, "cache_creation_input_tokens": 19405, "cache_read_input_tokens": 177657, "output_tokens": 9574 }, "estimated_cost_usd": 0.44963975 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CeznE8NyZuZzqtyNd86qp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mph7zFrgGUogC7jPfPrQ1W", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 99, "output_tokens_details": { "thinking_tokens": 75 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CeznENo9Rd1tmFzYTMUrK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Lz1dEg44bgwC9xij8HnY1r", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.15 }, "note": "Raising and moving forward to survey the table from above with the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 532, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 532, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 410, "output_tokens_details": { "thinking_tokens": 296 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CeznEvVPSLYKqcFChgfzA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FDY7d17JTp93St3V9x6BTw", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.1, "z": 1.15 }, "note": "Testing wrist-image mapping by moving 10cm to the robot's right; a silver object appeared right-of-center 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": 2289, "cache_creation": { "ephemeral_5m_input_tokens": 899, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 354, "output_tokens_details": { "thinking_tokens": 220 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CeznFi6Hs68jMByGtfozC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EM123xPMgReJ9aVkhQNgtV", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.04, "z": 1.1 }, "note": "Centering over the silver utensil estimated at y≈+0.04 and lowering slightly for a closer look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 3188, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 933, "output_tokens_details": { "thinking_tokens": 807 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CeznGvpJ9qTEsTrmyRX4S", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XvksNaoxgMx3jGJ2pRcmNu", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.04, "z": 1.1 }, "note": "Moving +7cm forward in x only, to calibrate the wrist image vertical axis mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1425, "cache_read_input_tokens": 4035, "cache_creation": { "ephemeral_5m_input_tokens": 1425, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 533, "output_tokens_details": { "thinking_tokens": 410 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CeznHgTNVNRkKGgAVUA2Z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F3qQXDyzGE8LskjxqdgRZf", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.06, "z": 1.05 }, "note": "Object is right-of-center in wrist view (image right = robot right), so moving -y and lowering to refine." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1026, "cache_read_input_tokens": 5460, "cache_creation": { "ephemeral_5m_input_tokens": 1026, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1462, "output_tokens_details": { "thinking_tokens": 1337 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CeznLNWSz1LwnybAJ3iUR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G73DTsSVRmrWKUrXCASjYz", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.15, "z": 1.05 }, "note": "Mapping says image right = robot +y, so moving left (+y) to bring the utensil toward center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1956, "cache_read_input_tokens": 6486, "cache_creation": { "ephemeral_5m_input_tokens": 1956, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 740, "output_tokens_details": { "thinking_tokens": 617 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CeznMHEUepZPaJ96ZCP9G", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SHnj6v9E53QyYpvfxeJBtT", "name": "move_to", "input": { "targets": { "x": 0.51, "y": 0.19, "z": 0.98 }, "note": "Fine-tuning laterally to y≈0.19 and descending to 0.98 to see the utensil relative to 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": 1238, "cache_read_input_tokens": 8442, "cache_creation": { "ephemeral_5m_input_tokens": 1238, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 763, "output_tokens_details": { "thinking_tokens": 630 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CeznN9rFYLbraTic8MMGv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KSMyLXsQfYkk7oAoHFf9qP", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Descending closer to the table to judge the utensil's position relative to the fingers and find the table height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1261, "cache_read_input_tokens": 9680, "cache_creation": { "ephemeral_5m_input_tokens": 1261, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 358, "output_tokens_details": { "thinking_tokens": 253 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CeznNe3eB81gXZ3NQc4Qh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WJHzBdfz6ignM3PnkjT4M2", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Continuing to descend slowly to find the table surface height while the utensil stays centered 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": 851, "cache_read_input_tokens": 10941, "cache_creation": { "ephemeral_5m_input_tokens": 851, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 704, "output_tokens_details": { "thinking_tokens": 596 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CeznPb1roBg4wdDs8KiqB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014PchgaRuRW9Bu8oFsx9131", "name": "move_to", "input": { "targets": { "yaw": -0.785, "z": 0.86 }, "note": "Utensil axis appears diagonal; rotating yaw -45° so fingers close perpendicular to 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": 1197, "cache_read_input_tokens": 11792, "cache_creation": { "ephemeral_5m_input_tokens": 1197, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 641, "output_tokens_details": { "thinking_tokens": 519 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CeznQvd6bZ9hLDU2ZJ2jk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XPLZSxDPNJb2S8WmnLT6Eh", "name": "move_to", "input": { "targets": { "x": 0.525, "y": 0.175, "z": 0.82 }, "note": "Utensil now vertical in image and slightly above the finger gap; nudging toward image-down (+x,-y) and descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1134, "cache_read_input_tokens": 12989, "cache_creation": { "ephemeral_5m_input_tokens": 1134, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1177, "output_tokens_details": { "thinking_tokens": 1046 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CeznSMEy8mg8FEW2jCeoy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VM1Yi1AanfBne8wFB6pbsA", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Descending further toward the table to reach 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": 1675, "cache_read_input_tokens": 14123, "cache_creation": { "ephemeral_5m_input_tokens": 1675, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 206, "output_tokens_details": { "thinking_tokens": 115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CeznSiCHhW7asVLi8ggPv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014fkxtyjjYMDQSbAguHC6HW", "name": "move_to", "input": { "targets": { "z": 0.75 }, "note": "Descending closer; utensil tip is entering 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": 704, "cache_read_input_tokens": 15798, "cache_creation": { "ephemeral_5m_input_tokens": 704, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 283, "output_tokens_details": { "thinking_tokens": 188 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CeznT7Gca7U9yG76KkjCK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Kxgjvx3eiMqmm1yg4Wqwjf", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Continuing descent in small steps toward the table surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 16502, "cache_creation": { "ephemeral_5m_input_tokens": 776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 233, "output_tokens_details": { "thinking_tokens": 141 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CeznTYUvY4JV2Cf22MLfJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ToPFVhzMremFqresy82iS5", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "At table height with utensil aligned in the finger gap; closing gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 724, "cache_read_input_tokens": 17278, "cache_creation": { "ephemeral_5m_input_tokens": 724, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 401, "output_tokens_details": { "thinking_tokens": 303 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CeznUij77a2nJd61eoWnB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SoHbGK6nti3jQPL3YWmmtg", "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": 893, "cache_read_input_tokens": 18002, "cache_creation": { "ephemeral_5m_input_tokens": 893, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 74, "output_tokens_details": { "thinking_tokens": 50 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CeznUun7ur7VRsfTVBB44", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sah6dokx3hUHJQe2B6miLu", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.9 }, "note": "Lifting with gripper closed to check whether the utensil 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": 510, "cache_read_input_tokens": 18895, "cache_creation": { "ephemeral_5m_input_tokens": 510, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 203, "output_tokens_details": { "thinking_tokens": 97 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.00408, -0.74001, -0.01467, -2.31218, -0.00257, 1.5954, 0.00659 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.32601, -0.00397, 1.02404 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99964, -0.01334, 0.02323 ], [ -0.01351, -0.99988, 0.00716 ], [ 0.02313, -0.00747, -0.9997 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 10.208755037747324, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.15 }, "note": "Raising and moving forward to survey the table from above with the wrist camera." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.00962, -0.25347, -0.01129, -1.59022, 0.00447, 1.35996, 0.01307 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44907, -3e-05, 1.149 ], "tcp_roll_pitch_yaw": [ 0.0, 2e-05, -0.0 ], "tcp_rotation_matrix": [ [ 0.99964, -0.01334, 0.02321 ], [ -0.01351, -0.99988, 0.00717 ], [ 0.02311, -0.00748, -0.99971 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 10.208409577608109, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.1, "z": 1.15 }, "note": "Testing wrist-image mapping by moving 10cm to the robot's right; a silver object appeared right-of-center in wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the fork.", "joint_positions": [ -0.05899, -0.2164, -0.13485, -1.54673, -0.01784, 1.35367, -0.18137 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44998, -0.09883, 1.14997 ], "tcp_roll_pitch_yaw": [ 2e-05, 5e-05, -0.00028 ], "tcp_rotation_matrix": [ [ 0.99964, -0.01362, 0.02318 ], [ -0.01379, -0.99988, 0.00718 ], [ 0.02308, -0.0075, -0.99971 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 55 }, "api_seconds": 16.012842387892306, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.04, "z": 1.1 }, "note": "Centering over the silver utensil estimated at y≈+0.04 and lowering slightly for a closer look." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.03358, -0.30504, 0.03914, -1.77375, 0.0173, 1.49248, 0.08604 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45, 0.03881, 1.10044 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00014, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99964, -0.01334, 0.02309 ], [ -0.0135, -0.99988, 0.00716 ], [ 0.02299, -0.00747, -0.99971 ] ], "simulated_seconds_remaining": 26.334, "calls_remaining_including_this": 54 }, "api_seconds": 9.808319342322648, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.04, "z": 1.1 }, "note": "Moving +7cm forward in x only, to calibrate the wrist image vertical axis mapping." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.0313, -0.08998, 0.03975, -1.54937, 0.00911, 1.4828, 0.08529 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5188, 0.03997, 1.09991 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00035, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99965, -0.01336, 0.02288 ], [ -0.01353, -0.99988, 0.00715 ], [ 0.02278, -0.00745, -0.99971 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 53 }, "api_seconds": 35.82742508035153, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.06, "z": 1.05 }, "note": "Object is right-of-center in wrist view (image right = robot right), so moving -y and lowering to refine." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the fork.", "joint_positions": [ -0.04741, -0.18273, -0.0665, -1.78077, -0.00241, 1.62026, -0.09913 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50021, -0.05895, 1.05055 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00046, -0.00029 ], "tcp_rotation_matrix": [ [ 0.99965, -0.01363, 0.02277 ], [ -0.0138, -0.99988, 0.00715 ], [ 0.02267, -0.00746, -0.99972 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 52 }, "api_seconds": 11.80964967329055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.15, "z": 1.05 }, "note": "Mapping says image right = robot +y, so moving left (+y) to bring the utensil toward center." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.1104, -0.12987, 0.16387, -1.72375, 0.02189, 1.61942, 0.28579 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49998, 0.14879, 1.04999 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00048, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99965, -0.01334, 0.02274 ], [ -0.0135, -0.99988, 0.00714 ], [ 0.02264, -0.00744, -0.99972 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 51 }, "api_seconds": 11.408011038787663, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51, "y": 0.19, "z": 0.98 }, "note": "Fine-tuning laterally to y≈0.19 and descending to 0.98 to see the utensil relative to the finger gap." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.14164, -0.08172, 0.20567, -1.84644, 0.01606, 1.78993, 0.35685 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5098, 0.1894, 0.98097 ], "tcp_roll_pitch_yaw": [ -0.00011, 0.00077, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99966, -0.01323, 0.02245 ], [ -0.01339, -0.99989, 0.00706 ], [ 0.02235, -0.00735, -0.99972 ] ], "simulated_seconds_remaining": 21.912, "calls_remaining_including_this": 50 }, "api_seconds": 6.205380327068269, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Descending closer to the table to judge the utensil's position relative to the fingers and find the table height." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.1426, -0.07418, 0.20713, -1.96519, 0.0151, 1.91577, 0.35772 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50977, 0.18938, 0.93106 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00106, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99967, -0.01323, 0.02216 ], [ -0.01339, -0.99989, 0.00697 ], [ 0.02207, -0.00727, -0.99973 ] ], "simulated_seconds_remaining": 21.252, "calls_remaining_including_this": 49 }, "api_seconds": 12.61015547439456, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Continuing to descend slowly to find the table surface height while the utensil stays centered in the wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.14371, -0.04721, 0.20931, -2.06372, 0.00977, 2.04042, 0.3619 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50972, 0.18936, 0.88106 ], "tcp_roll_pitch_yaw": [ -0.00028, 0.00136, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99967, -0.01323, 0.02186 ], [ -0.01339, -0.99989, 0.00688 ], [ 0.02177, -0.00717, -0.99974 ] ], "simulated_seconds_remaining": 20.592, "calls_remaining_including_this": 48 }, "api_seconds": 17.614116047509015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": -0.785, "z": 0.86 }, "note": "Utensil axis appears diagonal; rotating yaw -45° so fingers close perpendicular to its handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.13422, -0.02504, 0.22655, -2.09129, -0.01305, 2.08216, 1.1608 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50971, 0.18936, 0.8601 ], "tcp_roll_pitch_yaw": [ -0.00033, 0.00139, -0.78025 ], "tcp_rotation_matrix": [ [ 0.70101, -0.71286, 0.02033 ], [ -0.71282, -0.70127, -0.01051 ], [ 0.02174, -0.00713, -0.99974 ] ], "simulated_seconds_remaining": 19.272, "calls_remaining_including_this": 47 }, "api_seconds": 18.81469365861267, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.525, "y": 0.175, "z": 0.82 }, "note": "Utensil now vertical in image and slightly above the finger gap; nudging toward image-down (+x,-y) and descending." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.11915, 0.0423, 0.21135, -2.11576, -0.03079, 2.17243, 1.14128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52454, 0.17532, 0.82098 ], "tcp_roll_pitch_yaw": [ -0.00059, 0.00154, -0.78037 ], "tcp_rotation_matrix": [ [ 0.70093, -0.71295, 0.02004 ], [ -0.7129, -0.70118, -0.01058 ], [ 0.02159, -0.00687, -0.99974 ] ], "simulated_seconds_remaining": 18.678, "calls_remaining_including_this": 46 }, "api_seconds": 4.60362231079489, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Descending further toward the table to reach grasp height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.12076, 0.09395, 0.21029, -2.16212, -0.04708, 2.26871, 1.15379 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52448, 0.17529, 0.78101 ], "tcp_roll_pitch_yaw": [ -0.00084, 0.00169, -0.78038 ], "tcp_rotation_matrix": [ [ 0.70093, -0.71296, 0.01975 ], [ -0.71291, -0.70117, -0.01066 ], [ 0.02145, -0.00661, -0.99975 ] ], "simulated_seconds_remaining": 18.084, "calls_remaining_including_this": 45 }, "api_seconds": 5.404065048322082, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Descending closer; utensil tip is entering the finger gap." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.12283, 0.13942, 0.20785, -2.18835, -0.06296, 2.34002, 1.16564 ], "gripper_open": 0.9985, "tcp_xyz": [ 0.52472, 0.17542, 0.75149 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00122, -0.78027 ], "tcp_rotation_matrix": [ [ 0.70099, -0.71287, 0.02063 ], [ -0.71284, -0.70125, -0.01044 ], [ 0.02191, -0.00739, -0.99973 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 44 }, "api_seconds": 5.404297722503543, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Continuing descent in small steps toward the table surface." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.12786, 0.1498, 0.20602, -2.19759, -0.08146, 2.36858, 1.18069 ], "gripper_open": 1.0, "tcp_xyz": [ 0.52607, 0.17627, 0.74458 ], "tcp_roll_pitch_yaw": [ 0.00435, -0.01188, -0.7784 ], "tcp_rotation_matrix": [ [ 0.70198, -0.71143, 0.03307 ], [ -0.71134, -0.70265, -0.01645 ], [ 0.03494, -0.01198, -0.99932 ] ], "simulated_seconds_remaining": 17.028, "calls_remaining_including_this": 43 }, "api_seconds": 15.212287415750325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At table height with utensil aligned in the finger gap; closing gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the fork.", "joint_positions": [ 0.12691, 0.14262, 0.20498, -2.19579, -0.08202, 2.36351, 1.18073 ], "gripper_open": 0.8689, "tcp_xyz": [ 0.52723, 0.17503, 0.74877 ], "tcp_roll_pitch_yaw": [ 0.0067, -0.01561, -0.78027 ], "tcp_rotation_matrix": [ [ 0.70051, -0.71266, 0.03735 ], [ -0.71259, -0.70136, -0.01746 ], [ 0.03863, -0.01438, -0.99915 ] ], "simulated_seconds_remaining": 16.104, "calls_remaining_including_this": 42 }, "api_seconds": 6.405288564041257, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.9 }, "note": "Lifting with gripper closed to check whether the utensil was grasped." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 032 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 32, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 32, "api_calls": 33, "wall_seconds": 357.5960280895233, "usage": { "input_tokens": 66, "cache_creation_input_tokens": 32422, "cache_read_input_tokens": 566597, "output_tokens": 16265 }, "estimated_cost_usd": 0.892891 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezih96gKHGJnLFvtBB3N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CVFwAYLKco4QXPPioZESzp", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 112, "output_tokens_details": { "thinking_tokens": 88 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezihgb1nDoRZEDKbePbr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019nKZ4kmnS5jwKa7iobd7Mr", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move up and forward to get an overhead view of the table to locate the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 546, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 546, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 239, "output_tokens_details": { "thinking_tokens": 125 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezii82DLCqHkbRo6muFK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GccbMRKGA1Dcc3x4mj9n42", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.1, "z": 1.15 }, "note": "Move further forward and slightly left to survey the table surface for the cup." }, "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": 2304, "cache_creation": { "ephemeral_5m_input_tokens": 732, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 331, "output_tokens_details": { "thinking_tokens": 218 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Ceziid1yyb1EsWywK1wvt", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QjNxdJiprS2N8W8Ae9u4ys", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.05, "z": 1.12 }, "note": "Smaller step forward/left to avoid large joint jump." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 822, "cache_read_input_tokens": 3036, "cache_creation": { "ephemeral_5m_input_tokens": 822, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 109, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CeziivzDcDxzqv9YhL5JJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017tJoY1foxpipK18v1WpXXw", "name": "move_to", "input": { "targets": { "x": 0.62, "y": 0.05, "z": 1.05 }, "note": "Move toward the white object seen in wrist view to identify it." }, "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": 3858, "cache_creation": { "ephemeral_5m_input_tokens": 602, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 369, "output_tokens_details": { "thinking_tokens": 259 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezijVzaqhf8oiiYCPk8U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SonMFXDrbnH4A6wp1PFRYv", "name": "move_to", "input": { "targets": { "x": 0.68, "y": 0.02, "z": 0.98 }, "note": "Descend closer to the white object for identification." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 862, "cache_read_input_tokens": 4460, "cache_creation": { "ephemeral_5m_input_tokens": 862, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 273, "output_tokens_details": { "thinking_tokens": 169 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezik1EjMRA5TrqQGyGvy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016LqVLKsapGzNhF1yfX1LfV", "name": "move_to", "input": { "targets": { "x": 0.72, "y": 0.02, "z": 0.9 }, "note": "Step forward and down toward the white cup; check how it shifts in wrist view to calibrate directions." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 766, "cache_read_input_tokens": 5322, "cache_creation": { "ephemeral_5m_input_tokens": 766, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1109, "output_tokens_details": { "thinking_tokens": 986 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezimbjAcpf9EBRE3yPrt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014Z7w6XQ6nYUAbsytGERzyP", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.0, "z": 0.95 }, "note": "Object drifted out of view as I advanced, so it is actually behind current position; back up to re-center it 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": 1602, "cache_read_input_tokens": 6088, "cache_creation": { "ephemeral_5m_input_tokens": 1602, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1917, "output_tokens_details": { "thinking_tokens": 1788 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CeziozaeT5p6zdRpJAYF9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UNJEc3dgyi3iyeASyUvBuq", "name": "move_to", "input": { "targets": { "y": 0.08 }, "note": "Single-axis test: move left 0.08 m to calibrate image-y mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2416, "cache_read_input_tokens": 7690, "cache_creation": { "ephemeral_5m_input_tokens": 2416, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 633, "output_tokens_details": { "thinking_tokens": 531 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CeziroTzsKDDsDuQTy6BU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XwNdpDPkhE97EguF1ZXWfQ", "name": "move_to", "input": { "targets": { "y": 0.16 }, "note": "Estimated cup at y≈0.16; move left to center it 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": 0, "cache_read_input_tokens": 11237, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1079, "output_tokens_details": { "thinking_tokens": 979 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezit7H6XfpTipjNQ2DYo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JBd1Ti8cuUNWrVnKFTqgjE", "name": "move_to", "input": { "targets": { "z": 0.86 }, "note": "Cup centered in wrist view; descend to gauge table height and cup size." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1577, "cache_read_input_tokens": 11237, "cache_creation": { "ephemeral_5m_input_tokens": 1577, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 182, "output_tokens_details": { "thinking_tokens": 83 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CeziteLdfhh161kcMiLwZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PdLUTpCLZxu9Witw7LdBqq", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Continue descending toward the cup, keeping it centered." }, "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": 12814, "cache_creation": { "ephemeral_5m_input_tokens": 675, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 267, "output_tokens_details": { "thinking_tokens": 174 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Ceziu7ciP5UtzP1NFba99", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VhigemgC6GkhTnaJSErGtQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Gripper appears straddling the cup at table height; close to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 13489, "cache_creation": { "ephemeral_5m_input_tokens": 758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 482, "output_tokens_details": { "thinking_tokens": 385 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CeziuwM7L6Hro7693Mac1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AF8NpUPza7YiK2tn7YjKiq", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Grasp was empty; open and raise for a clearer top view of the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 973, "cache_read_input_tokens": 14247, "cache_creation": { "ephemeral_5m_input_tokens": 973, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 218, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezivPGa8WaEj87e2tQ1e", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S4hpKnnZg8nDDyfewzmc7D", "name": "move_to", "input": { "targets": { "x": 0.545, "z": 0.88 }, "note": "Retreat slightly and descend; checking cup position relative to visible fingertips to fix the grasp offset." }, "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": 15220, "cache_creation": { "ephemeral_5m_input_tokens": 709, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1408, "output_tokens_details": { "thinking_tokens": 1290 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezix8g34bEcfdt1YxeMc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014mpyCLPPhrW2Shv29vjFQg", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Cup now appears lower, closer to the finger gap; descend to 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": 1899, "cache_read_input_tokens": 15929, "cache_creation": { "ephemeral_5m_input_tokens": 1899, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 384, "output_tokens_details": { "thinking_tokens": 283 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezixmoThj8Cv97ez6GjQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GE9ACcsqfDZTXFS1fAxRmY", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at this position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 875, "cache_read_input_tokens": 17828, "cache_creation": { "ephemeral_5m_input_tokens": 875, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 128, "output_tokens_details": { "thinking_tokens": 42 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Ceziy4tcjyUU7GNwmiSi1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017uL6vupMDdFJyoTsTNfD5m", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 1.0 }, "note": "Missed again; open and raise for a top-down localization." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 618, "cache_read_input_tokens": 18703, "cache_creation": { "ephemeral_5m_input_tokens": 618, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 580, "output_tokens_details": { "thinking_tokens": 480 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CeziyyWBvmJ7XvRaoqGfD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019C2RQ78iZekratWnfEV6dd", "name": "move_to", "input": { "targets": { "x": 0.58, "z": 0.83, "gripper": 1 }, "note": "Try intermediate x between two failed attempts, same y, at 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": 1071, "cache_read_input_tokens": 19321, "cache_creation": { "ephemeral_5m_input_tokens": 1071, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1741, "output_tokens_details": { "thinking_tokens": 1626 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezj29ARaf8cXVEnJFXS7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M42y9pcRWpDwCEA6jE4xEr", "name": "move_to", "input": { "targets": { "x": 0.51 }, "note": "Shift backward so cup moves into the finger gap lower in the image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2232, "cache_read_input_tokens": 20392, "cache_creation": { "ephemeral_5m_input_tokens": 2232, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 454, "output_tokens_details": { "thinking_tokens": 357 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezj2qfFGS4tLD41svyvW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KbvvpDvQsaf4jQwQXkK5wQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Cup now occluded by fingers, suggesting it is between them; close gripper." }, "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": 22624, "cache_creation": { "ephemeral_5m_input_tokens": 945, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 145, "output_tokens_details": { "thinking_tokens": 44 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezj38LbEXuFWCEjGj4zR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CzWsBYJfC7Qsbn1fxKr1WJ", "name": "move_to", "input": { "targets": { "y": 0.11, "gripper": 1 }, "note": "Cup appears left of fingers (smaller y); shift right by 0.05 m and reopen." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 635, "cache_read_input_tokens": 23569, "cache_creation": { "ephemeral_5m_input_tokens": 635, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 445, "output_tokens_details": { "thinking_tokens": 331 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezj3mUk1QxD3DbxzASLR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019GzgoCXUYQjX6DqptEuZPR", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Cup now appears centered between the finger prongs; close gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 936, "cache_read_input_tokens": 24204, "cache_creation": { "ephemeral_5m_input_tokens": 936, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 139, "output_tokens_details": { "thinking_tokens": 43 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezj467vAoftEiWap2CwA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EwKawKCYMUpCjJXbPAhRRz", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.76 }, "note": "Test table height by descending further with gripper open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 629, "cache_read_input_tokens": 25140, "cache_creation": { "ephemeral_5m_input_tokens": 629, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 474, "output_tokens_details": { "thinking_tokens": 377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezj4mXVsJ8rRbHmH8pkB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0171FLiTjYeoGZJuo5Ngy3aR", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Lower height reached with cup visible between fingers; close to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 965, "cache_read_input_tokens": 25769, "cache_creation": { "ephemeral_5m_input_tokens": 965, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 231, "output_tokens_details": { "thinking_tokens": 134 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezj5C8Mf2dg6UPXaPSX1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019QBqZxeNAVcjLf5FJvTL6X", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Raise with gripper closed to see fingertip position relative to the cup in wrist view for offset calibration." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 26734, "cache_creation": { "ephemeral_5m_input_tokens": 721, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 897, "output_tokens_details": { "thinking_tokens": 788 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezj6PB976U592YforM3j", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018DUV5HZh3hzs5K3f6D6w4M", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.085, "z": 0.86, "gripper": 1 }, "note": "Using fingertip-vs-cup pixel offset, shift back 0.07 and right 0.03 with gripper open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1387, "cache_read_input_tokens": 27455, "cache_creation": { "ephemeral_5m_input_tokens": 1387, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 650, "output_tokens_details": { "thinking_tokens": 512 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezj7GVMBfTHuxYa95Kgo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01V5ij7PorHdC7VszGBZBPsq", "name": "move_to", "input": { "targets": { "z": 0.79, "gripper": 0 }, "note": "Cup sits in the finger gap; descend slightly and close to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1141, "cache_read_input_tokens": 28842, "cache_creation": { "ephemeral_5m_input_tokens": 1141, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 167, "output_tokens_details": { "thinking_tokens": 60 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011Cezj7b5XzSDj6R8rWNVj6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F2hs51AM3kzbiJj1ikcJZT", "name": "move_to", "input": { "targets": { "z": 0.74, "gripper": 1 }, "note": "Open and descend much lower in case fingers were passing above the short cup." }, "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": 29983, "cache_creation": { "ephemeral_5m_input_tokens": 657, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 428, "output_tokens_details": { "thinking_tokens": 323 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezj8CjeU5hBQhGPus2E1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KPxYq2pe7b4jtaadRxQoTy", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at the lower height to grasp the cup body near the table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 919, "cache_read_input_tokens": 30640, "cache_creation": { "ephemeral_5m_input_tokens": 919, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 119, "output_tokens_details": { "thinking_tokens": 25 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011Cezj8V4fY6ytg79irRA8U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UHh1pJrdNRsRDHaebuLFSq", "name": "move_to", "input": { "targets": { "y": 0.12, "gripper": 1 }, "note": "Last attempt: open and shift left slightly where the cup edge appeared." }, "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": 31559, "cache_creation": { "ephemeral_5m_input_tokens": 609, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 318, "output_tokens_details": { "thinking_tokens": 211 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011Cezj8zirtWfzZckrsM7Nw", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01G5pxbR2Q5aXHRJW9TVjH9v", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Final close 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": 809, "cache_read_input_tokens": 32168, "cache_creation": { "ephemeral_5m_input_tokens": 809, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 86, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011Cezj9EnxQrzzwUVJQuCu6", "type": "message", "role": "assistant", "content": [ { "type": "text", "text": "Repeated grasp attempts closed on empty air — I could not resolve the wrist-camera parallax to align the fingers with the cup, and the simulated motion budget is now exhausted." }, { "type": "tool_use", "id": "toolu_014YgJeHU85FQkQYvha9jgC3", "name": "give_up", "input": { "note": "Unable to grasp the cup: wrist-camera offset made alignment ambiguous, and all closes were empty. Motion time exhausted." }, "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": 32977, "cache_creation": { "ephemeral_5m_input_tokens": 576, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 151, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.01521, -0.75097, 0.00898, -2.34403, -0.0441, 1.52441, -0.02734 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30015, -0.01374, 1.00713 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99742, 0.01962, -0.06902 ], [ 0.01622, -0.99864, -0.04955 ], [ -0.0699, 0.0483, -0.99638 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 12.80959180276841, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.1 }, "note": "Move up and forward to get an overhead view of the table to locate the cup." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.01295, -0.23199, 0.03516, -1.68511, -0.04074, 1.38317, -0.00318 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44886, -0.00011, 1.09924 ], "tcp_roll_pitch_yaw": [ -0.0, 7e-05, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99742, 0.01963, -0.06909 ], [ 0.01622, -0.99864, -0.04955 ], [ -0.06997, 0.0483, -0.99638 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 6.605408293195069, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.1, "z": 1.15 }, "note": "Move further forward and slightly left to survey the table surface for the cup." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.01295, -0.23199, 0.03516, -1.68511, -0.04074, 1.38317, -0.00318 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44886, -0.00011, 1.09924 ], "tcp_roll_pitch_yaw": [ -0.0, 7e-05, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99742, 0.01963, -0.06909 ], [ 0.01622, -0.99864, -0.04955 ], [ -0.06997, 0.0483, -0.99638 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 55 }, "api_seconds": 3.8034482784569263, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.05, "z": 1.12 }, "note": "Smaller step forward/left to avoid large joint jump." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.03555, 0.15836, 0.08968, -1.1624, -0.05774, 1.24556, 0.09017 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54886, 0.04945, 1.11966 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00028, 0.00011 ], "tcp_rotation_matrix": [ [ 0.9974, 0.01974, -0.06929 ], [ 0.01632, -0.99864, -0.04958 ], [ -0.07018, 0.04832, -0.99636 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 54 }, "api_seconds": 7.205788648687303, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": 0.05, "z": 1.05 }, "note": "Move toward the white object seen in wrist view to identify it." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.03778, 0.34425, 0.08585, -1.08674, -0.07155, 1.35507, 0.08894 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61911, 0.04997, 1.05071 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00064, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99738, 0.01973, -0.06965 ], [ 0.01629, -0.99864, -0.04961 ], [ -0.07054, 0.04835, -0.99634 ] ], "simulated_seconds_remaining": 26.532, "calls_remaining_including_this": 53 }, "api_seconds": 6.40595140401274, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.68, "y": 0.02, "z": 0.98 }, "note": "Descend closer to the white object for identification." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.00724, 0.53634, 0.06764, -0.97458, -0.08015, 1.43691, 0.04092 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.67914, 0.02035, 0.98078 ], "tcp_roll_pitch_yaw": [ -0.00011, 0.00102, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99735, 0.01964, -0.07004 ], [ 0.01618, -0.99864, -0.04965 ], [ -0.07092, 0.04839, -0.99631 ] ], "simulated_seconds_remaining": 25.608, "calls_remaining_including_this": 52 }, "api_seconds": 21.215995812788606, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.72, "y": 0.02, "z": 0.9 }, "note": "Step forward and down toward the white cup; check how it shifts in wrist view to calibrate directions." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.00878, 0.68121, 0.06395, -0.94419, -0.08565, 1.55093, 0.04346 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.71939, 0.01999, 0.90092 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00141, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99732, 0.01965, -0.07043 ], [ 0.01616, -0.99863, -0.04968 ], [ -0.07131, 0.0484, -0.99628 ] ], "simulated_seconds_remaining": 24.684, "calls_remaining_including_this": 51 }, "api_seconds": 32.024747853167355, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.0, "z": 0.95 }, "note": "Object drifted out of view as I advanced, so it is actually behind current position; back up to re-center it in the wrist view." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.03626, 0.18563, 0.06325, -1.5751, -0.05992, 1.68853, 0.01759 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60123, 0.00019, 0.94968 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00115, -7e-05 ], "tcp_rotation_matrix": [ [ 0.99734, 0.01961, -0.07017 ], [ 0.01614, -0.99863, -0.04968 ], [ -0.07105, 0.04842, -0.9963 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 50 }, "api_seconds": 12.410330592654645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08 }, "note": "Single-axis test: move left 0.08 m to calibrate image-y mapping." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0436, 0.20965, 0.1169, -1.54235, -0.06254, 1.67307, 0.14948 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60122, 0.07892, 0.94967 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00116, 0.00024 ], "tcp_rotation_matrix": [ [ 0.99734, 0.01992, -0.07017 ], [ 0.01645, -0.99863, -0.04966 ], [ -0.07106, 0.04837, -0.9963 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 49 }, "api_seconds": 42.63221231661737, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.16 }, "note": "Estimated cup at y≈0.16; move left to center it in wrist view." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.12947, 0.27083, 0.16707, -1.45869, -0.07199, 1.64396, 0.28207 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60118, 0.1589, 0.94965 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.0012, 0.00054 ], "tcp_rotation_matrix": [ [ 0.99733, 0.02022, -0.0702 ], [ 0.01676, -0.99863, -0.04963 ], [ -0.0711, 0.04832, -0.9963 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 48 }, "api_seconds": 6.805914318189025, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Cup centered in wrist view; descend to gauge table height and cup size." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.12536, 0.2876, 0.16391, -1.66122, -0.0775, 1.86242, 0.29139 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60113, 0.15888, 0.8611 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00155, 0.00054 ], "tcp_rotation_matrix": [ [ 0.9973, 0.02023, -0.07054 ], [ 0.01674, -0.99862, -0.04972 ], [ -0.07145, 0.04841, -0.99627 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 47 }, "api_seconds": 6.005114535801113, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Continue descending toward the cup, keeping it centered." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.12642, 0.30418, 0.16101, -1.74011, -0.09007, 1.99539, 0.3025 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60788, 0.16036, 0.8244 ], "tcp_roll_pitch_yaw": [ 0.00481, -0.03667, 0.00039 ], "tcp_rotation_matrix": [ [ 0.9993, 0.0184, -0.03242 ], [ 0.01694, -0.99885, -0.04477 ], [ -0.03321, 0.04419, -0.99847 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 46 }, "api_seconds": 10.608506080694497, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Gripper appears straddling the cup at table height; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.12892, 0.28245, 0.16513, -1.72408, -0.08851, 1.99726, 0.3026 ], "gripper_open": 0.0003, "tcp_xyz": [ 0.61445, 0.16633, 0.84568 ], "tcp_roll_pitch_yaw": [ 0.01509, -0.07485, 0.00478 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02186, 0.00589 ], [ 0.02205, -0.99916, -0.03448 ], [ 0.00513, 0.0346, -0.99939 ] ], "simulated_seconds_remaining": 19.206, "calls_remaining_including_this": 45 }, "api_seconds": 5.604650406166911, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Grasp was empty; open and raise for a clearer top view of the cup." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13181, 0.24881, 0.16954, -1.50686, -0.0775, 1.74766, 0.28817 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61451, 0.16635, 0.94883 ], "tcp_roll_pitch_yaw": [ 0.01518, -0.07522, 0.00478 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02185, 0.00626 ], [ 0.02206, -0.99917, -0.03439 ], [ 0.0055, 0.03452, -0.99939 ] ], "simulated_seconds_remaining": 18.216, "calls_remaining_including_this": 44 }, "api_seconds": 23.421509327366948, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.545, "z": 0.88 }, "note": "Retreat slightly and descend; checking cup position relative to visible fingertips to fix the grasp offset." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.1325, 0.05528, 0.18049, -1.93526, -0.04868, 1.98439, 0.31038 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54593, 0.16639, 0.88092 ], "tcp_roll_pitch_yaw": [ 0.01512, -0.07504, 0.00488 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02195, 0.00608 ], [ 0.02215, -0.99916, -0.03444 ], [ 0.00532, 0.03457, -0.99939 ] ], "simulated_seconds_remaining": 17.292, "calls_remaining_including_this": 43 }, "api_seconds": 8.406788851134479, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Cup now appears lower, closer to the finger gap; descend to grasp height." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13349, 0.09645, 0.17976, -2.01494, -0.06022, 2.10393, 0.3212 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54588, 0.16637, 0.83105 ], "tcp_roll_pitch_yaw": [ 0.01504, -0.07473, 0.00487 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02195, 0.00577 ], [ 0.02214, -0.99916, -0.03453 ], [ 0.00501, 0.03465, -0.99939 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 42 }, "api_seconds": 3.6036637257784605, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at this position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13349, 0.09645, 0.17976, -2.01494, -0.06022, 2.10393, 0.3212 ], "gripper_open": 0.0, "tcp_xyz": [ 0.54588, 0.16637, 0.83104 ], "tcp_roll_pitch_yaw": [ 0.01504, -0.07473, 0.00487 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02195, 0.00578 ], [ 0.02214, -0.99916, -0.03453 ], [ 0.00502, 0.03465, -0.99939 ] ], "simulated_seconds_remaining": 15.708, "calls_remaining_including_this": 41 }, "api_seconds": 11.808799421414733, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 1.0 }, "note": "Missed again; open and raise for a top-down localization." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13313, 0.03293, 0.18159, -1.66092, -0.04087, 1.68836, 0.29748 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54593, 0.16639, 0.99882 ], "tcp_roll_pitch_yaw": [ 0.01513, -0.07507, 0.00487 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02194, 0.00612 ], [ 0.02214, -0.99916, -0.03444 ], [ 0.00536, 0.03456, -0.99939 ] ], "simulated_seconds_remaining": 14.256, "calls_remaining_including_this": 40 }, "api_seconds": 28.82183316256851, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "z": 0.83, "gripper": 1 }, "note": "Try intermediate x between two failed attempts, same y, at grasp height." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13016, 0.19199, 0.17184, -1.88834, -0.07678, 2.07164, 0.31403 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57967, 0.16635, 0.83115 ], "tcp_roll_pitch_yaw": [ 0.01503, -0.0747, 0.00484 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02192, 0.00574 ], [ 0.02211, -0.99916, -0.03453 ], [ 0.00498, 0.03465, -0.99939 ] ], "simulated_seconds_remaining": 12.804, "calls_remaining_including_this": 39 }, "api_seconds": 9.207980748265982, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51 }, "note": "Shift backward so cup moves into the finger gap lower in the image." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13978, -0.0004, 0.18822, -2.13487, -0.04065, 2.12846, 0.32749 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51121, 0.16641, 0.8312 ], "tcp_roll_pitch_yaw": [ 0.01504, -0.07475, 0.00496 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02204, 0.0058 ], [ 0.02223, -0.99916, -0.03453 ], [ 0.00503, 0.03465, -0.99939 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 38 }, "api_seconds": 3.4032595809549093, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Cup now occluded by fingers, suggesting it is between them; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13978, -0.0004, 0.18822, -2.13487, -0.04065, 2.12846, 0.32749 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51119, 0.16641, 0.8312 ], "tcp_roll_pitch_yaw": [ 0.01504, -0.07475, 0.00496 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02204, 0.0058 ], [ 0.02222, -0.99916, -0.03453 ], [ 0.00503, 0.03465, -0.99939 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 37 }, "api_seconds": 8.406971147283912, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.11, "gripper": 1 }, "note": "Cup appears left of fingers (smaller y); shift right by 0.05 m and reopen." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09039, -0.04491, 0.13611, -2.18885, -0.03431, 2.14198, 0.22297 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.51121, 0.11115, 0.8312 ], "tcp_roll_pitch_yaw": [ 0.01504, -0.07475, 0.00479 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02187, 0.00579 ], [ 0.02206, -0.99916, -0.03453 ], [ 0.00503, 0.03465, -0.99939 ] ], "simulated_seconds_remaining": 10.164, "calls_remaining_including_this": 36 }, "api_seconds": 3.8034631609916687, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Cup now appears centered between the finger prongs; close gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09039, -0.04491, 0.13611, -2.18885, -0.03431, 2.14198, 0.22297 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51121, 0.11114, 0.8312 ], "tcp_roll_pitch_yaw": [ 0.01504, -0.07475, 0.00479 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02187, 0.00579 ], [ 0.02206, -0.99916, -0.03453 ], [ 0.00503, 0.03465, -0.99939 ] ], "simulated_seconds_remaining": 9.24, "calls_remaining_including_this": 35 }, "api_seconds": 9.007598553784192, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.76 }, "note": "Test table height by descending further with gripper open." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09058, 0.05139, 0.1361, -2.26961, -0.05712, 2.31733, 0.24341 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.51114, 0.11112, 0.76093 ], "tcp_roll_pitch_yaw": [ 0.01498, -0.07448, 0.00479 ], "tcp_rotation_matrix": [ [ 0.99975, 0.02187, 0.00552 ], [ 0.02205, -0.99916, -0.03459 ], [ 0.00476, 0.0347, -0.99939 ] ], "simulated_seconds_remaining": 8.316, "calls_remaining_including_this": 34 }, "api_seconds": 5.404607425443828, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Lower height reached with cup visible between fingers; close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.09058, 0.05139, 0.1361, -2.26961, -0.05712, 2.31733, 0.24341 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51114, 0.11112, 0.76093 ], "tcp_roll_pitch_yaw": [ 0.01498, -0.07448, 0.00479 ], "tcp_rotation_matrix": [ [ 0.99975, 0.02187, 0.00553 ], [ 0.02205, -0.99916, -0.03458 ], [ 0.00476, 0.0347, -0.99939 ] ], "simulated_seconds_remaining": 7.392, "calls_remaining_including_this": 33 }, "api_seconds": 15.61250868998468, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Raise with gripper closed to see fingertip position relative to the cup in wrist view for offset calibration." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0901, -0.10233, 0.13418, -2.07553, -0.02315, 1.97208, 0.21067 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51123, 0.11114, 0.89883 ], "tcp_roll_pitch_yaw": [ 0.01505, -0.07484, 0.00479 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02186, 0.00588 ], [ 0.02205, -0.99916, -0.03452 ], [ 0.00512, 0.03464, -0.99939 ] ], "simulated_seconds_remaining": 6.138, "calls_remaining_including_this": 32 }, "api_seconds": 11.609358072280884, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.085, "z": 0.86, "gripper": 1 }, "note": "Using fingertip-vs-cup pixel offset, shift back 0.07 and right 0.03 with gripper open." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0866, -0.29888, 0.11422, -2.38122, -0.00168, 2.08315, 0.17465 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44097, 0.08535, 0.86054 ], "tcp_roll_pitch_yaw": [ 0.01502, -0.07477, 0.00478 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02185, 0.00581 ], [ 0.02204, -0.99916, -0.03455 ], [ 0.00505, 0.03467, -0.99939 ] ], "simulated_seconds_remaining": 5.214, "calls_remaining_including_this": 31 }, "api_seconds": 4.003608734346926, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79, "gripper": 0 }, "note": "Cup sits in the finger gap; descend slightly and close to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.08394, -0.20955, 0.1208, -2.48333, -0.01303, 2.27372, 0.18859 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44091, 0.08534, 0.79137 ], "tcp_roll_pitch_yaw": [ 0.01498, -0.07452, 0.00478 ], "tcp_rotation_matrix": [ [ 0.99975, 0.02186, 0.00556 ], [ 0.02204, -0.99916, -0.03459 ], [ 0.0048, 0.03471, -0.99939 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 30 }, "api_seconds": 8.006073128432035, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74, "gripper": 1 }, "note": "Open and descend much lower in case fingers were passing above the short cup." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0799, -0.11646, 0.12511, -2.53396, -0.03091, 2.41641, 0.20536 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44086, 0.08533, 0.74105 ], "tcp_roll_pitch_yaw": [ 0.01495, -0.07433, 0.00477 ], "tcp_rotation_matrix": [ [ 0.99975, 0.02186, 0.00538 ], [ 0.02203, -0.99916, -0.03462 ], [ 0.00462, 0.03473, -0.99939 ] ], "simulated_seconds_remaining": 3.366, "calls_remaining_including_this": 29 }, "api_seconds": 3.4035101030021906, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at the lower height to grasp the cup body near the table." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0799, -0.11646, 0.12511, -2.53396, -0.03091, 2.41641, 0.20536 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44086, 0.08533, 0.74104 ], "tcp_roll_pitch_yaw": [ 0.01495, -0.07434, 0.00477 ], "tcp_rotation_matrix": [ [ 0.99975, 0.02186, 0.00538 ], [ 0.02203, -0.99916, -0.03462 ], [ 0.00462, 0.03473, -0.99939 ] ], "simulated_seconds_remaining": 2.442, "calls_remaining_including_this": 28 }, "api_seconds": 6.60599610209465, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12, "gripper": 1 }, "note": "Last attempt: open and shift left slightly where the cup edge appeared." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.11169, -0.09446, 0.16503, -2.50743, -0.02888, 2.40978, 0.27546 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44085, 0.1188, 0.74104 ], "tcp_roll_pitch_yaw": [ 0.01494, -0.07434, 0.00486 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02194, 0.00539 ], [ 0.02212, -0.99916, -0.03463 ], [ 0.00462, 0.03474, -0.99939 ] ], "simulated_seconds_remaining": 1.518, "calls_remaining_including_this": 27 }, "api_seconds": 2.8028324339538813, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Final close attempt with remaining time." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.11169, -0.09446, 0.16503, -2.50743, -0.02888, 2.40978, 0.27546 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44085, 0.1188, 0.74104 ], "tcp_roll_pitch_yaw": [ 0.01494, -0.07434, 0.00486 ], "tcp_rotation_matrix": [ [ 0.99974, 0.02194, 0.00539 ], [ 0.02212, -0.99916, -0.03463 ], [ 0.00462, 0.03474, -0.99939 ] ], "simulated_seconds_remaining": 0.594, "calls_remaining_including_this": 26 }, "api_seconds": 4.003872228786349, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Unable to grasp the cup: wrist-camera offset made alignment ambiguous, and all closes were empty. Motion time exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 033 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 33, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "api_calls": 32, "wall_seconds": 432.10905289649963, "usage": { "input_tokens": 64, "cache_creation_input_tokens": 32955, "cache_read_input_tokens": 514137, "output_tokens": 16022 }, "estimated_cost_usd": 0.86390725 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezim5Qn7HudhKs8qgTxz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015ZUXD5qQvK2CKMKVKDDKRN", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 59, "output_tokens_details": { "thinking_tokens": 35 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezimT716HnZ8AAPsxHiE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016D3q7mEXS6FsFZqyaZnmDd", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lower toward the white kettle to get a better view of its position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 495, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 495, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 211, "output_tokens_details": { "thinking_tokens": 117 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezin4Hr4XKi6cAtT3c7R", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PTHjYYrHzaEB9zjVStugpu", "name": "move_to", "input": { "targets": { "y": 0.04 }, "note": "Probe motion: shift left 5cm to learn how kettle moves in wrist image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 705, "cache_read_input_tokens": 2255, "cache_creation": { "ephemeral_5m_input_tokens": 705, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 315, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezinqXREmuerGWbWFgpz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Lbwqymvra4FFXsyJbciEsm", "name": "move_to", "input": { "targets": { "y": -0.08 }, "note": "Larger probe: move right 12cm to disambiguate image axis mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 810, "cache_read_input_tokens": 2960, "cache_creation": { "ephemeral_5m_input_tokens": 810, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 446, "output_tokens_details": { "thinking_tokens": 346 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Ceziqd3AaKtBH3WDUiAAa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016hQncfVN6ZFUVr2aHE9YyN", "name": "move_to", "input": { "targets": { "y": 0.14 }, "note": "Kettle shifts right in wrist image as y decreases; move to y=0.14 to center it." }, "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": 3770, "cache_creation": { "ephemeral_5m_input_tokens": 941, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 579, "output_tokens_details": { "thinking_tokens": 473 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezirVbDG9SHK2X5mByRc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016JdewJNms5BnuNnMzj2Nba", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Kettle centered in wrist view; descend to inspect height." }, "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": 4711, "cache_creation": { "ephemeral_5m_input_tokens": 1074, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 248, "output_tokens_details": { "thinking_tokens": 153 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011Cezis9jebQu5GRm214Lr2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012XxPkF3f4XeNMMDwWz9Za4", "name": "move_to", "input": { "targets": { "x": 0.38 }, "note": "Probe x axis: move forward 6cm to see which image direction corresponds to +x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 743, "cache_read_input_tokens": 5785, "cache_creation": { "ephemeral_5m_input_tokens": 743, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 428, "output_tokens_details": { "thinking_tokens": 325 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezitTTHGF9Q4wckLJ9FZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MNvv11r6iR5gkSwEv1XQbz", "name": "move_to", "input": { "targets": { "y": 0.2 }, "note": "Clean y probe from current pose to confirm horizontal mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 921, "cache_read_input_tokens": 6528, "cache_creation": { "ephemeral_5m_input_tokens": 921, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1060, "output_tokens_details": { "thinking_tokens": 963 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezivDKXfgbCcj9g4axoz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018UnoHvbPeBjgHhaNregfGk", "name": "move_to", "input": { "targets": { "y": 0.1 }, "note": "+y moves kettle left in image; overshot, so come back to y=0.10 to re-center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1554, "cache_read_input_tokens": 7449, "cache_creation": { "ephemeral_5m_input_tokens": 1554, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 482, "output_tokens_details": { "thinking_tokens": 377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CeziwKmWxDhTjJwVxYyJn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R6vpwrLRjq19aTTHhFaoge", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Descend toward kettle to judge grasp height and alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 974, "cache_read_input_tokens": 9003, "cache_creation": { "ephemeral_5m_input_tokens": 974, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 308, "output_tokens_details": { "thinking_tokens": 213 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezixhzWFa74yxG7fqQBs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SEZrFpxZuy1JJeXLXKoMSt", "name": "move_to", "input": { "targets": { "x": 0.38, "y": 0.1, "z": 0.72, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Re-command exact pose with level orientation, descending to 0.72." }, "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": 9977, "cache_creation": { "ephemeral_5m_input_tokens": 807, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 268, "output_tokens_details": { "thinking_tokens": 132 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CeziyPDRzX43fJf7NqCmF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NMKyqWuQc5UH2Ji11LuJpn", "name": "move_to", "input": { "targets": { "z": 0.88, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Stuck/contact suspected; retreat up to 0.88 and re-level orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 762, "cache_read_input_tokens": 10784, "cache_creation": { "ephemeral_5m_input_tokens": 762, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 511, "output_tokens_details": { "thinking_tokens": 384 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezizLYjMjGSkNJJibVf4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WHRgEgdEH3JXs3hcVUPVg6", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Descend again to contact height 0.76 to attempt grasp around kettle handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1006, "cache_read_input_tokens": 11546, "cache_creation": { "ephemeral_5m_input_tokens": 1006, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 826, "output_tokens_details": { "thinking_tokens": 724 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezj1XXnyg2K4vs55xGcG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DDW5aaPSALnqHoNW2wGKdH", "name": "move_to", "input": { "targets": { "z": 0.8, "x": 0.42 }, "note": "Test whether kettle is ahead (+x): move forward at z=0.80 and see if blocked." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1320, "cache_read_input_tokens": 12552, "cache_creation": { "ephemeral_5m_input_tokens": 1320, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 873, "output_tokens_details": { "thinking_tokens": 758 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezj32SP4aDpuGMd3RC4X", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Fpgrt3UnTszPKNf3M5D1qE", "name": "move_to", "input": { "targets": { "x": 0.333, "y": 0.075, "z": 0.85 }, "note": "Using mapping (image down=+x, right=+y), align finger gap over kettle: move to x=0.333,y=0.075 at safe height 0.85." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1368, "cache_read_input_tokens": 13872, "cache_creation": { "ephemeral_5m_input_tokens": 1368, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1628, "output_tokens_details": { "thinking_tokens": 1487 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezj57DRZ4ySDtCRRWRch", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K9HCdyuFiiFubSMuvpYTw5", "name": "move_to", "input": { "targets": { "x": 0.31, "z": 0.8 }, "note": "Nudge back 2cm to place kettle in finger gap and descend to 0.80." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2129, "cache_read_input_tokens": 15240, "cache_creation": { "ephemeral_5m_input_tokens": 2129, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 251, "output_tokens_details": { "thinking_tokens": 140 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezj5rc8iMpXH59RtQLmL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E2DSTduVQPx24LLHTs3o8A", "name": "move_to", "input": { "targets": { "z": 0.74 }, "note": "Descend to 0.74 to check for contact/table height at this x,y." }, "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": 17369, "cache_creation": { "ephemeral_5m_input_tokens": 746, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 279, "output_tokens_details": { "thinking_tokens": 181 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezj6mKfPn95FjmmrFgRE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T6wPHSj7oXFkQe3f2o2pxF", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.096, "z": 0.79 }, "note": "Return above kettle (blocked descent location) to attempt grasping its handle/lid." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 774, "cache_read_input_tokens": 18115, "cache_creation": { "ephemeral_5m_input_tokens": 774, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 828, "output_tokens_details": { "thinking_tokens": 709 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezj7ta11Au4SBD54vdy9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011aYajnHntbXndLCpPYs6zW", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Descend to contact height over kettle top 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": 1323, "cache_read_input_tokens": 18889, "cache_creation": { "ephemeral_5m_input_tokens": 1323, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 170, "output_tokens_details": { "thinking_tokens": 79 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezj8L4vKba2jRUH5c9S2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RCDAvvFTkBxVgt85zKw1gY", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Continue descending; find contact height with kettle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 665, "cache_read_input_tokens": 20212, "cache_creation": { "ephemeral_5m_input_tokens": 665, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 141, "output_tokens_details": { "thinking_tokens": 51 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezj8kKCHg3uCEbtdSoj8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LKVMREdAZUX4Nfe1FBoSPS", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at contact height to try grasping the kettle handle/lid." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 641, "cache_read_input_tokens": 20877, "cache_creation": { "ephemeral_5m_input_tokens": 641, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 246, "output_tokens_details": { "thinking_tokens": 147 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezj9FU8beiGH2XW8ojPK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GnVCfw7JFd7mAp8RxEAiVN", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Empty close; open gripper and rise for a clearer top view of the kettle features." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 21518, "cache_creation": { "ephemeral_5m_input_tokens": 741, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 655, "output_tokens_details": { "thinking_tokens": 546 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezjAD62jkG5a2tkjeDwJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ae6d3MRUrAY46v9CcWuGqY", "name": "move_to", "input": { "targets": { "x": 0.4, "z": 0.9 }, "note": "Blue handle appears below image center (=+x); move forward to x=0.40 for a clearer look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1151, "cache_read_input_tokens": 22259, "cache_creation": { "ephemeral_5m_input_tokens": 1151, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 711, "output_tokens_details": { "thinking_tokens": 596 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezjBHGaU1fmeSRF4qGky", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018aVSuRU7Ur8TCNcGCkrnHG", "name": "move_to", "input": { "targets": { "x": 0.46, "y": 0.114, "z": 0.87, "yaw": 1.57 }, "note": "Align above the blue handle strap and rotate 90° so fingers close across the strap." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1207, "cache_read_input_tokens": 23410, "cache_creation": { "ephemeral_5m_input_tokens": 1207, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1375, "output_tokens_details": { "thinking_tokens": 1247 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezjD822WXHcU4qvo3wqZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SswGitNjtgY8kCZrtLz9mU", "name": "move_to", "input": { "targets": { "x": 0.349, "y": 0.095, "z": 0.79 }, "note": "Return to previously verified spot directly above kettle top, now with fingers rotated 90° to catch 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": 1874, "cache_read_input_tokens": 24617, "cache_creation": { "ephemeral_5m_input_tokens": 1874, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1090, "output_tokens_details": { "thinking_tokens": 962 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezjEa4i5FNtCoYNpbPHJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E1W6WMQJHgpcwrU2Kw6AdA", "name": "move_to", "input": { "targets": { "x": 0.43 }, "note": "Blue handle appears left in rotated wrist view (=+x); move forward to x=0.43 to center it 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": 1589, "cache_read_input_tokens": 26491, "cache_creation": { "ephemeral_5m_input_tokens": 1589, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 655, "output_tokens_details": { "thinking_tokens": 541 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezjFdPfLt4u12GiFckgx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019f3Pvssa4k3Se1d7cxVr1R", "name": "move_to", "input": { "targets": { "z": 0.762 }, "note": "Handle centered under fingers; descend to 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": 1153, "cache_read_input_tokens": 28080, "cache_creation": { "ephemeral_5m_input_tokens": 1153, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 428, "output_tokens_details": { "thinking_tokens": 336 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezjGQFB2ziVza584DDr1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UD9AxcWuq4jb1Wfzt1k2vR", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on the kettle handle at contact height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 920, "cache_read_input_tokens": 29233, "cache_creation": { "ephemeral_5m_input_tokens": 920, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 184, "output_tokens_details": { "thinking_tokens": 92 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezjGvqSCkoAt54vCgxPt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R1N4ZWfQ6xdnYybz4oPuRW", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Lift to check if the kettle is grasped." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 677, "cache_read_input_tokens": 30153, "cache_creation": { "ephemeral_5m_input_tokens": 677, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 203, "output_tokens_details": { "thinking_tokens": 113 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezjHRsBJMUkgXiwvCPRX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hh442hGny5BcFGJje3WZGv", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.785, "x": 0.45 }, "note": "Last attempt: open and drop back onto the handle, slightly back in x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 694, "cache_read_input_tokens": 30830, "cache_creation": { "ephemeral_5m_input_tokens": 694, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 351, "output_tokens_details": { "thinking_tokens": 236 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezjJ5aKrjuCa5WJoQyum", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01GmwTESpeTpTraMuvZawyZ1", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on the handle for a final grasp 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": 844, "cache_read_input_tokens": 31524, "cache_creation": { "ephemeral_5m_input_tokens": 844, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 95, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezjJSRgk38g4NaX8aSjT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QCxXxEzrqRWA9XWLuBemJe", "name": "give_up", "input": { "note": "Could not localize the kettle handle precisely enough; gripper closed empty twice 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": 587, "cache_read_input_tokens": 32368, "cache_creation": { "ephemeral_5m_input_tokens": 587, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 118, "output_tokens_details": { "thinking_tokens": 36 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.02999, -0.75677, 0.00591, -2.37585, -0.01458, 1.61232, 0.04077 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3166, -0.01154, 1.00071 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99781, -0.06571, -0.00724 ], [ -0.06584, -0.99766, -0.01844 ], [ -0.00602, 0.01887, -0.9998 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.211380990222096, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lower toward the white kettle to get a better view of its position." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.02961, -0.76995, 0.0058, -2.63785, -0.01522, 1.86082, 0.04477 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31655, -0.01155, 0.9012 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00029, 0.0 ], "tcp_rotation_matrix": [ [ 0.99781, -0.06571, -0.00753 ], [ -0.06584, -0.99766, -0.01844 ], [ -0.0063, 0.01889, -0.9998 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 56 }, "api_seconds": 10.408470218069851, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04 }, "note": "Probe motion: shift left 5cm to learn how kettle moves in wrist image." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.02337, -0.76274, 0.09249, -2.63057, 0.0481, 1.86048, 0.14175 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31656, 0.03884, 0.90121 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00027, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99782, -0.06555, -0.00751 ], [ -0.06568, -0.99767, -0.01851 ], [ -0.00628, 0.01896, -0.9998 ] ], "simulated_seconds_remaining": 28.38, "calls_remaining_including_this": 55 }, "api_seconds": 10.008248750120401, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08 }, "note": "Larger probe: move right 12cm to disambiguate image axis mapping." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.09875, -0.74347, -0.10921, -2.61895, -0.09775, 1.87296, -0.08393 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31657, -0.07875, 0.90121 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00026, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99781, -0.06572, -0.00751 ], [ -0.06585, -0.99766, -0.01843 ], [ -0.00628, 0.01888, -0.9998 ] ], "simulated_seconds_remaining": 27.258, "calls_remaining_including_this": 54 }, "api_seconds": 38.82688411138952, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.14 }, "note": "Kettle shifts right in wrist image as y decreases; move to y=0.14 to center it." } } } ] } } ] }, "execution": { "steps": 27, "motion_seconds": 1.782, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.11129, -0.68409, 0.26226, -2.56342, 0.1568, 1.8797, 0.33202 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31658, 0.1387, 0.90121 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00024, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99782, -0.06555, -0.00749 ], [ -0.06568, -0.99767, -0.0185 ], [ -0.00625, 0.01895, -0.9998 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 53 }, "api_seconds": 8.609249196946621, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Kettle centered in wrist view; descend to inspect height." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.11808, -0.58177, 0.30772, -2.75687, 0.18595, 2.17454, 0.33462 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31652, 0.13867, 0.8012 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00057, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99782, -0.06555, -0.00781 ], [ -0.06569, -0.99767, -0.0186 ], [ -0.00657, 0.01907, -0.9998 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 52 }, "api_seconds": 17.428329339250922, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38 }, "note": "Probe x axis: move forward 6cm to see which image direction corresponds to +x." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.05125, -0.37591, 0.30592, -2.59531, 0.12023, 2.21954, 0.3276 ], "gripper_open": 1.0, "tcp_xyz": [ 0.37876, 0.13953, 0.80207 ], "tcp_roll_pitch_yaw": [ 0.00018, -0.00064, 0.00109 ], "tcp_rotation_matrix": [ [ 0.99789, -0.06464, -0.00659 ], [ -0.06475, -0.99773, -0.01827 ], [ -0.00539, 0.01866, -0.99981 ] ], "simulated_seconds_remaining": 23.76, "calls_remaining_including_this": 51 }, "api_seconds": 23.617370391264558, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Clean y probe from current pose to confirm horizontal mapping." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.09014, -0.30413, 0.39308, -2.52158, 0.12774, 2.22126, 0.45226 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37876, 0.19884, 0.80207 ], "tcp_roll_pitch_yaw": [ 0.00014, -0.00066, 0.00129 ], "tcp_rotation_matrix": [ [ 0.9979, -0.06444, -0.00656 ], [ -0.06455, -0.99775, -0.0183 ], [ -0.00537, 0.01869, -0.99981 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 50 }, "api_seconds": 14.811081646941602, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "+y moves kettle left in image; overshot, so come back to y=0.10 to re-center." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.02275, -0.41609, 0.25209, -2.62321, 0.10512, 2.21826, 0.25031 ], "gripper_open": 1.0, "tcp_xyz": [ 0.38168, 0.10508, 0.80746 ], "tcp_roll_pitch_yaw": [ 0.00227, -0.01344, 0.00637 ], "tcp_rotation_matrix": [ [ 0.9982, -0.05957, 0.0063 ], [ -0.05947, -0.9981, -0.01613 ], [ 0.00725, 0.01573, -0.99985 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 49 }, "api_seconds": 18.215047457255423, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Descend toward kettle to judge grasp height and alignment." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01561, -0.40469, 0.29135, -2.69842, 0.08262, 2.22023, 0.28392 ], "gripper_open": 1.0, "tcp_xyz": [ 0.34711, 0.09807, 0.77032 ], "tcp_roll_pitch_yaw": [ -0.05078, 0.06363, 0.00664 ], "tcp_rotation_matrix": [ [ 0.99604, -0.05455, -0.0702 ], [ -0.05944, -0.9958, -0.06963 ], [ -0.06611, 0.07352, -0.9951 ] ], "simulated_seconds_remaining": 21.252, "calls_remaining_including_this": 48 }, "api_seconds": 9.007985579781234, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.38, "y": 0.1, "z": 0.72, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Re-command exact pose with level orientation, descending to 0.72." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.00309, -0.40557, 0.29782, -2.69571, 0.08865, 2.21183, 0.27749 ], "gripper_open": 1.0, "tcp_xyz": [ 0.34665, 0.0963, 0.77088 ], "tcp_roll_pitch_yaw": [ -0.04947, 0.06953, 0.00237 ], "tcp_rotation_matrix": [ [ 0.99536, -0.05846, -0.07638 ], [ -0.0637, -0.99565, -0.06804 ], [ -0.07207, 0.07259, -0.99476 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 47 }, "api_seconds": 12.610183578915894, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88, "roll": 0, "pitch": 0, "yaw": 0 }, "note": "Stuck/contact suspected; retreat up to 0.88 and re-level orientation." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.02191, -0.61432, 0.2301, -2.58017, 0.12445, 1.96398, 0.2275 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34673, 0.09632, 0.87882 ], "tcp_roll_pitch_yaw": [ -0.00054, 0.00052, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99781, -0.06567, -0.00776 ], [ -0.06581, -0.99765, -0.01897 ], [ -0.0065, 0.01944, -0.99979 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 46 }, "api_seconds": 15.8120918571949, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Descend again to contact height 0.76 to attempt grasp around kettle handle." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01788, -0.46462, 0.27263, -2.76036, 0.13489, 2.29659, 0.24233 ], "gripper_open": 1.0, "tcp_xyz": [ 0.34852, 0.09531, 0.77199 ], "tcp_roll_pitch_yaw": [ -0.00352, -0.00345, -0.00456 ], "tcp_rotation_matrix": [ [ 0.99752, -0.07033, -0.00389 ], [ -0.0704, -0.99728, -0.02193 ], [ -0.00234, 0.02215, -0.99975 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 45 }, "api_seconds": 20.014690168201923, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "x": 0.42 }, "note": "Test whether kettle is ahead (+x): move forward at z=0.80 and see if blocked." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.03897, -0.29444, 0.26358, -2.52244, 0.06602, 2.17061, 0.24891 ], "gripper_open": 1.0, "tcp_xyz": [ 0.4037, 0.09009, 0.79924 ], "tcp_roll_pitch_yaw": [ -0.0168, 0.0523, -0.01178 ], "tcp_rotation_matrix": [ [ 0.99535, -0.07551, -0.05989 ], [ -0.07766, -0.99638, -0.03452 ], [ -0.05707, 0.03901, -0.99761 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 44 }, "api_seconds": 27.823021288961172, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.333, "y": 0.075, "z": 0.85 }, "note": "Using mapping (image down=+x, right=+y), align finger gap over kettle: move to x=0.333,y=0.075 at safe height 0.85." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00476, -0.60186, 0.22116, -2.63969, 0.11004, 1.98186, 0.20378 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.33416, 0.07524, 0.8493 ], "tcp_roll_pitch_yaw": [ -0.01682, 0.05204, -0.01177 ], "tcp_rotation_matrix": [ [ 0.99536, -0.0755, -0.05963 ], [ -0.07765, -0.99638, -0.03455 ], [ -0.05681, 0.03902, -0.99762 ] ], "simulated_seconds_remaining": 16.698, "calls_remaining_including_this": 43 }, "api_seconds": 10.008189686574042, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.31, "z": 0.8 }, "note": "Nudge back 2cm to place kettle in finger gap and descend to 0.80." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01584, -0.62605, 0.23717, -2.78532, 0.13515, 2.10244, 0.20875 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3105, 0.07524, 0.80108 ], "tcp_roll_pitch_yaw": [ -0.01687, 0.05227, -0.01175 ], "tcp_rotation_matrix": [ [ 0.99535, -0.07547, -0.05986 ], [ -0.07762, -0.99638, -0.0346 ], [ -0.05703, 0.03908, -0.99761 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 42 }, "api_seconds": 12.210364801809192, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74 }, "note": "Descend to 0.74 to check for contact/table height at this x,y." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.01196, -0.49979, 0.26397, -2.86853, 0.14389, 2.31103, 0.21642 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31042, 0.07522, 0.74114 ], "tcp_roll_pitch_yaw": [ -0.01692, 0.05261, -0.01176 ], "tcp_rotation_matrix": [ [ 0.99533, -0.07547, -0.0602 ], [ -0.07764, -0.99638, -0.03465 ], [ -0.05737, 0.03916, -0.99758 ] ], "simulated_seconds_remaining": 15.312, "calls_remaining_including_this": 41 }, "api_seconds": 15.011994743719697, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.096, "z": 0.79 }, "note": "Return above kettle (blocked descent location) to attempt grasping its handle/lid." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.00125, -0.45066, 0.2774, -2.68574, 0.12293, 2.17949, 0.25095 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34929, 0.09561, 0.78908 ], "tcp_roll_pitch_yaw": [ -0.01686, 0.0524, -0.01174 ], "tcp_rotation_matrix": [ [ 0.99534, -0.07545, -0.05999 ], [ -0.07762, -0.99638, -0.03459 ], [ -0.05716, 0.03909, -0.9976 ] ], "simulated_seconds_remaining": 14.586, "calls_remaining_including_this": 40 }, "api_seconds": 5.805099809542298, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Descend to contact height over kettle top before closing." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00232, -0.39602, 0.289, -2.7217, 0.12064, 2.26934, 0.25748 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.34921, 0.09559, 0.76118 ], "tcp_roll_pitch_yaw": [ -0.01692, 0.0527, -0.01175 ], "tcp_rotation_matrix": [ [ 0.99532, -0.07545, -0.06029 ], [ -0.07763, -0.99638, -0.03464 ], [ -0.05746, 0.03916, -0.99758 ] ], "simulated_seconds_remaining": 14.124, "calls_remaining_including_this": 39 }, "api_seconds": 5.40472876932472, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Continue descending; find contact height with kettle." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00786, -0.4081, 0.30941, -2.74274, 0.10813, 2.3016, 0.27633 ], "gripper_open": 1.0, "tcp_xyz": [ 0.34916, 0.09535, 0.75859 ], "tcp_roll_pitch_yaw": [ -0.03392, 0.02671, -0.01064 ], "tcp_rotation_matrix": [ [ 0.9966, -0.07488, -0.03447 ], [ -0.07661, -0.99571, -0.05197 ], [ -0.03043, 0.05444, -0.99805 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 38 }, "api_seconds": 6.604896851815283, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at contact height to try grasping the kettle handle/lid." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.00786, -0.40811, 0.30941, -2.74274, 0.10813, 2.30159, 0.27633 ], "gripper_open": 0.0, "tcp_xyz": [ 0.34916, 0.09534, 0.75859 ], "tcp_roll_pitch_yaw": [ -0.03393, 0.0267, -0.01064 ], "tcp_rotation_matrix": [ [ 0.9966, -0.07488, -0.03446 ], [ -0.07661, -0.99571, -0.05198 ], [ -0.03042, 0.05444, -0.99805 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 37 }, "api_seconds": 12.609870522283018, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Empty close; open gripper and rise for a clearer top view of the kettle features." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.0065, -0.60676, 0.23884, -2.38685, 0.09214, 1.74918, 0.2455 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34923, 0.09537, 0.94875 ], "tcp_roll_pitch_yaw": [ -0.03386, 0.0264, -0.01063 ], "tcp_rotation_matrix": [ [ 0.99661, -0.07489, -0.03416 ], [ -0.0766, -0.99571, -0.05192 ], [ -0.03012, 0.05436, -0.99807 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 36 }, "api_seconds": 14.211119068786502, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "z": 0.9 }, "note": "Blue handle appears below image center (=+x); move forward to x=0.40 for a clearer look." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the kettle.", "joint_positions": [ -0.03264, -0.43123, 0.2576, -2.37446, 0.06642, 1.91086, 0.25229 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39908, 0.09534, 0.90077 ], "tcp_roll_pitch_yaw": [ -0.03389, 0.02668, -0.01069 ], "tcp_rotation_matrix": [ [ 0.99659, -0.07493, -0.03444 ], [ -0.07666, -0.9957, -0.05194 ], [ -0.0304, 0.0544, -0.99806 ] ], "simulated_seconds_remaining": 10.23, "calls_remaining_including_this": 35 }, "api_seconds": 24.417898445390165, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "y": 0.114, "z": 0.87, "yaw": 1.57 }, "note": "Align above the blue handle strap and rotate 90° so fingers close across the strap." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.18089, -0.26143, 0.07801, -2.33118, -0.03047, 2.11205, -1.22822 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45982, 0.11394, 0.87007 ], "tcp_roll_pitch_yaw": [ -0.03384, 0.02665, 1.56522 ], "tcp_rotation_matrix": [ [ 0.07156, 0.99608, 0.05207 ], [ 0.99697, -0.06984, -0.03415 ], [ -0.03038, 0.05435, -0.99806 ] ], "simulated_seconds_remaining": 7.854, "calls_remaining_including_this": 34 }, "api_seconds": 19.415313184261322, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.349, "y": 0.095, "z": 0.79 }, "note": "Return to previously verified spot directly above kettle top, now with fingers rotated 90° to catch the handle bar." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.20656, -0.52084, 0.0871, -2.77611, -0.00543, 2.29728, -1.21345 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35006, 0.09519, 0.79076 ], "tcp_roll_pitch_yaw": [ -0.03371, 0.02671, 1.56527 ], "tcp_rotation_matrix": [ [ 0.07152, 0.99609, 0.05193 ], [ 0.99697, -0.0698, -0.0342 ], [ -0.03044, 0.05422, -0.99806 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 33 }, "api_seconds": 14.012948790565133, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.43 }, "note": "Blue handle appears left in rotated wrist view (=+x); move forward to x=0.43 to center it between fingers." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.17353, -0.27101, 0.0709, -2.54754, -0.03803, 2.33653, -1.23993 ], "gripper_open": 1.0, "tcp_xyz": [ 0.43296, 0.09953, 0.79693 ], "tcp_roll_pitch_yaw": [ -0.05056, 0.02367, 1.57309 ], "tcp_rotation_matrix": [ [ 0.06377, 0.99558, 0.06901 ], [ 0.99762, -0.06177, -0.0307 ], [ -0.0263, 0.0708, -0.99714 ] ], "simulated_seconds_remaining": 5.808, "calls_remaining_including_this": 32 }, "api_seconds": 10.20864355750382, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.762 }, "note": "Handle centered under fingers; descend to handle height." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.17505, -0.21659, 0.07965, -2.5753, -0.04798, 2.53605, -1.23044 ], "gripper_open": 1.0, "tcp_xyz": [ 0.46119, 0.11305, 0.78279 ], "tcp_roll_pitch_yaw": [ -0.16423, -0.00543, 1.58875 ], "tcp_rotation_matrix": [ [ 0.04801, 0.98219, 0.18165 ], [ 0.99879, -0.04907, 0.00136 ], [ 0.01025, 0.18137, -0.98336 ] ], "simulated_seconds_remaining": 5.28, "calls_remaining_including_this": 31 }, "api_seconds": 6.605571884661913, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on the kettle handle at contact height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.17569, -0.22108, 0.08034, -2.56902, -0.04803, 2.5397, -1.23052 ], "gripper_open": 0.0108, "tcp_xyz": [ 0.46519, 0.11478, 0.78833 ], "tcp_roll_pitch_yaw": [ -0.17832, -0.00837, 1.59057 ], "tcp_rotation_matrix": [ [ 0.04612, 0.97963, 0.19543 ], [ 0.99884, -0.04798, 0.00483 ], [ 0.01411, 0.19498, -0.98071 ] ], "simulated_seconds_remaining": 4.356, "calls_remaining_including_this": 30 }, "api_seconds": 6.6055613132193685, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Lift to check if the kettle is grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.18552, -0.39167, 0.06832, -2.34604, -0.0213, 2.14726, -1.26219 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46527, 0.1148, 0.9288 ], "tcp_roll_pitch_yaw": [ -0.17867, -0.00845, 1.59058 ], "tcp_rotation_matrix": [ [ 0.04611, 0.97957, 0.19577 ], [ 0.99884, -0.048, 0.00491 ], [ 0.01421, 0.19531, -0.98064 ] ], "simulated_seconds_remaining": 3.102, "calls_remaining_including_this": 29 }, "api_seconds": 8.607556980103254, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.785, "x": 0.45 }, "note": "Last attempt: open and drop back onto the handle, slightly back in x." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.17973, -0.2615, 0.08585, -2.61612, -0.04344, 2.54628, -1.22483 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45006, 0.11477, 0.78621 ], "tcp_roll_pitch_yaw": [ -0.1783, -0.00834, 1.59057 ], "tcp_rotation_matrix": [ [ 0.04612, 0.97964, 0.19541 ], [ 0.99884, -0.04798, 0.0048 ], [ 0.01408, 0.19496, -0.98071 ] ], "simulated_seconds_remaining": 1.848, "calls_remaining_including_this": 28 }, "api_seconds": 4.604521200992167, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on the handle for a final grasp attempt with remaining time." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the kettle.", "joint_positions": [ 0.17973, -0.2615, 0.08585, -2.61612, -0.04344, 2.54628, -1.22483 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45006, 0.11477, 0.7862 ], "tcp_roll_pitch_yaw": [ -0.1783, -0.00835, 1.59057 ], "tcp_rotation_matrix": [ [ 0.04612, 0.97964, 0.19541 ], [ 0.99884, -0.04798, 0.00481 ], [ 0.01408, 0.19496, -0.98071 ] ], "simulated_seconds_remaining": 0.924, "calls_remaining_including_this": 27 }, "api_seconds": 6.806515004485846, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not localize the kettle handle precisely enough; gripper closed empty twice and simulated time is exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 034 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 34, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 27, "api_calls": 28, "wall_seconds": 266.7270152568817, "usage": { "input_tokens": 56, "cache_creation_input_tokens": 29338, "cache_read_input_tokens": 384969, "output_tokens": 14443 }, "estimated_cost_usd": 0.737202 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CeznWs2EJMaJ2Bp56Yjo9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QJZAqJGQBb9DPL43JC6w3y", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 82, "output_tokens_details": { "thinking_tokens": 58 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CeznX45jWdJXdJGqaPjRm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PEaKDiqUwCgcHsYbfh5Q2s", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lowering toward the white pepper shaker seen below 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": 515, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 515, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 171, "output_tokens_details": { "thinking_tokens": 74 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CeznXM6S3uuqjKMWqEnUy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014UTSgSSgMGyQv86bnyFyRm", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Continue lowering to gauge object position relative to fingers." }, "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": 2272, "cache_creation": { "ephemeral_5m_input_tokens": 661, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 249, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CeznXhMprT9DvaqnDn7gM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FPLQiPWge1kgGVpksKUQVE", "name": "move_to", "input": { "targets": { "z": 0.81 }, "note": "Lower further toward table to approach the object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 741, "cache_read_input_tokens": 2933, "cache_creation": { "ephemeral_5m_input_tokens": 741, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 218, "output_tokens_details": { "thinking_tokens": 130 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CeznY2aEgRry5S28uXTv2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X8DbVUbXEHTfuTV265mHFn", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Approach table height; object seems near fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 711, "cache_read_input_tokens": 3674, "cache_creation": { "ephemeral_5m_input_tokens": 711, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 257, "output_tokens_details": { "thinking_tokens": 168 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CeznYPstJR9UoQbiBTpNp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PDWksvFk86xdC5C9L4tuNp", "name": "move_to", "input": { "targets": { "z": 0.9, "x": 0.28 }, "note": "Raise and move slightly back since object appears at bottom of wrist view (nearer robot)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 749, "cache_read_input_tokens": 4385, "cache_creation": { "ephemeral_5m_input_tokens": 749, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 350, "output_tokens_details": { "thinking_tokens": 238 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CeznYsPrMQjZRxQpr6VA6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013yujadyTnSi7x14Q6NXNAx", "name": "move_to", "input": { "targets": { "y": 0.04 }, "note": "Test lateral move to calibrate how the white object shifts 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": 842, "cache_read_input_tokens": 5134, "cache_creation": { "ephemeral_5m_input_tokens": 842, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 254, "output_tokens_details": { "thinking_tokens": 154 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CeznZC6W6fj7KiuyhxayD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012iwb5VPo5xvzykAnCfxNLq", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15 }, "note": "Raise high to get a wide wrist view of the table and locate the pepper shaker." }, "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": 5976, "cache_creation": { "ephemeral_5m_input_tokens": 746, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 468, "output_tokens_details": { "thinking_tokens": 350 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CeznaAXWyhttMLrUufdxx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0194AUW2nRvkjPA1Jiifr6Rv", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Descend to see how the small white object (candidate shaker) shifts 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": 965, "cache_read_input_tokens": 6722, "cache_creation": { "ephemeral_5m_input_tokens": 965, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 596, "output_tokens_details": { "thinking_tokens": 494 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Ceznaxx2dRqBgZQGHbfdJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016xwcdF8Px9zRMrwdTGd5Li", "name": "move_to", "input": { "targets": { "x": 0.31, "y": -0.03, "z": 0.85 }, "note": "Return to close-approach pose over the large white object to inspect alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1088, "cache_read_input_tokens": 7687, "cache_creation": { "ephemeral_5m_input_tokens": 1088, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1205, "output_tokens_details": { "thinking_tokens": 1092 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezncRftpcXjNqb6fvJnK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TNCnckP6L99e3HXhtF8tMG", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Lower to grasp height over the white object." }, "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": 8775, "cache_creation": { "ephemeral_5m_input_tokens": 1703, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 248, "output_tokens_details": { "thinking_tokens": 160 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezncohxyq183CuaPcwT7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0139YHPfyq3GRTfmJvBeYY3f", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current position." }, "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": 10478, "cache_creation": { "ephemeral_5m_input_tokens": 739, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 214, "output_tokens_details": { "thinking_tokens": 128 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Ceznd8LPUMPkViHZthSeL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Seniw2j2bc2Re6WRzD9zf1", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.87, "y": -0.07 }, "note": "Grasp missed (gripper fully closed). Object appears left in wrist image; shifting -y and raising to re-align." }, "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": 11217, "cache_creation": { "ephemeral_5m_input_tokens": 706, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 888, "output_tokens_details": { "thinking_tokens": 758 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezneHR7Mkz2hnRvQ144D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GadUXDeeUK5tX4Tr2GWtcm", "name": "move_to", "input": { "targets": { "z": 0.81 }, "note": "Descend at new y to check finger alignment with the object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1381, "cache_read_input_tokens": 11923, "cache_creation": { "ephemeral_5m_input_tokens": 1381, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 352, "output_tokens_details": { "thinking_tokens": 260 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Ceznes4Bj7mvzuK6m5Cqj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019ji7JXNEHDhTUStcm2P2n7", "name": "move_to", "input": { "targets": { "x": 0.33, "gripper": 0 }, "note": "Object sits slightly forward of finger tips; nudging +x and closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 845, "cache_read_input_tokens": 13304, "cache_creation": { "ephemeral_5m_input_tokens": 845, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 570, "output_tokens_details": { "thinking_tokens": 459 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Ceznfd3bSsWdJGKZTwUF7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013JCHw6iFBtBx72PwCyEdCT", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.24, "y": -0.03, "z": 1.0 }, "note": "Back off and up to get a clearer wide wrist view of the objects on the table." }, "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": 14149, "cache_creation": { "ephemeral_5m_input_tokens": 1062, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 972, "output_tokens_details": { "thinking_tokens": 848 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezngrHMF7CvfftqKpHwp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VGzwLf6oenZ9nUdFoMRhK3", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15 }, "note": "Return to the high pose where the small shaker was visible in wrist view for calibration." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1470, "cache_read_input_tokens": 15211, "cache_creation": { "ephemeral_5m_input_tokens": 1470, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1752, "output_tokens_details": { "thinking_tokens": 1635 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Ceznj1BCmMTaLnUsVfmrN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UZkrzqLYxKRsWnVSujzuTY", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Lateral calibration move: shift +y 0.05 and watch the small shaker's pixel shift 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": 2245, "cache_read_input_tokens": 16681, "cache_creation": { "ephemeral_5m_input_tokens": 2245, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 236, "output_tokens_details": { "thinking_tokens": 123 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CeznjPF18CHvEgi7HcYfj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gi3QvoY4Zay6DSdMBtxt43", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.0 }, "note": "Forward calibration move: +0.07 in x to measure the shaker's vertical pixel shift." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 729, "cache_read_input_tokens": 18926, "cache_creation": { "ephemeral_5m_input_tokens": 729, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1107, "output_tokens_details": { "thinking_tokens": 992 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CeznkjVBd2n4SQmTczLjz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FpB3Zydqf8rTxRGvzwuKzc", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.01, "z": 0.84 }, "note": "Move to estimated position above the shaker (y~+0.01) at pre-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": 1605, "cache_read_input_tokens": 19655, "cache_creation": { "ephemeral_5m_input_tokens": 1605, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1647, "output_tokens_details": { "thinking_tokens": 1527 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CeznnmKd5CdUNGbgsYrN4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0159U3vBb4VtT9vNkLLPKuwM", "name": "move_to", "input": { "targets": { "z": 0.8, "gripper": 0 }, "note": "Descend and close gripper at the estimated shaker location." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2145, "cache_read_input_tokens": 21260, "cache_creation": { "ephemeral_5m_input_tokens": 2145, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 324, "output_tokens_details": { "thinking_tokens": 223 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CeznoEUGEfsbF2wksZPv4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LEMA99byW7L78wkrA9DSEB", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.4, "y": -0.02, "z": 0.81 }, "note": "Object consistently appears forward of the finger tips; move +x to 0.40 with gripper open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 816, "cache_read_input_tokens": 23405, "cache_creation": { "ephemeral_5m_input_tokens": 816, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 671, "output_tokens_details": { "thinking_tokens": 541 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Ceznp28PnG7npK7dRRmHh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017N58tw5pjeJamBQTUKNENW", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at x=0.40 where fingers appear to straddle the object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1163, "cache_read_input_tokens": 24221, "cache_creation": { "ephemeral_5m_input_tokens": 1163, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 204, "output_tokens_details": { "thinking_tokens": 104 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CeznpN1U6rk5jEanup1Jw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GDCzpxCKD7Pq3hdQwFmF5S", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.73 }, "note": "Try a lower grasp height in case the object is lower than assumed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 695, "cache_read_input_tokens": 25384, "cache_creation": { "ephemeral_5m_input_tokens": 695, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 613, "output_tokens_details": { "thinking_tokens": 509 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CeznqBg8p8QJNNJgX6Sm7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016Aa4WGJF9voVJJJWAyHq3s", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at lower height where object fills 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": 1104, "cache_read_input_tokens": 26079, "cache_creation": { "ephemeral_5m_input_tokens": 1104, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 209, "output_tokens_details": { "thinking_tokens": 118 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CeznqYazfvjqa8YZ4i8iT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L64tPgXbe4Sv4Fj3xiSbKi", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.37, "y": 0.04, "z": 0.78 }, "note": "Last attempt: shift left/back where the shaker appeared 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": 700, "cache_read_input_tokens": 27183, "cache_creation": { "ephemeral_5m_input_tokens": 700, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 196 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Ceznr2SoE28LxAdeUX3Hy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018gV5wEo1xDCS1A4bZkA4zk", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.9 }, "note": "Close and lift in final attempt." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 812, "cache_read_input_tokens": 27883, "cache_creation": { "ephemeral_5m_input_tokens": 812, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 153, "output_tokens_details": { "thinking_tokens": 59 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CeznrKyVH1eDRvUMS6697", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HXkfizbaky151qiKaxMmdB", "name": "give_up", "input": { "note": "Could not localize the pepper shaker reliably; repeated 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": 643, "cache_read_input_tokens": 28695, "cache_creation": { "ephemeral_5m_input_tokens": 643, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 113, "output_tokens_details": { "thinking_tokens": 23 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.01597, -0.82036, -0.02845, -2.38026, -0.019, 1.61685, -0.04048 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31056, -0.0181, 1.01881 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99838, 0.00483, 0.05675 ], [ 0.00485, -0.99999, -0.00021 ], [ 0.05674, 0.00049, -0.99839 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.405572472140193, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lowering toward the white pepper shaker seen below the gripper." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.01772, -0.85272, -0.03136, -2.57147, -0.02208, 1.77543, -0.04 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31053, -0.0181, 0.95129 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00028, 0.0 ], "tcp_rotation_matrix": [ [ 0.99839, 0.00484, 0.05647 ], [ 0.00486, -0.99999, -0.00021 ], [ 0.05647, 0.00049, -0.9984 ] ], "simulated_seconds_remaining": 29.304, "calls_remaining_including_this": 56 }, "api_seconds": 4.404228515923023, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Continue lowering to gauge object position relative to fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.01979, -0.84525, -0.03542, -2.74625, -0.02616, 1.95738, -0.03971 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31048, -0.01809, 0.88117 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00055, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99841, 0.00484, 0.05619 ], [ 0.00486, -0.99999, -0.00021 ], [ 0.05619, 0.00048, -0.99842 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 55 }, "api_seconds": 4.2036322839558125, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.81 }, "note": "Lower further toward table to approach the object." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.02193, -0.77752, -0.04052, -2.89219, -0.03119, 2.17072, -0.03958 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31042, -0.01809, 0.81116 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00087, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99843, 0.00485, 0.05587 ], [ 0.00486, -0.99999, -0.0002 ], [ 0.05587, 0.00047, -0.99844 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 54 }, "api_seconds": 4.604205070994794, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Approach table height; object seems near fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.0209, -0.71541, -0.04228, -2.89831, -0.03243, 2.20827, -0.03897 ], "gripper_open": 1.0, "tcp_xyz": [ 0.31077, -0.01823, 0.79267 ], "tcp_roll_pitch_yaw": [ 0.00054, 0.03144, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.00477, 0.02533 ], [ 0.00477, -0.99999, 0.00032 ], [ 0.02533, -0.0002, -0.99968 ] ], "simulated_seconds_remaining": 27.06, "calls_remaining_including_this": 53 }, "api_seconds": 6.205147165805101, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9, "x": 0.28 }, "note": "Raise and move slightly back since object appears at bottom of wrist view (nearer robot)." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.0231, -0.93978, -0.03483, -2.741, -0.02757, 1.82706, -0.04213 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28045, -0.01823, 0.89884 ], "tcp_roll_pitch_yaw": [ 0.00053, 0.0311, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99966, 0.00477, 0.02567 ], [ 0.00476, -0.99999, 0.00032 ], [ 0.02567, -0.00019, -0.99967 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 52 }, "api_seconds": 4.20356538053602, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.04 }, "note": "Test lateral move to calibrate how the white object shifts in the wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.04611, -0.93342, 0.07515, -2.73658, 0.06027, 1.82972, 0.07204 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.28047, 0.03867, 0.89884 ], "tcp_roll_pitch_yaw": [ 0.00044, 0.03109, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99966, 0.00492, 0.02569 ], [ 0.00492, -0.99999, 0.00023 ], [ 0.02569, -0.0001, -0.99967 ] ], "simulated_seconds_remaining": 25.344, "calls_remaining_including_this": 51 }, "api_seconds": 12.610906125046313, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15 }, "note": "Raise high to get a wide wrist view of the table and locate the pepper shaker." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.00535, -0.54398, -0.00305, -1.84372, -0.00144, 1.32557, -0.00254 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34967, 0.00019, 1.14873 ], "tcp_roll_pitch_yaw": [ 0.00046, 0.03095, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99965, 0.0049, 0.02582 ], [ 0.00489, -0.99999, 0.00025 ], [ 0.02582, -0.00012, -0.99967 ] ], "simulated_seconds_remaining": 23.298, "calls_remaining_including_this": 50 }, "api_seconds": 10.611748048104346, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Descend to see how the small white object (candidate shaker) shifts in wrist view." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.00504, -0.68002, -0.00333, -2.33403, -0.00192, 1.67958, -0.00229 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34964, 0.00019, 1.00123 ], "tcp_roll_pitch_yaw": [ 0.00045, 0.03122, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99966, 0.0049, 0.02556 ], [ 0.00489, -0.99999, 0.00024 ], [ 0.02556, -0.00012, -0.99967 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 49 }, "api_seconds": 19.414847877807915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.31, "y": -0.03, "z": 0.85 }, "note": "Return to close-approach pose over the large white object to inspect alignment." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.03149, -0.7927, -0.06177, -2.78627, -0.04641, 2.01935, -0.06068 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31027, -0.02976, 0.85117 ], "tcp_roll_pitch_yaw": [ 0.00047, 0.03147, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.00487, 0.0253 ], [ 0.00486, -0.99999, 0.00026 ], [ 0.0253, -0.00013, -0.99968 ] ], "simulated_seconds_remaining": 20.592, "calls_remaining_including_this": 48 }, "api_seconds": 5.004601649940014, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Lower to grasp height over the white object." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.03358, -0.72933, -0.06792, -2.88271, -0.05221, 2.1788, -0.06038 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31021, -0.02976, 0.8011 ], "tcp_roll_pitch_yaw": [ 0.00048, 0.03178, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99968, 0.00487, 0.025 ], [ 0.00487, -0.99999, 0.00027 ], [ 0.025, -0.00015, -0.99969 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 47 }, "api_seconds": 4.00368532165885, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.03359, -0.72939, -0.06792, -2.88259, -0.05223, 2.17884, -0.06038 ], "gripper_open": 0.0, "tcp_xyz": [ 0.31028, -0.02977, 0.80117 ], "tcp_roll_pitch_yaw": [ 0.00045, 0.03155, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.00487, 0.02523 ], [ 0.00486, -0.99999, 0.00024 ], [ 0.02523, -0.00012, -0.99968 ] ], "simulated_seconds_remaining": 19.008, "calls_remaining_including_this": 46 }, "api_seconds": 15.414898823946714, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.87, "y": -0.07 }, "note": "Grasp missed (gripper fully closed). Object appears left in wrist image; shifting -y and raising to re-align." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.08295, -0.78563, -0.12646, -2.73219, -0.0921, 1.97416, -0.14334 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.31034, -0.06945, 0.8691 ], "tcp_roll_pitch_yaw": [ 0.00045, 0.03133, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99966, 0.0048, 0.02545 ], [ 0.0048, -0.99999, 0.00024 ], [ 0.02545, -0.00012, -0.99968 ] ], "simulated_seconds_remaining": 18.084, "calls_remaining_including_this": 45 }, "api_seconds": 7.406027065590024, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.81 }, "note": "Descend at new y to check finger alignment with the object." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.08763, -0.72307, -0.1407, -2.84755, -0.10507, 2.15154, -0.14267 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31027, -0.06944, 0.81127 ], "tcp_roll_pitch_yaw": [ 0.0005, 0.03168, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.00481, 0.0251 ], [ 0.00481, -0.99999, 0.00028 ], [ 0.0251, -0.00016, -0.99968 ] ], "simulated_seconds_remaining": 17.424, "calls_remaining_including_this": 44 }, "api_seconds": 10.207993051968515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.33, "gripper": 0 }, "note": "Object sits slightly forward of finger tips; nudging +x and closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.07481, -0.64755, -0.13926, -2.8002, -0.09623, 2.17982, -0.1378 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3292, -0.06944, 0.81127 ], "tcp_roll_pitch_yaw": [ 0.00049, 0.03169, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.00482, 0.02508 ], [ 0.00481, -0.99999, 0.00028 ], [ 0.02508, -0.00016, -0.99969 ] ], "simulated_seconds_remaining": 16.5, "calls_remaining_including_this": 43 }, "api_seconds": 16.212308421730995, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.24, "y": -0.03, "z": 1.0 }, "note": "Back off and up to get a clearer wide wrist view of the objects on the table." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.05428, -1.03133, -0.04153, -2.52257, -0.0335, 1.51698, -0.08312 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.24063, -0.03026, 0.99889 ], "tcp_roll_pitch_yaw": [ 0.00046, 0.03137, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.00482, 0.0254 ], [ 0.00482, -0.99999, 0.00025 ], [ 0.0254, -0.00013, -0.99968 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 42 }, "api_seconds": 28.823519377037883, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.0, "z": 1.15 }, "note": "Return to the high pose where the small shaker was visible in wrist view for calibration." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.03283, -0.54461, 0.0195, -1.84335, 0.01109, 1.32424, -0.01802 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34926, -0.00021, 1.14894 ], "tcp_roll_pitch_yaw": [ 0.00046, 0.03136, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.00484, 0.02542 ], [ 0.00484, -0.99999, 0.00024 ], [ 0.02542, -0.00012, -0.99968 ] ], "simulated_seconds_remaining": 13.2, "calls_remaining_including_this": 41 }, "api_seconds": 5.004682254046202, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Lateral calibration move: shift +y 0.05 and watch the small shaker's pixel shift in wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.01191, -0.53851, 0.09428, -1.8359, 0.04818, 1.32503, 0.07699 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34926, 0.04891, 1.14894 ], "tcp_roll_pitch_yaw": [ 0.00041, 0.03135, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99966, 0.00504, 0.02542 ], [ 0.00504, -0.99999, 0.0002 ], [ 0.02542, -7e-05, -0.99968 ] ], "simulated_seconds_remaining": 12.54, "calls_remaining_including_this": 40 }, "api_seconds": 17.614104913547635, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.0 }, "note": "Forward calibration move: +0.07 in x to measure the shaker's vertical pixel shift." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.04113, -0.34621, 0.03122, -1.67988, 0.01138, 1.35907, -0.01399 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41893, 0.0007, 1.14886 ], "tcp_roll_pitch_yaw": [ 0.00045, 0.03156, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99967, 0.0049, 0.02522 ], [ 0.00489, -0.99999, 0.00024 ], [ 0.02522, -0.00012, -0.99968 ] ], "simulated_seconds_remaining": 11.682, "calls_remaining_including_this": 39 }, "api_seconds": 27.435234776698053, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.01, "z": 0.84 }, "note": "Move to estimated position above the shaker (y~+0.01) at pre-grasp height." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.02426, -0.63025, 0.05077, -2.71168, 0.03457, 2.10671, -0.00505 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35024, 0.00996, 0.84126 ], "tcp_roll_pitch_yaw": [ 0.00044, 0.03187, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99968, 0.00491, 0.0249 ], [ 0.0049, -0.99999, 0.00023 ], [ 0.0249, -0.00011, -0.99969 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 38 }, "api_seconds": 6.0053859846666455, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "gripper": 0 }, "note": "Descend and close gripper at the estimated shaker location." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.02378, -0.57226, 0.05422, -2.78126, 0.03685, 2.23413, -0.00507 ], "gripper_open": 0.0, "tcp_xyz": [ 0.3502, 0.00996, 0.80085 ], "tcp_roll_pitch_yaw": [ 0.00044, 0.03201, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99968, 0.00491, 0.02477 ], [ 0.00491, -0.99999, 0.00023 ], [ 0.02477, -0.00011, -0.99969 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 37 }, "api_seconds": 10.408770299516618, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.4, "y": -0.02, "z": 0.81 }, "note": "Object consistently appears forward of the finger tips; move +x to 0.40 with gripper open." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.06091, -0.41215, 0.01161, -2.63102, 0.00786, 2.24361, -0.05988 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.39893, -0.01937, 0.8098 ], "tcp_roll_pitch_yaw": [ 0.00047, 0.032, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99968, 0.00484, 0.02477 ], [ 0.00484, -0.99999, 0.00025 ], [ 0.02477, -0.00013, -0.99969 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 36 }, "api_seconds": 4.403826967813075, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at x=0.40 where fingers appear to straddle the object." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.06091, -0.41215, 0.01161, -2.63102, 0.00786, 2.24361, -0.05988 ], "gripper_open": 0.0, "tcp_xyz": [ 0.39894, -0.01937, 0.8098 ], "tcp_roll_pitch_yaw": [ 0.00047, 0.032, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99968, 0.00484, 0.02477 ], [ 0.00484, -0.99999, 0.00025 ], [ 0.02477, -0.00013, -0.99969 ] ], "simulated_seconds_remaining": 6.534, "calls_remaining_including_this": 35 }, "api_seconds": 10.810512851923704, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.73 }, "note": "Try a lower grasp height in case the object is lower than assumed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.06194, -0.25775, 0.01175, -2.71617, 0.0078, 2.49271, -0.05982 ], "gripper_open": 1.0, "tcp_xyz": [ 0.40203, -0.02019, 0.73502 ], "tcp_roll_pitch_yaw": [ 0.00026, 0.02247, -0.00168 ], "tcp_rotation_matrix": [ [ 0.99941, 0.00316, 0.0343 ], [ 0.00316, -1.0, -1e-05 ], [ 0.0343, 0.00012, -0.99941 ] ], "simulated_seconds_remaining": 5.61, "calls_remaining_including_this": 34 }, "api_seconds": 4.604442921467125, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at lower height where object fills the wrist view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the pepper.", "joint_positions": [ -0.06194, -0.25775, 0.01175, -2.71617, 0.0078, 2.49271, -0.05982 ], "gripper_open": 0.0, "tcp_xyz": [ 0.40204, -0.0202, 0.73502 ], "tcp_roll_pitch_yaw": [ 0.00026, 0.02244, -0.00169 ], "tcp_rotation_matrix": [ [ 0.99941, 0.00315, 0.03432 ], [ 0.00315, -1.0, -1e-05 ], [ 0.03432, 0.00012, -0.99941 ] ], "simulated_seconds_remaining": 4.686, "calls_remaining_including_this": 33 }, "api_seconds": 6.205209542997181, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.37, "y": 0.04, "z": 0.78 }, "note": "Last attempt: shift left/back where the shaker appeared in exterior view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.0131, -0.4592, 0.09894, -2.75803, 0.0557, 2.33436, 0.06152 ], "gripper_open": 0.9961, "tcp_xyz": [ 0.37051, 0.03917, 0.77942 ], "tcp_roll_pitch_yaw": [ 0.00023, 0.02226, -0.00161 ], "tcp_rotation_matrix": [ [ 0.9994, 0.00323, 0.03451 ], [ 0.00324, -0.99999, -3e-05 ], [ 0.03451, 0.00015, -0.9994 ] ], "simulated_seconds_remaining": 3.762, "calls_remaining_including_this": 32 }, "api_seconds": 3.6031425399705768, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.9 }, "note": "Close and lift in final attempt." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the pepper.", "joint_positions": [ 0.01201, -0.60821, 0.08308, -2.54699, 0.04852, 1.97473, 0.05953 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37059, 0.03918, 0.8988 ], "tcp_roll_pitch_yaw": [ 0.00026, 0.02194, -0.0016 ], "tcp_rotation_matrix": [ [ 0.99939, 0.00323, 0.03483 ], [ 0.00324, -0.99999, -0.0 ], [ 0.03483, 0.00012, -0.99939 ] ], "simulated_seconds_remaining": 2.64, "calls_remaining_including_this": 31 }, "api_seconds": 3.002927037887275, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not localize the pepper shaker reliably; repeated grasp attempts closed on empty air and simulated time is nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 035 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 35, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 32, "api_calls": 33, "wall_seconds": 351.53441762924194, "usage": { "input_tokens": 66, "cache_creation_input_tokens": 32492, "cache_read_input_tokens": 533416, "output_tokens": 15109 }, "estimated_cost_usd": 0.847838 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezjLU4ye7BQBVg24tiVj", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01PFHLr7kYNiREsNaE44xBUh", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 23, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezjLe3VQDkBqrSEroR4G", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XwT8HNYkpeLm89hkaKN6NU", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.15, "z": 1.1 }, "note": "Move up and left toward the table with the green bottle to get a better view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 457, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 457, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 245, "output_tokens_details": { "thinking_tokens": 133 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezjMeS6Kei5XnmFsiFqn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0152izoNKz52TLP971dE8DuQ", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.3, "z": 1.1 }, "note": "Moving forward-left to get bottle centered 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": 738, "cache_read_input_tokens": 2215, "cache_creation": { "ephemeral_5m_input_tokens": 738, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 281, "output_tokens_details": { "thinking_tokens": 170 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezjNQPmsmvTLNGiQLZUb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KybZucMNGdFrwdeZL9hqmx", "name": "move_to", "input": { "targets": { "y": 0.2 }, "note": "Probe motion: pure -y move to calibrate wrist image axes." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 774, "cache_read_input_tokens": 2953, "cache_creation": { "ephemeral_5m_input_tokens": 774, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 647, "output_tokens_details": { "thinking_tokens": 549 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezjPmFRDNM3m3mrsyz1n", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013ZVMJt6MN6reppmPusNtRF", "name": "move_to", "input": { "targets": { "x": 0.6 }, "note": "Probe: pure +x move to calibrate wrist image vertical axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1139, "cache_read_input_tokens": 3727, "cache_creation": { "ephemeral_5m_input_tokens": 1139, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 670, "output_tokens_details": { "thinking_tokens": 571 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezjQq5tAEhiGPaTz6fkq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LZ1xJNvAa2XgCVbLtRzVyK", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Descend toward the green bottle which appears near wrist 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": 1162, "cache_read_input_tokens": 4866, "cache_creation": { "ephemeral_5m_input_tokens": 1162, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 371, "output_tokens_details": { "thinking_tokens": 276 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezjRaejozMZ9BDAQnFRU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YNoES9rRPsT9fpEbBmeUxr", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Continue descending toward bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 863, "cache_read_input_tokens": 6028, "cache_creation": { "ephemeral_5m_input_tokens": 863, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 250, "output_tokens_details": { "thinking_tokens": 164 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezjRxqUwNMpFYRGbzUtk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014fdgbE6h4bGmSh4EqJsKWZ", "name": "move_to", "input": { "targets": { "x": 0.55 }, "note": "Bottle drifted to image-down (-x) as I descended; shift -x to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 743, "cache_read_input_tokens": 6891, "cache_creation": { "ephemeral_5m_input_tokens": 743, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 279, "output_tokens_details": { "thinking_tokens": 176 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezjShSoTsjWYHQ46jSat", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TGusBsVwLjnrKDs7UYFSqM", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Descend further; bottle occluded by gripper body suggests it's beneath 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": 777, "cache_read_input_tokens": 7634, "cache_creation": { "ephemeral_5m_input_tokens": 777, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 259, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezjTFentmSEeRpXrejVt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NKqDNvBTQYad8VZheBDWoS", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Green bottle glimpsed between fingers; descend a bit more to 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": 752, "cache_read_input_tokens": 8411, "cache_creation": { "ephemeral_5m_input_tokens": 752, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 241, "output_tokens_details": { "thinking_tokens": 139 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezjTf2DoxPnMcinKNvzy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01D1ZHwFV5i9txxBJvkwAQB3", "name": "move_to", "input": { "targets": { "y": 0.24 }, "note": "Exterior suggests bottle is slightly to +y side of fingers; shift +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 734, "cache_read_input_tokens": 9163, "cache_creation": { "ephemeral_5m_input_tokens": 734, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 445, "output_tokens_details": { "thinking_tokens": 342 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezjUegB3BLaAF6hwYsZ3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019FLcdJqQAEypFXzMBAHap2", "name": "move_to", "input": { "targets": { "x": 0.59, "y": 0.2, "z": 0.8 }, "note": "Parallax analysis suggests bottle at x~0.59,y~0.20, top ~0.77; reposition 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": 938, "cache_read_input_tokens": 9897, "cache_creation": { "ephemeral_5m_input_tokens": 938, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1057, "output_tokens_details": { "thinking_tokens": 927 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezjWHxYXvz6HpGy9mmxx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TujTZfqqKzEGhy8iDUAy6C", "name": "move_to", "input": { "targets": { "z": 0.74 }, "note": "Descend to grasp height around bottle body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1550, "cache_read_input_tokens": 10835, "cache_creation": { "ephemeral_5m_input_tokens": 1550, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 235, "output_tokens_details": { "thinking_tokens": 146 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezjWqvQTVZRyeaimSGfC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017NJwkF3FTE8uxMFYXSXD9q", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current pose." }, "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": 12385, "cache_creation": { "ephemeral_5m_input_tokens": 728, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 242, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezjXQANtCKpCbbiFzomw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HXoktD8kJeh9TgmNJhkbaP", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.85, "x": 0.57, "y": 0.23 }, "note": "Grasp failed (gripper fully closed). Reopen, rise, and shift toward where green blob appeared (+y, -x)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 734, "cache_read_input_tokens": 13113, "cache_creation": { "ephemeral_5m_input_tokens": 734, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 456, "output_tokens_details": { "thinking_tokens": 315 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezjYJFDJ37moU4kuY79Q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G7U4g2FQYPfVvKXftzTzrP", "name": "move_to", "input": { "targets": { "x": 0.57, "y": 0.212, "z": 0.75 }, "note": "Reposition using parallax estimate of bottle at (0.57,0.21) and descend to 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": 949, "cache_read_input_tokens": 13847, "cache_creation": { "ephemeral_5m_input_tokens": 949, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2385, "output_tokens_details": { "thinking_tokens": 2260 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezjbCajK9JhNTZG1RUuR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0179JV65r6nqbX5icYQLcdQr", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Lift for a clearer top-down wrist view to localize the bottle relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2878, "cache_read_input_tokens": 14796, "cache_creation": { "ephemeral_5m_input_tokens": 2878, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 507, "output_tokens_details": { "thinking_tokens": 403 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezjbwqEPwcfrmBRRDUMm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012JQra8H2zXaoJuwW3KDZic", "name": "move_to", "input": { "targets": { "x": 0.52 }, "note": "Bottle sits below image center; test moving -x by 0.05 to see if it centers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1000, "cache_read_input_tokens": 17674, "cache_creation": { "ephemeral_5m_input_tokens": 1000, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 662, "output_tokens_details": { "thinking_tokens": 559 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezjcohcdmRHvaZVxCYyM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HuAmxEDDbKLCczAD2AWuMU", "name": "move_to", "input": { "targets": { "x": 0.62, "z": 0.95 }, "note": "Corrected sign: bottle is at larger x. Move to x=0.62 and lower slightly." }, "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": 18674, "cache_creation": { "ephemeral_5m_input_tokens": 1155, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 501, "output_tokens_details": { "thinking_tokens": 386 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezjdn3ghehYnZcf8j9eJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0156Qc3x5byGuXj23stz9rXQ", "name": "move_to", "input": { "targets": { "y": 0.23, "z": 0.85 }, "note": "Center estimate (0.62,0.23); descend to 0.85 and verify object stays centered." }, "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": 19829, "cache_creation": { "ephemeral_5m_input_tokens": 994, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 400, "output_tokens_details": { "thinking_tokens": 286 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezjeK4yzpBD681FogUH1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014NnsADDc8dgXnU6Qi1XoX9", "name": "move_to", "input": { "targets": { "x": 0.649, "y": 0.238, "z": 0.8 }, "note": "Parallax fit: bottle at x~0.65,y~0.238, top z~0.74. Move above it at z=0.80." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 893, "cache_read_input_tokens": 20823, "cache_creation": { "ephemeral_5m_input_tokens": 893, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 982, "output_tokens_details": { "thinking_tokens": 850 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezjfWpSvGCHbUb2NProM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011Boqvh8XED22icieXjTGaT", "name": "move_to", "input": { "targets": { "x": 0.658, "y": 0.25, "z": 0.72 }, "note": "Fine-tune alignment and descend to bottle body height for grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1475, "cache_read_input_tokens": 21716, "cache_creation": { "ephemeral_5m_input_tokens": 1475, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 309, "output_tokens_details": { "thinking_tokens": 195 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezjfxBgenTfnATajcCrU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M3NWnCQWz1mjRh7UdboBq2", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at aligned pose." }, "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": 23191, "cache_creation": { "ephemeral_5m_input_tokens": 807, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 173, "output_tokens_details": { "thinking_tokens": 86 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezjgj1wtpALvhLNtRxjD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0148vQJhS5fmSU3zFbiLwCKP", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.685, "y": 0.29 }, "note": "Empty close again; bottle blob sits down-left of fingers in wrist view, so shift +x and +y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 665, "cache_read_input_tokens": 23998, "cache_creation": { "ephemeral_5m_input_tokens": 665, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 937, "output_tokens_details": { "thinking_tokens": 811 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezjhxyMrg8i8FRez4Ski", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KnMRCSnhDyrQ7w26XhpJ5S", "name": "move_to", "input": { "targets": { "x": 0.65, "y": 0.205, "z": 0.73 }, "note": "Corrected y sign: object is at smaller y than camera. Move to (0.65,0.205)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1430, "cache_read_input_tokens": 24663, "cache_creation": { "ephemeral_5m_input_tokens": 1430, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1008, "output_tokens_details": { "thinking_tokens": 886 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezjjATTM9nDnx86UzZzo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013MYjYTCNHwwnvc8J9A4EpA", "name": "move_to", "input": { "targets": { "x": 0.665, "y": 0.192 }, "note": "Small final correction toward blob (down-left = +x, -y)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1501, "cache_read_input_tokens": 26093, "cache_creation": { "ephemeral_5m_input_tokens": 1501, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 237, "output_tokens_details": { "thinking_tokens": 134 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezjjmwtsUFGBTA1TDiCR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SATdaEJNbWVYhBDx2RuuYA", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Bottle neck now appears centered between fingers; closing to 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": 27594, "cache_creation": { "ephemeral_5m_input_tokens": 730, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 161, "output_tokens_details": { "thinking_tokens": 63 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezjk4tcVWfTsJvPdCxXN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012TVkwF5fxx1UrmYCEs92tb", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.66 }, "note": "Still empty; maybe fingers are above the bottle. Reopen and descend 7cm." }, "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": 28324, "cache_creation": { "ephemeral_5m_input_tokens": 653, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 396, "output_tokens_details": { "thinking_tokens": 283 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezjkfD7tHQLUHEpBFHdL", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01M7GiHtyHjggnoC6pXcqAyL", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at lower height to grasp bottle body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 889, "cache_read_input_tokens": 28977, "cache_creation": { "ephemeral_5m_input_tokens": 889, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 92, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezjksRq6zDfFHjK3SPwS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WgiyGcX6uCpqBLquW2oUMB", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.68, "y": 0.16, "z": 0.7 }, "note": "Final attempt: shift -y and +x per blob position; reopen gripper." }, "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": 29866, "cache_creation": { "ephemeral_5m_input_tokens": 584, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 263, "output_tokens_details": { "thinking_tokens": 139 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezjmHQUWKYSGVYRvALj3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AWUdKGMaAZNzUf7tzZ3zGT", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Bottle between fingers; close." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 30450, "cache_creation": { "ephemeral_5m_input_tokens": 757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 118, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CezjmiHSTHb3c7v4RUDzQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Fu2xNMSMbiGndhGcxFDB4M", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Bottle grasped (gripper 0.35); lift clear of table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 611, "cache_read_input_tokens": 31207, "cache_creation": { "ephemeral_5m_input_tokens": 611, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 180, "output_tokens_details": { "thinking_tokens": 82 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 33, "response": { "model": "claude-opus-5", "id": "msg_011Cezjn2bGYT9P4ZFn87ewo", "type": "message", "role": "assistant", "content": [ { "type": "text", "text": "The bottle is held in the gripper (opening 0.33) and lifted 10 cm above the table." }, { "type": "tool_use", "id": "toolu_01Uf5BFHAE3PP8TEjrFgzrJ9", "name": "done", "input": { "note": "Grasped the green bottle and lifted it clear of the table surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 31818, "cache_creation": { "ephemeral_5m_input_tokens": 674, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 97, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01363, -0.80591, 0.03931, -2.35422, 0.02559, 1.55862, 0.00822 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30177, 0.0139, 1.02111 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00594, 0.00996 ], [ 0.00597, -0.99998, -0.00263 ], [ 0.00994, 0.00269, -0.99995 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 15.613359082490206, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.15, "z": 1.1 }, "note": "Move up and left toward the table with the green bottle to get a better view." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02368, -0.38443, 0.25316, -1.83109, 0.08942, 1.46715, 0.26309 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39929, 0.14903, 1.0994 ], "tcp_roll_pitch_yaw": [ -4e-05, 3e-05, 0.00012 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00606, 0.00992 ], [ 0.00608, -0.99998, -0.00267 ], [ 0.00991, 0.00273, -0.99995 ] ], "simulated_seconds_remaining": 28.512, "calls_remaining_including_this": 56 }, "api_seconds": 9.608658614568412, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.3, "z": 1.1 }, "note": "Moving forward-left to get bottle centered in wrist view." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.1487, 0.1628, 0.45695, -1.24734, -0.08048, 1.40072, 0.58002 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49926, 0.29893, 1.0999 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00024, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00623, 0.00971 ], [ 0.00626, -0.99998, -0.00274 ], [ 0.0097, 0.0028, -0.99995 ] ], "simulated_seconds_remaining": 26.994, "calls_remaining_including_this": 55 }, "api_seconds": 18.014199948869646, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Probe motion: pure -y move to calibrate wrist image axes." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02043, -0.0152, 0.36132, -1.45639, -0.00086, 1.45021, 0.37566 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49932, 0.20127, 1.09993 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00018, 0.0 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00594, 0.00978 ], [ 0.00597, -0.99998, -0.00278 ], [ 0.00976, 0.00284, -0.99995 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 54 }, "api_seconds": 14.01199746504426, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Probe: pure +x move to calibrate wrist image vertical axis." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.09834, 0.40597, 0.36253, -0.895, -0.15323, 1.28784, 0.38352 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59879, 0.20125, 1.09979 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00045, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00595, 0.00951 ], [ 0.00598, -0.99998, -0.00285 ], [ 0.00949, 0.0029, -0.99995 ] ], "simulated_seconds_remaining": 25.08, "calls_remaining_including_this": 53 }, "api_seconds": 9.607531808316708, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Descend toward the green bottle which appears near wrist image center." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.01448, 0.23109, 0.35673, -1.5409, -0.08772, 1.76474, 0.37284 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59876, 0.20123, 0.95117 ], "tcp_roll_pitch_yaw": [ -0.00031, 0.00079, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00595, 0.00917 ], [ 0.00598, -0.99998, -0.00294 ], [ 0.00915, 0.003, -0.99995 ] ], "simulated_seconds_remaining": 23.76, "calls_remaining_including_this": 52 }, "api_seconds": 4.803983571007848, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Continue descending toward bottle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.01118, 0.26577, 0.34913, -1.75117, -0.10576, 2.00674, 0.38715 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59871, 0.2012, 0.85113 ], "tcp_roll_pitch_yaw": [ -0.0004, 0.00114, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00594, 0.00882 ], [ 0.00596, -0.99998, -0.00303 ], [ 0.0088, 0.00309, -0.99996 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 51 }, "api_seconds": 9.608463403768837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Bottle drifted to image-down (-x) as I descended; shift -x to center it." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00224, 0.12368, 0.36407, -1.93637, -0.05653, 2.0586, 0.38383 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55132, 0.20128, 0.8512 ], "tcp_roll_pitch_yaw": [ -0.0004, 0.00106, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99994, 0.0061, 0.00889 ], [ 0.00613, -0.99998, -0.00303 ], [ 0.00888, 0.00308, -0.99996 ] ], "simulated_seconds_remaining": 22.176, "calls_remaining_including_this": 50 }, "api_seconds": 7.206213914789259, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Descend further; bottle occluded by gripper body suggests it's beneath the fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00962, 0.20239, 0.35666, -2.02576, -0.09571, 2.22047, 0.41099 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55126, 0.20125, 0.78111 ], "tcp_roll_pitch_yaw": [ -0.00048, 0.00139, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00608, 0.00856 ], [ 0.00611, -0.99998, -0.00312 ], [ 0.00855, 0.00317, -0.99996 ] ], "simulated_seconds_remaining": 21.384, "calls_remaining_including_this": 49 }, "api_seconds": 5.004144032485783, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Green bottle glimpsed between fingers; descend a bit more to grasp height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02254, 0.29497, 0.34001, -2.07121, -0.14515, 2.35159, 0.44469 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55118, 0.2012, 0.72108 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00171, 0.00011 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00605, 0.00825 ], [ 0.00608, -0.99998, -0.0032 ], [ 0.00823, 0.00325, -0.99996 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 48 }, "api_seconds": 13.011058973148465, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.24 }, "note": "Exterior suggests bottle is slightly to +y side of fingers; shift +y." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.07382, 0.33451, 0.35245, -2.01563, -0.1655, 2.33044, 0.51563 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55113, 0.23883, 0.72108 ], "tcp_roll_pitch_yaw": [ -0.00052, 0.00172, 0.0004 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00634, 0.00824 ], [ 0.00637, -0.99997, -0.00315 ], [ 0.00822, 0.0032, -0.99996 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 47 }, "api_seconds": 22.215102436952293, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.59, "y": 0.2, "z": 0.8 }, "note": "Parallax analysis suggests bottle at x~0.59,y~0.20, top ~0.77; reposition above it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.01399, 0.28632, 0.34279, -1.86111, -0.11948, 2.13538, 0.40111 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58957, 0.20048, 0.79901 ], "tcp_roll_pitch_yaw": [ -0.00048, 0.00142, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00616, 0.00854 ], [ 0.00619, -0.99998, -0.00311 ], [ 0.00852, 0.00316, -0.99996 ] ], "simulated_seconds_remaining": 19.206, "calls_remaining_including_this": 46 }, "api_seconds": 7.005759183317423, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74 }, "note": "Descend to grasp height around bottle body." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02412, 0.36091, 0.32849, -1.9142, -0.15533, 2.25811, 0.42489 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58949, 0.20044, 0.7412 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00178, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00614, 0.00817 ], [ 0.00617, -0.99998, -0.00321 ], [ 0.00815, 0.00326, -0.99996 ] ], "simulated_seconds_remaining": 18.546, "calls_remaining_including_this": 45 }, "api_seconds": 7.20589005202055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at current pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02412, 0.36091, 0.32849, -1.9142, -0.15533, 2.25811, 0.42489 ], "gripper_open": 0.0, "tcp_xyz": [ 0.58949, 0.20044, 0.74119 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00178, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00614, 0.00818 ], [ 0.00617, -0.99998, -0.0032 ], [ 0.00816, 0.00325, -0.99996 ] ], "simulated_seconds_remaining": 17.622, "calls_remaining_including_this": 44 }, "api_seconds": 11.809531511738896, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.85, "x": 0.57, "y": 0.23 }, "note": "Grasp failed (gripper fully closed). Reopen, rise, and shift toward where green blob appeared (+y, -x)." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04182, 0.21539, 0.37065, -1.82614, -0.0935, 2.03219, 0.43958 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57029, 0.22975, 0.84889 ], "tcp_roll_pitch_yaw": [ -0.00047, 0.00143, 0.0003 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00624, 0.00853 ], [ 0.00627, -0.99998, -0.0031 ], [ 0.00851, 0.00315, -0.99996 ] ], "simulated_seconds_remaining": 16.566, "calls_remaining_including_this": 43 }, "api_seconds": 38.8304678555578, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "y": 0.212, "z": 0.75 }, "note": "Reposition using parallax estimate of bottle at (0.57,0.21) and descend to grasp height." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.03321, 0.3065, 0.34457, -1.96675, -0.13989, 2.25799, 0.44511 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56994, 0.21216, 0.75111 ], "tcp_roll_pitch_yaw": [ -0.00057, 0.00177, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00617, 0.00819 ], [ 0.0062, -0.99998, -0.00321 ], [ 0.00817, 0.00326, -0.99996 ] ], "simulated_seconds_remaining": 15.576, "calls_remaining_including_this": 42 }, "api_seconds": 9.407892806455493, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Lift for a clearer top-down wrist view to localize the bottle relative to fingers." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02455, 0.15862, 0.37058, -1.51343, -0.06366, 1.66795, 0.39048 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56999, 0.21219, 0.9988 ], "tcp_roll_pitch_yaw": [ -0.00048, 0.00142, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00618, 0.00853 ], [ 0.0062, -0.99998, -0.00311 ], [ 0.00851, 0.00316, -0.99996 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 41 }, "api_seconds": 11.208759611472487, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "Bottle sits below image center; test moving -x by 0.05 to see if it centers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.01565, -0.00388, 0.37305, -1.70706, -0.0048, 1.7103, 0.38301 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52113, 0.21226, 0.9989 ], "tcp_roll_pitch_yaw": [ -0.00048, 0.00128, 0.00039 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00633, 0.00868 ], [ 0.00636, -0.99997, -0.00311 ], [ 0.00866, 0.00316, -0.99996 ] ], "simulated_seconds_remaining": 12.936, "calls_remaining_including_this": 40 }, "api_seconds": 12.810782006941736, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "z": 0.95 }, "note": "Corrected sign: bottle is at larger x. Move to x=0.62 and lower slightly." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.03886, 0.31668, 0.35806, -1.42668, -0.11689, 1.73008, 0.39213 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61886, 0.21219, 0.95043 ], "tcp_roll_pitch_yaw": [ -0.00052, 0.00155, 0.00028 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00623, 0.0084 ], [ 0.00626, -0.99998, -0.00315 ], [ 0.00838, 0.00321, -0.99996 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 39 }, "api_seconds": 6.805498433299363, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.23, "z": 0.85 }, "note": "Center estimate (0.62,0.23); descend to 0.85 and verify object stays centered." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.05352, 0.36249, 0.35647, -1.61754, -0.14081, 1.96179, 0.43546 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6188, 0.22977, 0.85111 ], "tcp_roll_pitch_yaw": [ -0.00062, 0.0019, 0.00032 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00627, 0.00805 ], [ 0.00629, -0.99997, -0.00325 ], [ 0.00803, 0.0033, -0.99996 ] ], "simulated_seconds_remaining": 10.89, "calls_remaining_including_this": 38 }, "api_seconds": 16.013000996783376, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.649, "y": 0.238, "z": 0.8 }, "note": "Parallax fit: bottle at x~0.65,y~0.238, top z~0.74. Move above it at z=0.80." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.0806, 0.50363, 0.33742, -1.53678, -0.18455, 2.01564, 0.45164 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.64835, 0.23779, 0.80085 ], "tcp_roll_pitch_yaw": [ -0.00069, 0.00221, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00624, 0.00775 ], [ 0.00626, -0.99997, -0.00332 ], [ 0.00773, 0.00337, -0.99996 ] ], "simulated_seconds_remaining": 10.164, "calls_remaining_including_this": 37 }, "api_seconds": 5.405107812024653, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.658, "y": 0.25, "z": 0.72 }, "note": "Fine-tune alignment and descend to bottle body height for grasp." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.11125, 0.63226, 0.3148, -1.54207, -0.22663, 2.14441, 0.48528 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65776, 0.24979, 0.72107 ], "tcp_roll_pitch_yaw": [ -0.00079, 0.00256, 0.00031 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00626, 0.0074 ], [ 0.00628, -0.99997, -0.00343 ], [ 0.00738, 0.00347, -0.99997 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 36 }, "api_seconds": 10.208093520253897, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at aligned pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.11125, 0.63226, 0.3148, -1.54207, -0.22663, 2.14441, 0.48528 ], "gripper_open": 0.0, "tcp_xyz": [ 0.65776, 0.24979, 0.72106 ], "tcp_roll_pitch_yaw": [ -0.00079, 0.00256, 0.00031 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00626, 0.0074 ], [ 0.00628, -0.99997, -0.00342 ], [ 0.00738, 0.00347, -0.99997 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 35 }, "api_seconds": 16.413405233062804, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.685, "y": 0.29 }, "note": "Empty close again; bottle blob sits down-left of fingers in wrist view, so shift +x and +y." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.18643, 0.77177, 0.30557, -1.30315, -0.24482, 2.04439, 0.51469 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.68438, 0.2892, 0.72103 ], "tcp_roll_pitch_yaw": [ -0.00076, 0.00259, 0.0004 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00635, 0.00736 ], [ 0.00638, -0.99997, -0.00339 ], [ 0.00734, 0.00344, -0.99997 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 34 }, "api_seconds": 15.812886556610465, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "y": 0.205, "z": 0.73 }, "note": "Corrected y sign: object is at smaller y than camera. Move to (0.65,0.205)." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.0417, 0.55264, 0.31559, -1.64778, -0.20598, 2.17413, 0.42361 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65057, 0.20603, 0.72992 ], "tcp_roll_pitch_yaw": [ -0.00082, 0.00253, 0.00017 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00612, 0.00743 ], [ 0.00615, -0.99998, -0.00345 ], [ 0.00741, 0.00349, -0.99997 ] ], "simulated_seconds_remaining": 6.534, "calls_remaining_including_this": 33 }, "api_seconds": 7.806790137663484, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.665, "y": 0.192 }, "note": "Small final correction toward blob (down-left = +x, -y)." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02935, 0.58006, 0.3078, -1.60183, -0.20717, 2.15626, 0.39785 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.66404, 0.19285, 0.7299 ], "tcp_roll_pitch_yaw": [ -0.00086, 0.00253, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00596, 0.00743 ], [ 0.00598, -0.99998, -0.00349 ], [ 0.00741, 0.00353, -0.99997 ] ], "simulated_seconds_remaining": 6.072, "calls_remaining_including_this": 32 }, "api_seconds": 3.8035291098058224, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Bottle neck now appears centered between fingers; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02935, 0.58006, 0.3078, -1.60183, -0.20717, 2.15626, 0.39785 ], "gripper_open": 0.0, "tcp_xyz": [ 0.66405, 0.19284, 0.7299 ], "tcp_roll_pitch_yaw": [ -0.00086, 0.00253, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00596, 0.00743 ], [ 0.00598, -0.99998, -0.00349 ], [ 0.00741, 0.00353, -0.99997 ] ], "simulated_seconds_remaining": 5.148, "calls_remaining_including_this": 31 }, "api_seconds": 7.607143416069448, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.66 }, "note": "Still empty; maybe fingers are above the bottle. Reopen and descend 7cm." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04396, 0.67871, 0.28399, -1.62643, -0.24035, 2.27691, 0.41802 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.66397, 0.19282, 0.66139 ], "tcp_roll_pitch_yaw": [ -0.00092, 0.00279, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99996, 0.00596, 0.00717 ], [ 0.00599, -0.99998, -0.00355 ], [ 0.00715, 0.00359, -0.99997 ] ], "simulated_seconds_remaining": 4.224, "calls_remaining_including_this": 30 }, "api_seconds": 2.4024002831429243, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at lower height to grasp bottle body." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04396, 0.67871, 0.28399, -1.62643, -0.24035, 2.27691, 0.41802 ], "gripper_open": 0.0, "tcp_xyz": [ 0.66397, 0.19283, 0.66138 ], "tcp_roll_pitch_yaw": [ -0.00092, 0.00278, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99996, 0.00596, 0.00717 ], [ 0.00599, -0.99998, -0.00355 ], [ 0.00715, 0.00359, -0.99997 ] ], "simulated_seconds_remaining": 3.3, "calls_remaining_including_this": 29 }, "api_seconds": 5.204459651373327, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.68, "y": 0.16, "z": 0.7 }, "note": "Final attempt: shift -y and +x per blob position; reopen gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0036, 0.64138, 0.28826, -1.58201, -0.21808, 2.19831, 0.3521 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.67972, 0.16064, 0.69924 ], "tcp_roll_pitch_yaw": [ -0.00092, 0.00263, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99996, 0.00584, 0.00733 ], [ 0.00586, -0.99998, -0.00356 ], [ 0.00731, 0.0036, -0.99997 ] ], "simulated_seconds_remaining": 2.376, "calls_remaining_including_this": 28 }, "api_seconds": 5.216707027517259, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Bottle between fingers; close." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00362, 0.641, 0.28829, -1.58181, -0.21809, 2.19826, 0.3521 ], "gripper_open": 0.3489, "tcp_xyz": [ 0.67988, 0.16063, 0.69959 ], "tcp_roll_pitch_yaw": [ -0.00089, 0.0021, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99995, 0.0058, 0.00786 ], [ 0.00583, -0.99998, -0.00352 ], [ 0.00783, 0.00357, -0.99996 ] ], "simulated_seconds_remaining": 1.452, "calls_remaining_including_this": 27 }, "api_seconds": 3.6066217897459865, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Bottle grasped (gripper 0.35); lift clear of table." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01476, 0.52969, 0.31328, -1.49741, -0.17857, 2.00624, 0.32693 ], "gripper_open": 0.3311, "tcp_xyz": [ 0.67988, 0.16064, 0.79871 ], "tcp_roll_pitch_yaw": [ -0.00088, 0.0021, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99995, 0.0058, 0.00786 ], [ 0.00583, -0.99998, -0.00352 ], [ 0.00784, 0.00356, -0.99996 ] ], "simulated_seconds_remaining": 0.462, "calls_remaining_including_this": 26 }, "api_seconds": 5.004030914977193, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "done", "args": { "note": "Grasped the green bottle and lifted it clear of the table surface." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 036 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 36, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "api_calls": 31, "wall_seconds": 327.6447832584381, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 30032, "cache_read_input_tokens": 466140, "output_tokens": 14033 }, "estimated_cost_usd": 0.771905 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezjM6K3jDAg7trTgKawe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KbnuP75SU8UrErC6LAB2eL", "name": "move_to", "input": { "targets": { "z": 1.15, "pitch": -0.5 }, "note": "Raise and pitch camera to survey table and locate the blue bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 353, "output_tokens_details": { "thinking_tokens": 245 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezjMeaGfkZk7oqGE4Wja", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WzaAKkLHPawZ6UMFi4XNYp", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.1 }, "note": "Move forward toward the blue bottle seen centered 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": 846, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 846, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 232, "output_tokens_details": { "thinking_tokens": 127 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezjNVvQLajD2UQhzLePN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VuERTddK9XyV6PTZZCffF9", "name": "move_to", "input": { "targets": { "x": 0.58, "z": 1.05 }, "note": "Continue approaching the bottle, lowering slightly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 724, "cache_read_input_tokens": 2604, "cache_creation": { "ephemeral_5m_input_tokens": 724, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 202, "output_tokens_details": { "thinking_tokens": 101 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezjPBLEXNN7Kko2FLmJZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F7ZfPccvYAme4ZzppmJWsa", "name": "move_to", "input": { "targets": { "pitch": 0.0 }, "note": "Return to top-down orientation to view the table directly below and grasp vertically." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 696, "cache_read_input_tokens": 3328, "cache_creation": { "ephemeral_5m_input_tokens": 696, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 440, "output_tokens_details": { "thinking_tokens": 339 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezjQFGPvQREMzT68R3gW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Fwgsq6oF41uLvSPgwWAMQ8", "name": "move_to", "input": { "targets": { "y": 0.09 }, "note": "Test lateral motion to calibrate image-to-world mapping while moving toward the bottle (image-left)." }, "caller": { "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": 4024, "cache_creation": { "ephemeral_5m_input_tokens": 933, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 316, "output_tokens_details": { "thinking_tokens": 207 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezjQq6cbGNz7uv3nWaTb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GRnVijndQvfnoATooUntHd", "name": "move_to", "input": { "targets": { "x": 0.63, "y": -0.03 }, "note": "Using calibrated mapping, center the gripper over the bottle." }, "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": 4957, "cache_creation": { "ephemeral_5m_input_tokens": 808, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 737, "output_tokens_details": { "thinking_tokens": 633 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezjRsz2v2YLFst5HRcs5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NZBBfuzpjcbUGcCuLqeH6g", "name": "move_to", "input": { "targets": { "x": 0.67, "z": 0.99 }, "note": "Move slightly forward and descend toward the bottle to refine alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1237, "cache_read_input_tokens": 5765, "cache_creation": { "ephemeral_5m_input_tokens": 1237, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 245, "output_tokens_details": { "thinking_tokens": 139 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezjSgJbZpqsvnzFTdS6H", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RMEPjNybkA3EBJTiqsAjEG", "name": "move_to", "input": { "targets": { "x": 0.6 }, "note": "Test backward motion to determine forward/backward image mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 738, "cache_read_input_tokens": 7002, "cache_creation": { "ephemeral_5m_input_tokens": 738, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 227, "output_tokens_details": { "thinking_tokens": 133 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezjTHZtBwxkbgoZ5QxcY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Pz7cw5DWnJdUkdTqTpCME4", "name": "move_to", "input": { "targets": { "x": 0.52 }, "note": "Empirical mapping suggests bottle is behind current position; move back to x=0.52." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 7740, "cache_creation": { "ephemeral_5m_input_tokens": 721, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 703, "output_tokens_details": { "thinking_tokens": 600 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezjUTwzgXMAxj9T1w6rX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018fmWxQayQsifysHrPj4GiH", "name": "move_to", "input": { "targets": { "x": 0.56, "z": 0.95 }, "note": "Refine to bottle x≈0.56 and descend closer to the table." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1203, "cache_read_input_tokens": 8461, "cache_creation": { "ephemeral_5m_input_tokens": 1203, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 296, "output_tokens_details": { "thinking_tokens": 190 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezjV9G8ezhAekfZjPhFa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GPGhr5MwuCDb5oAifhqsMw", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Descend toward table to judge bottle height and alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 789, "cache_read_input_tokens": 9664, "cache_creation": { "ephemeral_5m_input_tokens": 789, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 204, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezjVhzcnnps4oMYmVboh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EePQPRDAsJSqxrCC6kV1ib", "name": "move_to", "input": { "targets": { "x": 0.53, "y": -0.017, "z": 0.88 }, "note": "Fine alignment per pixel estimates, descending near bottle top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 10453, "cache_creation": { "ephemeral_5m_input_tokens": 698, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 896, "output_tokens_details": { "thinking_tokens": 783 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezjWyUZhqx8jkb6ssjs9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QP6jX3cHVvWGz6Gb7X4Cz4", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Descend further to bring fingers around the bottle body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1389, "cache_read_input_tokens": 11151, "cache_creation": { "ephemeral_5m_input_tokens": 1389, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 283, "output_tokens_details": { "thinking_tokens": 191 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezjXdHAUWVdXhcGQ6JLC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FkUKSQ1ozebp6wmTeKzRhV", "name": "move_to", "input": { "targets": { "z": 0.95, "y": 0.043 }, "note": "Lift a bit and move +y to calibrate the exterior-view direction mapping." }, "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": 12540, "cache_creation": { "ephemeral_5m_input_tokens": 780, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 913, "output_tokens_details": { "thinking_tokens": 803 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezjYqom8aXRuyx6nFnB2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FfhMT899jsmW9PwbpxLQea", "name": "move_to", "input": { "targets": { "x": 0.53, "y": -0.017, "z": 0.86 }, "note": "Return to best-estimate grasp pose above bottle 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": 1406, "cache_read_input_tokens": 13320, "cache_creation": { "ephemeral_5m_input_tokens": 1406, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 815, "output_tokens_details": { "thinking_tokens": 703 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezjaKvToGANWvkibzjny", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gy32Giefk88rLqLt9sJHtD", "name": "move_to", "input": { "targets": { "x": 0.48 }, "note": "Move back 5 cm so bottle shifts toward finger region 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": 1308, "cache_read_input_tokens": 14726, "cache_creation": { "ephemeral_5m_input_tokens": 1308, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1478, "output_tokens_details": { "thinking_tokens": 1377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezjc5bKEzFc5xmgg7QQo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01G5LwoVMvRdSbPfFgSf5bwv", "name": "move_to", "input": { "targets": { "z": 1.12 }, "note": "Lift for a wide top-down wrist view showing both fingers and bottle to measure their offset." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1972, "cache_read_input_tokens": 16034, "cache_creation": { "ephemeral_5m_input_tokens": 1972, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 706, "output_tokens_details": { "thinking_tokens": 600 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezjd7SxKbFpRenej6vJX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Cx8ydQkWfLA2sX32VJxSpS", "name": "move_to", "input": { "targets": { "z": 0.83, "note": "" }, "note": "Descend back to grasp height at current x,y where bottle appeared 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": 1205, "cache_read_input_tokens": 18006, "cache_creation": { "ephemeral_5m_input_tokens": 1205, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1094, "output_tokens_details": { "thinking_tokens": 987 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezjeRCajDTrD1FnWXeSK", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01EwHcBP3t2BBK1zRs6PwumM", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Descend back to grasp height where bottle appeared 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": 1113, "cache_read_input_tokens": 19211, "cache_creation": { "ephemeral_5m_input_tokens": 1113, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 95, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezjegsf3FwTc3Xji9TNK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BPHTBLzzqYzr2nXVKUxjCQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp: close gripper at estimated bottle location." }, "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": 20324, "cache_creation": { "ephemeral_5m_input_tokens": 589, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 187, "output_tokens_details": { "thinking_tokens": 91 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezjf1dmrTGfihqR4M8E7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UR75g8qJRd8cBrm7WJjnSu", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Grasp failed (fingers closed empty). Open and lift to re-locate bottle." }, "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": 20913, "cache_creation": { "ephemeral_5m_input_tokens": 680, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 267, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezjfSguCT2xjFfdkrAtZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YYE5vWGkmHcmhrDGby1YDc", "name": "move_to", "input": { "targets": { "z": 0.79 }, "note": "Previous closure was likely above the short bottle; descend lower." }, "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": 21593, "cache_creation": { "ephemeral_5m_input_tokens": 761, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 367, "output_tokens_details": { "thinking_tokens": 272 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezjg2g49BtqPEyBNRsmd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Edzi899zBqtnm7E8csz3Ra", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at lower height to grasp the short bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 865, "cache_read_input_tokens": 22354, "cache_creation": { "ephemeral_5m_input_tokens": 865, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 175, "output_tokens_details": { "thinking_tokens": 81 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezjgSXFqH2tfQWyn9Uuy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01D339UF5Ru9HCf5nkwWZSQM", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.525 }, "note": "Bottle appears forward of the fingers; open and shift +x 4 cm at 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": 667, "cache_read_input_tokens": 23219, "cache_creation": { "ephemeral_5m_input_tokens": 667, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 392, "output_tokens_details": { "thinking_tokens": 278 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezjh2TC3dSbtCFH787cc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017koEXyjiTRX4knwfCmfCjX", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.004, "z": 0.785 }, "note": "Shift +y 2 cm (bottle sits right of finger gap in wrist view) and split x difference." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 885, "cache_read_input_tokens": 23886, "cache_creation": { "ephemeral_5m_input_tokens": 885, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 859, "output_tokens_details": { "thinking_tokens": 734 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezji5VXYVpVPVkE53Lg9", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MSkJWeYWRL1k7MJZfD3VFe", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at adjusted pose to grasp bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1352, "cache_read_input_tokens": 24771, "cache_creation": { "ephemeral_5m_input_tokens": 1352, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 94, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezjiL4sgsEDC1jHKnfy9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TEK8pdP1MeV5tRjQuNx7U9", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.53, "y": -0.045 }, "note": "Exterior view shows bottle left/down of fingers; shift -y and +x for final attempt." }, "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": 26123, "cache_creation": { "ephemeral_5m_input_tokens": 586, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 518, "output_tokens_details": { "thinking_tokens": 396 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezjj1SDhRcgZReGbo7j7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JHaviXeHfAVvvpUzYz8wxR", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Final grasp attempt with bottle appearing in 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": 1012, "cache_read_input_tokens": 26709, "cache_creation": { "ephemeral_5m_input_tokens": 1012, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 121, "output_tokens_details": { "thinking_tokens": 25 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezjjJHzGx3aFD1DT4YtF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016khKt3QujVs1sK1U1c2D18", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.555, "z": 0.805 }, "note": "Open and nudge forward/up for one last 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": 614, "cache_read_input_tokens": 27721, "cache_creation": { "ephemeral_5m_input_tokens": 614, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 619, "output_tokens_details": { "thinking_tokens": 508 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezjk8knHGnLmH3YuRsaE", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MNpmKDYPRKtXGBAouB3tHj", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close on bottle now clearly in 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": 1113, "cache_read_input_tokens": 28335, "cache_creation": { "ephemeral_5m_input_tokens": 1113, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 91, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezjkjudaufLNuaQg1F5S", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013TqEP8M3pL9vsd5PRyNxij", "name": "give_up", "input": { "note": "Could not align the gripper with the small bottle; repeated closures came up empty 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": 584, "cache_read_input_tokens": 29448, "cache_creation": { "ephemeral_5m_input_tokens": 584, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 108, "output_tokens_details": { "thinking_tokens": 28 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04909, -0.81949, -0.00458, -2.33119, 0.02705, 1.61579, 0.04544 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31794, 0.02117, 1.0427 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99474, 0.00234, 0.10236 ], [ -0.00126, -0.99938, 0.03509 ], [ 0.10238, -0.03504, -0.99413 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.805492230691016, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15, "pitch": -0.5 }, "note": "Raise and pitch camera to survey table and locate the blue bottle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04587, -1.11045, 0.00944, -2.39214, 0.01455, 1.88135, 0.04294 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31794, 0.02117, 1.14919 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.49608, 1e-05 ], "tcp_rotation_matrix": [ [ 0.8261, 0.01874, 0.56321 ], [ -0.00126, -0.99938, 0.0351 ], [ 0.56352, -0.02971, -0.82557 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 56 }, "api_seconds": 10.608550027944148, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.1 }, "note": "Move forward toward the blue bottle seen centered in wrist view." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.0439, -0.76014, -0.00121, -2.36804, 0.01263, 2.20706, 0.02884 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44878, 0.02117, 1.10034 ], "tcp_roll_pitch_yaw": [ -0.0, -0.49577, 0.0 ], "tcp_rotation_matrix": [ [ 0.82627, 0.01872, 0.56296 ], [ -0.00126, -0.99938, 0.03509 ], [ 0.56327, -0.02971, -0.82574 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 55 }, "api_seconds": 8.40689240489155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "z": 1.05 }, "note": "Continue approaching the bottle, lowering slightly." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04669, -0.35785, -0.01316, -2.19304, 0.01834, 2.43394, 0.01314 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57877, 0.02116, 1.05035 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.4955, -1e-05 ], "tcp_rotation_matrix": [ [ 0.82643, 0.0187, 0.56274 ], [ -0.00127, -0.99938, 0.03508 ], [ 0.56304, -0.02971, -0.82589 ] ], "simulated_seconds_remaining": 26.532, "calls_remaining_including_this": 54 }, "api_seconds": 13.81084852386266, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.0 }, "note": "Return to top-down orientation to view the table directly below and grasp vertically." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.0453, -0.0163, -0.02262, -1.61724, 0.03262, 1.70852, 0.01936 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57895, 0.02115, 1.05028 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00434, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99429, 0.00243, 0.10668 ], [ -0.00132, -0.99938, 0.03509 ], [ 0.1067, -0.03503, -0.99367 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 53 }, "api_seconds": 7.405806181952357, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.09 }, "note": "Test lateral motion to calibrate image-to-world mapping while moving toward the bottle (image-left)." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.1052, 0.00209, 0.03874, -1.59582, 0.01958, 1.70872, 0.14145 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.57894, 0.08879, 1.05027 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00432, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99429, 0.00276, 0.10665 ], [ -0.001, -0.99938, 0.03514 ], [ 0.10668, -0.03504, -0.99368 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 52 }, "api_seconds": 13.410562523640692, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.63, "y": -0.03 }, "note": "Using calibrated mapping, center the gripper over the bottle." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01154, 0.16426, -0.05823, -1.38684, 0.05201, 1.65494, -0.07076 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6295, -0.02896, 1.05021 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.00422, -2e-05 ], "tcp_rotation_matrix": [ [ 0.9943, 0.00246, 0.10656 ], [ -0.00129, -0.99938, 0.03508 ], [ 0.10658, -0.03502, -0.99369 ] ], "simulated_seconds_remaining": 23.628, "calls_remaining_including_this": 51 }, "api_seconds": 10.208114019595087, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.67, "z": 0.99 }, "note": "Move slightly forward and descend toward the bottle to refine alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01175, 0.27525, -0.05628, -1.38661, 0.05833, 1.76514, -0.074 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.66928, -0.02896, 0.99086 ], "tcp_roll_pitch_yaw": [ -0.0, -0.00385, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99434, 0.00245, 0.10619 ], [ -0.00128, -0.99938, 0.03509 ], [ 0.10621, -0.03503, -0.99373 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 50 }, "api_seconds": 7.8058266043663025, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6 }, "note": "Test backward motion to determine forward/backward image mapping." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00799, 0.03937, -0.05794, -1.7005, 0.04599, 1.84365, -0.07644 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6014, -0.02897, 0.991 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.00403, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99432, 0.00244, 0.10637 ], [ -0.0013, -0.99938, 0.03508 ], [ 0.10639, -0.03502, -0.99371 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 49 }, "api_seconds": 15.410584905184805, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "Empirical mapping suggests bottle is behind current position; move back to x=0.52." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0106, -0.21123, -0.0579, -1.98545, 0.03159, 1.87856, -0.07641 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52127, -0.02898, 0.9911 ], "tcp_roll_pitch_yaw": [ -1e-05, -0.00417, -5e-05 ], "tcp_rotation_matrix": [ [ 0.99431, 0.00243, 0.10651 ], [ -0.00131, -0.99938, 0.03508 ], [ 0.10653, -0.03502, -0.99369 ] ], "simulated_seconds_remaining": 21.252, "calls_remaining_including_this": 48 }, "api_seconds": 8.807952434755862, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "z": 0.95 }, "note": "Refine to bottle x≈0.56 and descend closer to the table." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0083, -0.09024, -0.05815, -1.95676, 0.03999, 1.97027, -0.0807 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55908, -0.02897, 0.95081 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00384, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99434, 0.00243, 0.10618 ], [ -0.0013, -0.99938, 0.03509 ], [ 0.1062, -0.03503, -0.99373 ] ], "simulated_seconds_remaining": 20.592, "calls_remaining_including_this": 47 }, "api_seconds": 7.005514334887266, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Descend toward table to judge bottle height and alignment." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00804, -0.06787, -0.05832, -2.05913, 0.04402, 2.09453, -0.08705 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55903, -0.02897, 0.90105 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00353, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99438, 0.00243, 0.10587 ], [ -0.0013, -0.99938, 0.0351 ], [ 0.10589, -0.03504, -0.99376 ] ], "simulated_seconds_remaining": 19.932, "calls_remaining_including_this": 46 }, "api_seconds": 16.81610140297562, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": -0.017, "z": 0.88 }, "note": "Fine alignment per pixel estimates, descending near bottle top." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00034, -0.13872, -0.0467, -2.19267, 0.04027, 2.15801, -0.06746 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53096, -0.01737, 0.88069 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.00342, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99439, 0.0025, 0.10576 ], [ -0.00122, -0.99938, 0.03511 ], [ 0.10578, -0.03504, -0.99377 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 45 }, "api_seconds": 8.409508978016675, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Descend further to bring fingers around the bottle body." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00105, -0.09943, -0.0472, -2.25516, 0.04569, 2.25934, -0.07401 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5309, -0.01736, 0.841 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.00313, 5e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.0025, 0.10547 ], [ -0.00121, -0.99938, 0.03512 ], [ 0.10549, -0.03505, -0.9938 ] ], "simulated_seconds_remaining": 18.81, "calls_remaining_including_this": 44 }, "api_seconds": 15.812436388805509, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "y": 0.043 }, "note": "Lift a bit and move +y to calibrate the exterior-view direction mapping." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.04793, -0.17569, 0.01876, -2.05676, 0.03427, 1.98901, 0.05357 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53096, 0.04242, 0.94895 ], "tcp_roll_pitch_yaw": [ 4e-05, -0.00344, 0.00019 ], "tcp_rotation_matrix": [ [ 0.99439, 0.00265, 0.10577 ], [ -0.00108, -0.99938, 0.03515 ], [ 0.1058, -0.03507, -0.99377 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 43 }, "api_seconds": 19.41529805585742, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": -0.017, "z": 0.86 }, "note": "Return to best-estimate grasp pose above bottle before closing." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00217, -0.12369, -0.04652, -2.22834, 0.04241, 2.20843, -0.06839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52996, -0.01631, 0.86101 ], "tcp_roll_pitch_yaw": [ 7e-05, -0.00313, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00248, 0.10548 ], [ -0.00124, -0.99938, 0.03516 ], [ 0.1055, -0.0351, -0.9938 ] ], "simulated_seconds_remaining": 16.698, "calls_remaining_including_this": 42 }, "api_seconds": 23.41880012024194, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48 }, "note": "Move back 5 cm so bottle shifts toward finger region in wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00163, -0.27073, -0.04656, -2.3826, 0.03462, 2.21586, -0.06713 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48115, -0.01632, 0.86106 ], "tcp_roll_pitch_yaw": [ 7e-05, -0.00318, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99441, 0.00248, 0.10553 ], [ -0.00124, -0.99938, 0.03516 ], [ 0.10555, -0.0351, -0.99379 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 41 }, "api_seconds": 12.610359706915915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.12 }, "note": "Lift for a wide top-down wrist view showing both fingers and bottle to measure their offset." } } } ] } } ] }, "execution": { "steps": 31, "motion_seconds": 2.0460000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00133, -0.26739, -0.04454, -1.71105, 0.02813, 1.54831, -0.04342 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48119, -0.01632, 1.11876 ], "tcp_roll_pitch_yaw": [ 7e-05, -0.00348, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99438, 0.00248, 0.10582 ], [ -0.00125, -0.99938, 0.03516 ], [ 0.10584, -0.0351, -0.99376 ] ], "simulated_seconds_remaining": 13.992, "calls_remaining_including_this": 40 }, "api_seconds": 20.01641157269478, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Descend back to grasp height where bottle appeared between fingers." } } } ] } } ] }, "execution": { "steps": 34, "motion_seconds": 2.244, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00046, -0.23525, -0.04772, -2.42856, 0.03883, 2.29711, -0.07235 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48112, -0.01631, 0.83121 ], "tcp_roll_pitch_yaw": [ 8e-05, -0.0031, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00248, 0.10545 ], [ -0.00124, -0.99938, 0.03518 ], [ 0.10547, -0.03511, -0.9938 ] ], "simulated_seconds_remaining": 11.748, "calls_remaining_including_this": 39 }, "api_seconds": 3.8037366839125752, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp: close gripper at estimated bottle location." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00046, -0.23525, -0.04772, -2.42856, 0.03883, 2.29711, -0.07235 ], "gripper_open": 0.0, "tcp_xyz": [ 0.48112, -0.01631, 0.8312 ], "tcp_roll_pitch_yaw": [ 8e-05, -0.00311, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00248, 0.10545 ], [ -0.00124, -0.99938, 0.03518 ], [ 0.10547, -0.03511, -0.9938 ] ], "simulated_seconds_remaining": 10.824, "calls_remaining_including_this": 38 }, "api_seconds": 5.205032566562295, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95 }, "note": "Grasp failed (fingers closed empty). Open and lift to re-locate bottle." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00293, -0.32986, -0.04418, -2.2106, 0.02803, 1.98525, -0.05604 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4812, -0.01631, 0.94874 ], "tcp_roll_pitch_yaw": [ 8e-05, -0.00348, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99438, 0.00249, 0.10582 ], [ -0.00124, -0.99938, 0.03517 ], [ 0.10584, -0.03511, -0.99376 ] ], "simulated_seconds_remaining": 9.768, "calls_remaining_including_this": 37 }, "api_seconds": 7.005918195471168, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79 }, "note": "Previous closure was likely above the short bottle; descend lower." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00183, -0.17485, -0.04941, -2.47949, 0.04715, 2.40823, -0.0813 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.48112, -0.01631, 0.79118 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00311, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00249, 0.10545 ], [ -0.00123, -0.99938, 0.03519 ], [ 0.10547, -0.03512, -0.9938 ] ], "simulated_seconds_remaining": 8.382, "calls_remaining_including_this": 36 }, "api_seconds": 4.604084735736251, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at lower height to grasp the short bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00183, -0.17485, -0.04941, -2.47949, 0.04715, 2.40823, -0.0813 ], "gripper_open": 0.0, "tcp_xyz": [ 0.48112, -0.01631, 0.79117 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00311, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00249, 0.10546 ], [ -0.00123, -0.99938, 0.03519 ], [ 0.10548, -0.03512, -0.9938 ] ], "simulated_seconds_remaining": 7.458, "calls_remaining_including_this": 35 }, "api_seconds": 7.609713276848197, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.525 }, "note": "Bottle appears forward of the fingers; open and shift +x 4 cm at grasp height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00505, -0.05185, -0.04871, -2.34005, 0.05467, 2.39159, -0.08243 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.52405, -0.01631, 0.79116 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.0031, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00249, 0.10545 ], [ -0.00123, -0.99938, 0.03519 ], [ 0.10547, -0.03512, -0.9938 ] ], "simulated_seconds_remaining": 6.534, "calls_remaining_including_this": 34 }, "api_seconds": 14.010998768731952, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.004, "z": 0.785 }, "note": "Shift +y 2 cm (bottle sits right of finger gap in wrist view) and split x difference." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02224, -0.1094, -0.02699, -2.42511, 0.04964, 2.42063, -0.04108 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5008, 0.00338, 0.7852 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00306, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99443, 0.00262, 0.1054 ], [ -0.00109, -0.99938, 0.0352 ], [ 0.10543, -0.03512, -0.99381 ] ], "simulated_seconds_remaining": 6.006, "calls_remaining_including_this": 33 }, "api_seconds": 2.8024981766939163, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at adjusted pose to grasp bottle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.02224, -0.1094, -0.02699, -2.42511, 0.04964, 2.42063, -0.04108 ], "gripper_open": 0.0, "tcp_xyz": [ 0.50079, 0.00338, 0.7852 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00306, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99443, 0.00262, 0.1054 ], [ -0.0011, -0.99938, 0.0352 ], [ 0.10543, -0.03512, -0.99381 ] ], "simulated_seconds_remaining": 5.082, "calls_remaining_including_this": 32 }, "api_seconds": 8.610141118988395, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.53, "y": -0.045 }, "note": "Exterior view shows bottle left/down of fingers; shift -y and +x for final attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01909, -0.02206, -0.07791, -2.32076, 0.06445, 2.3995, -0.14301 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.52937, -0.04402, 0.78519 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00306, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99443, 0.00248, 0.1054 ], [ -0.00124, -0.99938, 0.03519 ], [ 0.10543, -0.03513, -0.99381 ] ], "simulated_seconds_remaining": 4.158, "calls_remaining_including_this": 31 }, "api_seconds": 3.202902553603053, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Final grasp attempt with bottle appearing in finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01909, -0.02206, -0.07791, -2.32076, 0.06445, 2.3995, -0.14301 ], "gripper_open": 0.0, "tcp_xyz": [ 0.52937, -0.04402, 0.78519 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00306, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99443, 0.00248, 0.1054 ], [ -0.00124, -0.99938, 0.03519 ], [ 0.10543, -0.03512, -0.99381 ] ], "simulated_seconds_remaining": 3.234, "calls_remaining_including_this": 30 }, "api_seconds": 10.80826059076935, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.555, "z": 0.805 }, "note": "Open and nudge forward/up for one last grasp attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01748, 0.01909, -0.07629, -2.21447, 0.06422, 2.33446, -0.13639 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.55441, -0.04402, 0.80455 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00312, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00248, 0.10547 ], [ -0.00124, -0.99938, 0.03519 ], [ 0.10549, -0.03512, -0.9938 ] ], "simulated_seconds_remaining": 2.31, "calls_remaining_including_this": 29 }, "api_seconds": 7.606368245556951, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close on bottle now clearly in the finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.01748, 0.01909, -0.07629, -2.21447, 0.06422, 2.33446, -0.13639 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55441, -0.04402, 0.80455 ], "tcp_roll_pitch_yaw": [ 9e-05, -0.00312, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99442, 0.00248, 0.10547 ], [ -0.00124, -0.99938, 0.03519 ], [ 0.10549, -0.03512, -0.9938 ] ], "simulated_seconds_remaining": 1.386, "calls_remaining_including_this": 28 }, "api_seconds": 7.005750079639256, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not align the gripper with the small bottle; repeated closures came up empty and simulated time is exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 037 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 37, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 25, "api_calls": 26, "wall_seconds": 213.0646140575409, "usage": { "input_tokens": 52, "cache_creation_input_tokens": 24734, "cache_read_input_tokens": 313651, "output_tokens": 10832 }, "estimated_cost_usd": 0.582473 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezjo6wUn1AdXFYNTsEY9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0132FBpLV6RZNQzssypzG27X", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 92, "output_tokens_details": { "thinking_tokens": 68 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezjoJaTt4ba7oY595vEK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016mjMCgk9iAn5sxLgH7BQtf", "name": "move_to", "input": { "targets": { "z": 1.15, "x": 0.35 }, "note": "Raise to view cabinet top and locate the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 525, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 525, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 233, "output_tokens_details": { "thinking_tokens": 133 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezjogRsRqoHg7yzNWCqp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MiMboxqHAURwkhxez7cerY", "name": "move_to", "input": { "targets": { "y": 0.15 }, "note": "Shift left to test direction toward cabinet." }, "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": 2282, "cache_creation": { "ephemeral_5m_input_tokens": 728, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 327, "output_tokens_details": { "thinking_tokens": 237 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezjp9vMM6suE7hSmGPms", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HdLz4ffQ7p884hqbNZeCfj", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Move forward to get over cabinet top." }, "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": 3010, "cache_creation": { "ephemeral_5m_input_tokens": 820, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 606, "output_tokens_details": { "thinking_tokens": 518 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezjq46P2DXjssbYaUrLC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UD8buUZKFCQBdvyKgxWXt3", "name": "move_to", "input": { "targets": { "x": 0.55 }, "note": "Small +x probe to learn image-to-base mapping via dark remote's shift." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1099, "cache_read_input_tokens": 3830, "cache_creation": { "ephemeral_5m_input_tokens": 1099, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 455, "output_tokens_details": { "thinking_tokens": 354 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezjqky2gfQGLhNieREKH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014UdkMQCz6ZqWmxDaBshYZA", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Descend for a closer, clearer view of the cabinet top and remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 948, "cache_read_input_tokens": 4929, "cache_creation": { "ephemeral_5m_input_tokens": 948, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 326, "output_tokens_details": { "thinking_tokens": 228 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezjrEFM9aZ721Lo413an", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SpHSaKHURAUoNymGc6fdNL", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Probe -y to learn horizontal image mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 5877, "cache_creation": { "ephemeral_5m_input_tokens": 819, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 282, "output_tokens_details": { "thinking_tokens": 190 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezjre2Lw65DjD3inWBbk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015DUcbKJvpUy5X699M4iMT5", "name": "move_to", "input": { "targets": { "y": -0.03, "x": 0.6 }, "note": "Center the dark remote in wrist view using derived mapping (image right=+y, up=+x)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 6696, "cache_creation": { "ephemeral_5m_input_tokens": 776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 830, "output_tokens_details": { "thinking_tokens": 717 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezjsiM5PRSFgG38aTqg7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UHfxre2cRBaMPtJeK3cPDY", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Descend closer toward cabinet top to better see remote position relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1323, "cache_read_input_tokens": 7472, "cache_creation": { "ephemeral_5m_input_tokens": 1323, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 479, "output_tokens_details": { "thinking_tokens": 379 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezjtNdSGNNH9oGMq8RU1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014dS3LiFfk88nhgreKogJne", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Continue descending slowly to find cabinet top height and remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 973, "cache_read_input_tokens": 8795, "cache_creation": { "ephemeral_5m_input_tokens": 973, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 472, "output_tokens_details": { "thinking_tokens": 377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezjtyA5WsHhyM69KmWKp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01P41Pd8iuGX3cTytvJ4Rh8P", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Lower toward remote level; watching for surface contact and alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 966, "cache_read_input_tokens": 9768, "cache_creation": { "ephemeral_5m_input_tokens": 966, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 693, "output_tokens_details": { "thinking_tokens": 597 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezjuu3KNqqxpJCGgtiPv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W1JiMhVgT42PEodYJh9wqs", "name": "move_to", "input": { "targets": { "z": 0.795 }, "note": "Final descent to remote height before closing gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1187, "cache_read_input_tokens": 10734, "cache_creation": { "ephemeral_5m_input_tokens": 1187, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 291, "output_tokens_details": { "thinking_tokens": 201 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezjvoq45LtZqDNCiJZnR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019eF7u3dMAUUBwEYpZE9NAo", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Descend further; still no visible contact with cabinet top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 785, "cache_read_input_tokens": 11921, "cache_creation": { "ephemeral_5m_input_tokens": 785, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 192, "output_tokens_details": { "thinking_tokens": 99 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezjw75eD7jLc8d5Vc2PG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YbtyjeM6VrE9cQrdRBj64V", "name": "move_to", "input": { "targets": { "y": 0.03 }, "note": "Probe +y at low height to see which way gripper shifts relative to remote 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": 685, "cache_read_input_tokens": 12706, "cache_creation": { "ephemeral_5m_input_tokens": 685, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 341, "output_tokens_details": { "thinking_tokens": 237 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezjwbXurdLN7AM2t8JdM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NhugZFhXdcPwLp8FgPW8AG", "name": "move_to", "input": { "targets": { "z": 0.72, "y": -0.02 }, "note": "Descend further to find the top surface height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 834, "cache_read_input_tokens": 13391, "cache_creation": { "ephemeral_5m_input_tokens": 834, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 670, "output_tokens_details": { "thinking_tokens": 575 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezjxWkT2gP4tUzdtbKQ7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Scbdihs1RUFaNs3NZVnWW8", "name": "move_to", "input": { "targets": { "z": 0.8, "y": 0.12 }, "note": "Large +y probe at safe height to establish exterior-image direction mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1161, "cache_read_input_tokens": 14225, "cache_creation": { "ephemeral_5m_input_tokens": 1161, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 478, "output_tokens_details": { "thinking_tokens": 371 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezjyAsPcaHGt9imKC19B", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PFbv4xsrkmfT3rSsMwnC7h", "name": "move_to", "input": { "targets": { "z": 0.755 }, "note": "Gripper now appears over the remote (exterior left=+y). Lowering to remote height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 969, "cache_read_input_tokens": 15386, "cache_creation": { "ephemeral_5m_input_tokens": 969, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 481, "output_tokens_details": { "thinking_tokens": 377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezjykcfhngKAFWLPbz6N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F8pxPMsAG4JsJwaFQx9isd", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasp of remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 977, "cache_read_input_tokens": 16355, "cache_creation": { "ephemeral_5m_input_tokens": 977, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 155, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezjz1enSG996f3PtBR3n", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MbBfkvkaU1xxFVgRLGiH17", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check whether anything 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": 645, "cache_read_input_tokens": 17332, "cache_creation": { "ephemeral_5m_input_tokens": 645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 145, "output_tokens_details": { "thinking_tokens": 56 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezjzHa1Pg3ArpiVQidry", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HevKqSmwEtKvzk473nbNnC", "name": "move_to", "input": { "targets": { "y": 0.05, "gripper": 1 }, "note": "Remote visible at left of wrist view; probe -y to calibrate wrist mapping and reopen gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 636, "cache_read_input_tokens": 17977, "cache_creation": { "ephemeral_5m_input_tokens": 636, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 513, "output_tokens_details": { "thinking_tokens": 394 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezjzz837L9LkEEq2wz4P", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QS4mAmTi94SHU6P8fbRcS4", "name": "move_to", "input": { "targets": { "y": -0.06 }, "note": "Continue -y to bring the remote toward the finger region 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": 1006, "cache_read_input_tokens": 18613, "cache_creation": { "ephemeral_5m_input_tokens": 1006, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1005, "output_tokens_details": { "thinking_tokens": 907 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezk2DGbppzAqDGWSVXH4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PEiv7Ya1fWUZ5vUvTQcRHD", "name": "move_to", "input": { "targets": { "z": 0.82 }, "note": "Descend to see remote relative to fingertips for final alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1498, "cache_read_input_tokens": 19619, "cache_creation": { "ephemeral_5m_input_tokens": 1498, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 611, "output_tokens_details": { "thinking_tokens": 516 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezk32EbcKn5JRNoxLixS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H2n6mMLZNvCZPJzBzW4ZHn", "name": "move_to", "input": { "targets": { "y": -0.1, "z": 0.79 }, "note": "Align gripper center over remote (shift -y by 4cm) and descend." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1104, "cache_read_input_tokens": 21117, "cache_creation": { "ephemeral_5m_input_tokens": 1104, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 765, "output_tokens_details": { "thinking_tokens": 658 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezk41eenmwqTyCjprJEP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S1fiKFYF6EJB5ZK7gxdwWL", "name": "move_to", "input": { "targets": { "z": 0.752, "y": -0.09 }, "note": "Fine y correction and descend to remote 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": 1258, "cache_read_input_tokens": 22221, "cache_creation": { "ephemeral_5m_input_tokens": 1258, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 182, "output_tokens_details": { "thinking_tokens": 82 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezk4P7jGsdxknkLPfVip", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LE2QihjX3ejJN5FGw8bY1R", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on remote." }, "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": 23479, "cache_creation": { "ephemeral_5m_input_tokens": 680, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 83, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezk4aMex1qkBsAqkmvhw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ao98ZxJBh85HApqngoLnEN", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Gripper closed on object (0.12 opening); lift to confirm grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 575, "cache_read_input_tokens": 24159, "cache_creation": { "ephemeral_5m_input_tokens": 575, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 125, "output_tokens_details": { "thinking_tokens": 24 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.00177, -0.82262, -0.04828, -2.37022, 0.04463, 1.6189, -0.00792 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31309, -0.00221, 1.02517 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99708, -0.02208, 0.07308 ], [ -0.02775, -0.9966, 0.07755 ], [ 0.07112, -0.07935, -0.99431 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.6077878922224045, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15, "x": 0.35 }, "note": "Raise to view cabinet top and locate the remote." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.01392, -0.58435, -0.051, -1.88713, 0.05266, 1.37475, 0.00747 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34966, -0.00221, 1.14879 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00012, -0.0 ], "tcp_rotation_matrix": [ [ 0.99707, -0.02207, 0.07321 ], [ -0.02776, -0.9966, 0.07756 ], [ 0.07124, -0.07936, -0.9943 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 6.005105055868626, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15 }, "note": "Shift left to test direction toward cabinet." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.07306, -0.5345, 0.18481, -1.84535, 0.15395, 1.41047, 0.29316 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34965, 0.14874, 1.14877 ], "tcp_roll_pitch_yaw": [ -6e-05, -0.00011, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99708, -0.02185, 0.07318 ], [ -0.02753, -0.99661, 0.0775 ], [ 0.07123, -0.07929, -0.9943 ] ], "simulated_seconds_remaining": 27.522, "calls_remaining_including_this": 55 }, "api_seconds": 11.609803105704486, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Move forward to get over cabinet top." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.04388, -0.09469, 0.19813, -1.43881, 0.07708, 1.43606, 0.28063 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49873, 0.1487, 1.14866 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00015, 0.00014 ], "tcp_rotation_matrix": [ [ 0.9971, -0.02195, 0.07293 ], [ -0.02761, -0.99661, 0.07747 ], [ 0.07098, -0.07925, -0.99432 ] ], "simulated_seconds_remaining": 26.202, "calls_remaining_including_this": 54 }, "api_seconds": 9.408104955218732, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Small +x probe to learn image-to-base mapping via dark remote's shift." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.04903, 0.08484, 0.20389, -1.22288, 0.04039, 1.39602, 0.28517 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54886, 0.14866, 1.14854 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00039, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99711, -0.02204, 0.07269 ], [ -0.02767, -0.99661, 0.07742 ], [ 0.07074, -0.07921, -0.99435 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 53 }, "api_seconds": 6.00552913825959, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Descend for a closer, clearer view of the cabinet top and remote." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.0386, -0.03523, 0.19545, -1.63165, 0.06576, 1.68547, 0.25451 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54885, 0.14866, 1.05127 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00072, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99714, -0.02204, 0.07236 ], [ -0.02764, -0.99662, 0.07736 ], [ 0.07041, -0.07914, -0.99437 ] ], "simulated_seconds_remaining": 24.618, "calls_remaining_including_this": 52 }, "api_seconds": 5.204535519704223, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Probe -y to learn horizontal image mapping." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.04454, -0.08132, 0.09866, -1.68292, 0.08184, 1.6784, 0.07365 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54888, 0.05123, 1.05127 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00072, -0.00023 ], "tcp_rotation_matrix": [ [ 0.99713, -0.02237, 0.07238 ], [ -0.02797, -0.99661, 0.07733 ], [ 0.07041, -0.07913, -0.99437 ] ], "simulated_seconds_remaining": 23.694, "calls_remaining_including_this": 51 }, "api_seconds": 14.211479239165783, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.03, "x": 0.6 }, "note": "Center the dark remote in wrist view using derived mapping (image right=+y, up=+x)." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.11252, 0.09276, 0.0306, -1.46908, 0.08038, 1.62756, -0.05856 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5993, -0.029, 1.05119 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00085, -0.0005 ], "tcp_rotation_matrix": [ [ 0.99713, -0.02265, 0.07227 ], [ -0.02824, -0.99661, 0.07731 ], [ 0.07028, -0.07913, -0.99438 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 50 }, "api_seconds": 8.606940644793212, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Descend closer toward cabinet top to better see remote position relative to fingers." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.11116, 0.06331, 0.03163, -1.76263, 0.08525, 1.89063, -0.07834 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59926, -0.02899, 0.95114 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00121, -0.00049 ], "tcp_rotation_matrix": [ [ 0.99715, -0.02266, 0.07192 ], [ -0.02823, -0.9966, 0.07735 ], [ 0.06992, -0.07916, -0.99441 ] ], "simulated_seconds_remaining": 21.78, "calls_remaining_including_this": 49 }, "api_seconds": 7.806491074152291, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Continue descending slowly to find cabinet top height and remote." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.10981, 0.09176, 0.0329, -1.90612, 0.09046, 2.06179, -0.09174 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59921, -0.02899, 0.88109 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00156, -0.00048 ], "tcp_rotation_matrix": [ [ 0.99718, -0.02268, 0.07157 ], [ -0.02822, -0.9966, 0.07738 ], [ 0.06957, -0.07918, -0.99443 ] ], "simulated_seconds_remaining": 20.988, "calls_remaining_including_this": 48 }, "api_seconds": 12.209843209944665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Lower toward remote level; watching for surface contact and alignment." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.10879, 0.13366, 0.03405, -1.98342, 0.0953, 2.18036, -0.10178 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59915, -0.02898, 0.83104 ], "tcp_roll_pitch_yaw": [ -0.00011, 0.00189, -0.00047 ], "tcp_rotation_matrix": [ [ 0.9972, -0.0227, 0.07124 ], [ -0.02822, -0.9966, 0.07741 ], [ 0.06924, -0.0792, -0.99445 ] ], "simulated_seconds_remaining": 20.328, "calls_remaining_including_this": 47 }, "api_seconds": 12.20901115052402, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.795 }, "note": "Final descent to remote height before closing gripper." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.10815, 0.17299, 0.03504, -2.02562, 0.09934, 2.26135, -0.10919 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59908, -0.02898, 0.79608 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00221, -0.00047 ], "tcp_rotation_matrix": [ [ 0.99722, -0.02272, 0.07092 ], [ -0.02821, -0.9966, 0.07744 ], [ 0.06892, -0.07923, -0.99447 ] ], "simulated_seconds_remaining": 19.8, "calls_remaining_including_this": 46 }, "api_seconds": 3.803805655799806, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Descend further; still no visible contact with cabinet top." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.10768, 0.22022, 0.03628, -2.05834, 0.10394, 2.34077, -0.11706 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.599, -0.02897, 0.76108 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00253, -0.00046 ], "tcp_rotation_matrix": [ [ 0.99725, -0.02274, 0.0706 ], [ -0.02821, -0.9966, 0.07748 ], [ 0.0686, -0.07925, -0.99449 ] ], "simulated_seconds_remaining": 19.272, "calls_remaining_including_this": 45 }, "api_seconds": 6.205259777605534, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03 }, "note": "Probe +y at low height to see which way gripper shifts relative to remote in exterior view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.04261, 0.2163, 0.07089, -2.0668, 0.08543, 2.35355, -0.00684 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.599, 0.02881, 0.76108 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00253, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99726, -0.02238, 0.07057 ], [ -0.02786, -0.9966, 0.07753 ], [ 0.0686, -0.07928, -0.99449 ] ], "simulated_seconds_remaining": 18.612, "calls_remaining_including_this": 44 }, "api_seconds": 12.209596346132457, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72, "y": -0.02 }, "note": "Descend further to find the top surface height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.09155, 0.2682, 0.05473, -2.08108, 0.108, 2.42931, -0.10544 ], "gripper_open": 1.0, "tcp_xyz": [ 0.60386, -0.0095, 0.73166 ], "tcp_roll_pitch_yaw": [ 0.00303, -0.01417, 0.01164 ], "tcp_rotation_matrix": [ [ 0.99623, -0.00931, 0.08621 ], [ -0.01638, -0.99653, 0.08157 ], [ 0.08515, -0.08268, -0.99293 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 43 }, "api_seconds": 8.606759757734835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8, "y": 0.12 }, "note": "Large +y probe at safe height to establish exterior-image direction mapping." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.054, 0.19423, 0.12607, -1.99888, 0.05452, 2.29054, 0.15517 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60388, 0.11896, 0.79944 ], "tcp_roll_pitch_yaw": [ 0.00308, -0.01433, 0.01195 ], "tcp_rotation_matrix": [ [ 0.99622, -0.00899, 0.08635 ], [ -0.01607, -0.99653, 0.08165 ], [ 0.08532, -0.08273, -0.99291 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 42 }, "api_seconds": 7.606626057997346, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.755 }, "note": "Gripper now appears over the remote (exterior left=+y). Lowering to remote height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.05644, 0.25333, 0.1247, -2.03819, 0.04999, 2.38829, 0.15345 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6038, 0.11894, 0.75607 ], "tcp_roll_pitch_yaw": [ 0.00304, -0.014, 0.01195 ], "tcp_rotation_matrix": [ [ 0.99625, -0.00901, 0.08602 ], [ -0.01606, -0.99654, 0.08161 ], [ 0.08498, -0.08268, -0.99295 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 41 }, "api_seconds": 3.2030438371002674, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to attempt grasp of remote." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.05644, 0.25333, 0.1247, -2.03819, 0.04999, 2.38829, 0.15345 ], "gripper_open": 0.0, "tcp_xyz": [ 0.6038, 0.11894, 0.75606 ], "tcp_roll_pitch_yaw": [ 0.00304, -0.014, 0.01195 ], "tcp_rotation_matrix": [ [ 0.99625, -0.00901, 0.08602 ], [ -0.01606, -0.99654, 0.08161 ], [ 0.08499, -0.08268, -0.99295 ] ], "simulated_seconds_remaining": 15.114, "calls_remaining_including_this": 40 }, "api_seconds": 3.203233311884105, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check whether anything was grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.05038, 0.10538, 0.12624, -1.85257, 0.05896, 2.05606, 0.16292 ], "gripper_open": 0.0, "tcp_xyz": [ 0.60389, 0.11896, 0.89882 ], "tcp_roll_pitch_yaw": [ 0.00309, -0.01439, 0.01194 ], "tcp_rotation_matrix": [ [ 0.99622, -0.00899, 0.08641 ], [ -0.01607, -0.99653, 0.08166 ], [ 0.08537, -0.08274, -0.99291 ] ], "simulated_seconds_remaining": 13.86, "calls_remaining_including_this": 39 }, "api_seconds": 9.207560233771801, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "gripper": 1 }, "note": "Remote visible at left of wrist view; probe -y to calibrate wrist mapping and reopen gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.01483, 0.08173, 0.07471, -1.88024, 0.07936, 2.05194, 0.0386 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.6039, 0.05137, 0.89882 ], "tcp_roll_pitch_yaw": [ 0.00308, -0.01439, 0.01171 ], "tcp_rotation_matrix": [ [ 0.99622, -0.00922, 0.08643 ], [ -0.01631, -0.99653, 0.08163 ], [ 0.08538, -0.08273, -0.99291 ] ], "simulated_seconds_remaining": 12.936, "calls_remaining_including_this": 38 }, "api_seconds": 16.212603230029345, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06 }, "note": "Continue -y to bring the remote toward the finger region in wrist view." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.11952, 0.0949, -0.01132, -1.8591, 0.10405, 2.02732, -0.16009 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6039, -0.05887, 0.89882 ], "tcp_roll_pitch_yaw": [ 0.00306, -0.01438, 0.01138 ], "tcp_rotation_matrix": [ [ 0.99621, -0.00955, 0.08644 ], [ -0.01663, -0.99653, 0.08158 ], [ 0.08537, -0.08271, -0.99291 ] ], "simulated_seconds_remaining": 11.88, "calls_remaining_including_this": 37 }, "api_seconds": 10.610143720172346, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.82 }, "note": "Descend to see remote relative to fingertips for final alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.11845, 0.15748, -0.00883, -1.98088, 0.11652, 2.21049, -0.18021 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60382, -0.05886, 0.8212 ], "tcp_roll_pitch_yaw": [ 0.00312, -0.01398, 0.01139 ], "tcp_rotation_matrix": [ [ 0.99624, -0.00957, 0.08605 ], [ -0.01662, -0.99652, 0.08164 ], [ 0.08497, -0.08276, -0.99294 ] ], "simulated_seconds_remaining": 11.088, "calls_remaining_including_this": 36 }, "api_seconds": 12.809893955476582, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.1, "z": 0.79 }, "note": "Align gripper center over remote (shift -y by 4cm) and descend." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.16092, 0.21167, -0.03319, -1.9881, 0.13504, 2.26418, -0.26279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60377, -0.09916, 0.79063 ], "tcp_roll_pitch_yaw": [ 0.00314, -0.01379, 0.01116 ], "tcp_rotation_matrix": [ [ 0.99626, -0.00982, 0.08588 ], [ -0.01686, -0.99652, 0.08164 ], [ 0.08478, -0.08278, -0.99296 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 35 }, "api_seconds": 5.004508597776294, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.752, "y": -0.09 }, "note": "Fine y correction and descend to remote grasp height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.15185, 0.25846, -0.02476, -2.02797, 0.14365, 2.35158, -0.2601 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6037, -0.0902, 0.75293 ], "tcp_roll_pitch_yaw": [ 0.00321, -0.0135, 0.01123 ], "tcp_rotation_matrix": [ [ 0.99628, -0.00977, 0.08559 ], [ -0.01679, -0.99652, 0.0817 ], [ 0.08449, -0.08284, -0.99298 ] ], "simulated_seconds_remaining": 9.834, "calls_remaining_including_this": 34 }, "api_seconds": 2.4023227179422975, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on remote." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the remote.", "joint_positions": [ -0.15161, 0.25799, -0.02444, -2.02748, 0.14378, 2.3518, -0.2601 ], "gripper_open": 0.121, "tcp_xyz": [ 0.6041, -0.08991, 0.75346 ], "tcp_roll_pitch_yaw": [ 0.00315, -0.0147, 0.01166 ], "tcp_rotation_matrix": [ [ 0.99619, -0.00924, 0.08674 ], [ -0.01636, -0.99652, 0.0817 ], [ 0.08568, -0.08281, -0.99288 ] ], "simulated_seconds_remaining": 8.91, "calls_remaining_including_this": 33 }, "api_seconds": 3.4031430752947927, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Gripper closed on object (0.12 opening); lift to confirm grasp." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 038 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 38, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "api_calls": 31, "wall_seconds": 303.35524725914, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 32003, "cache_read_input_tokens": 490958, "output_tokens": 15663 }, "estimated_cost_usd": 0.83738275 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezjpHx36VVuXZTps6Skw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016GHRe26koZu7s3WCgPQVNR", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 68, "output_tokens_details": { "thinking_tokens": 44 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezjpWuA6EsGrbPaDtETX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011dfDE2DHRXeiaSjcve11Kq", "name": "move_to", "input": { "targets": { "z": 1.2 }, "note": "Raise to get a wider view of the table to locate the ladle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 501, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 501, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 224, "output_tokens_details": { "thinking_tokens": 129 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezjptbtK9FAMbg1rcRzy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LwqgcWm9DYeFuxDminrNXW", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.15, "z": 1.15 }, "note": "Move forward-left above the table to look down on the objects and identify the ladle." }, "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": 2258, "cache_creation": { "ephemeral_5m_input_tokens": 715, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 466, "output_tokens_details": { "thinking_tokens": 351 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezjqbDeRrKb52NLN5uED", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014EiwKhYGAAP2LRSjMqX84a", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Lower to inspect the ladle-like object seen in wrist center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 963, "cache_read_input_tokens": 2973, "cache_creation": { "ephemeral_5m_input_tokens": 963, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 235, "output_tokens_details": { "thinking_tokens": 138 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezjr3uzkjincDQFLJDJd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q51WMSgycbPHLNJ88KHNvY", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.22, "z": 1.15 }, "note": "Back off up-left so the fingers don't occlude the ladle; re-inspect its orientation." }, "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": 3936, "cache_creation": { "ephemeral_5m_input_tokens": 728, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 719, "output_tokens_details": { "thinking_tokens": 597 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezjs3uXdR7u5Hm2jkYRW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01H4AKZNRjiEpvSLNmuH3iUe", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.16, "z": 1.12, "yaw": 1.57 }, "note": "Center over estimated ladle location and rotate 90 deg so fingers straddle the handle which lies along y." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1217, "cache_read_input_tokens": 4664, "cache_creation": { "ephemeral_5m_input_tokens": 1217, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1292, "output_tokens_details": { "thinking_tokens": 1156 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezjtcStkCubCCLFsnCkY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015Lf8oBTZJzpriC4qbEZuKX", "name": "move_to", "input": { "targets": { "x": 0.57 }, "note": "Calibration move +0.05 m in x to determine pixel-to-meter mapping in the rotated 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": 1790, "cache_read_input_tokens": 5881, "cache_creation": { "ephemeral_5m_input_tokens": 1790, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 929, "output_tokens_details": { "thinking_tokens": 817 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezjukpTYGs5UtpjW1zUX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JY6a2GxHmnoJT7V1B7Lrbj", "name": "move_to", "input": { "targets": { "x": 0.62, "y": 0.04 }, "note": "Using calibrated scale (0.0025 m/px), center camera over the white ladle bowl." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1422, "cache_read_input_tokens": 7671, "cache_creation": { "ephemeral_5m_input_tokens": 1422, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 576, "output_tokens_details": { "thinking_tokens": 462 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezjvUdf4VV642kv92xnD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QtBj21MzoyzuvvHMryDTBt", "name": "move_to", "input": { "targets": { "x": 0.637, "y": -0.045 }, "note": "Ladle clearly visible: bowl at image (103,90) with handle extending toward -y. Centering over lower 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": 1075, "cache_read_input_tokens": 9093, "cache_creation": { "ephemeral_5m_input_tokens": 1075, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 634, "output_tokens_details": { "thinking_tokens": 511 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezjwHuFyV2Cer2Lyw5qB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011pM4JVuffN75cbdtfDDM6y", "name": "move_to", "input": { "targets": { "x": 0.649, "y": -0.11 }, "note": "Shift along the handle direction (-y) to center over the ladle handle before descending." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1133, "cache_read_input_tokens": 10168, "cache_creation": { "ephemeral_5m_input_tokens": 1133, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 620, "output_tokens_details": { "thinking_tokens": 511 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezjxMXKyLwCAJSMSx5yA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Wv8ERwbbtmjxSVTQPqqTsJ", "name": "move_to", "input": { "targets": { "x": 0.65, "y": -0.06 }, "note": "Previous target unreachable; taking a nearer point on the handle close to the bowl." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1114, "cache_read_input_tokens": 11301, "cache_creation": { "ephemeral_5m_input_tokens": 1114, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 775, "output_tokens_details": { "thinking_tokens": 665 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezjyJ1WYk9sXVYki9h9d", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018gypyDL3WCsgpPfx9oJ8rG", "name": "move_to", "input": { "targets": { "x": 0.645, "y": -0.05 }, "note": "Small incremental step toward the handle grasp point to avoid joint jumps." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1267, "cache_read_input_tokens": 12415, "cache_creation": { "ephemeral_5m_input_tokens": 1267, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 140, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezjymEsNohfkTCRSUv4z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NvkECo7rrZwRe2nzo4kJng", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Lateral moves rejected; try descending in place toward the table to test reachability." }, "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": 13682, "cache_creation": { "ephemeral_5m_input_tokens": 632, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 312, "output_tokens_details": { "thinking_tokens": 212 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezjzFGbcaPgq6jDZRJP9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019T2TYXfrPCr8SWsF7cmJGu", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Continue descending to approach the table surface and get finer resolution on the ladle." }, "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": 14314, "cache_creation": { "ephemeral_5m_input_tokens": 806, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 230, "output_tokens_details": { "thinking_tokens": 130 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezjzhcNQW9Ycy8hFPbQq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X48sW7qnQq6UGSsDzjQ35U", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Keep descending toward the ladle; still no contact visible." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 724, "cache_read_input_tokens": 15120, "cache_creation": { "ephemeral_5m_input_tokens": 724, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 270, "output_tokens_details": { "thinking_tokens": 176 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezk1CyTfV3MnbeMXYEyB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015qkaogenPcp2MWVi4csc5b", "name": "move_to", "input": { "targets": { "z": 0.81 }, "note": "Descend further in small step; watching for the fingers reaching table/handle level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 15844, "cache_creation": { "ephemeral_5m_input_tokens": 769, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 360, "output_tokens_details": { "thinking_tokens": 261 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezk1mjwLvRbyHmNrEn1b", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EKM3ZBEYizjpwibHzVchp9", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Small descent; handle appears as vertical line near image center, good alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 854, "cache_read_input_tokens": 16613, "cache_creation": { "ephemeral_5m_input_tokens": 854, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 360, "output_tokens_details": { "thinking_tokens": 262 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezk2MDLN7kkEdJSq7CPV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ShuRJgpNagvjWVS1ZZ9V5g", "name": "move_to", "input": { "targets": { "z": 0.74 }, "note": "Descend toward handle level before closing gripper." }, "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": 17467, "cache_creation": { "ephemeral_5m_input_tokens": 853, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 219, "output_tokens_details": { "thinking_tokens": 129 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezk2jw5PRgy8Los3DjTE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SKbWpyUiNWGejebnVU2BoH", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "At handle level; close gripper to grasp the ladle handle." }, "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": 18320, "cache_creation": { "ephemeral_5m_input_tokens": 718, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 298, "output_tokens_details": { "thinking_tokens": 203 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezk3QpuHumJM1Y8piNqY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DYz6eGkbHCGvjBPjb2axMC", "name": "move_to", "input": { "targets": { "z": 0.95, "gripper": 0 }, "note": "Lift to check whether the ladle handle 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": 792, "cache_read_input_tokens": 19038, "cache_creation": { "ephemeral_5m_input_tokens": 792, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 227, "output_tokens_details": { "thinking_tokens": 126 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezk3oPDBVjhpT7JB8b1U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VRxBxGTbrZBUFkyk3BfmE9", "name": "move_to", "input": { "targets": { "x": 0.66, "y": -0.044, "z": 0.93, "yaw": 2.35, "gripper": 1 }, "note": "Missed grasp; ladle now appears with handle along a 45° diagonal. Re-open gripper, center over handle midpoint and rotate yaw to 135° so fingers close across 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": 726, "cache_read_input_tokens": 19830, "cache_creation": { "ephemeral_5m_input_tokens": 726, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1646, "output_tokens_details": { "thinking_tokens": 1474 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezk5aT94SiVAddbhpDK3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015XVfRm9TLkw7XKz5a34hGd", "name": "move_to", "input": { "targets": { "x": 0.683, "y": -0.055, "yaw": 1.57 }, "note": "Handle runs along the y axis; return yaw to 90 deg (fingers across x) and center over the handle midpoint at x=0.683." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2141, "cache_read_input_tokens": 20556, "cache_creation": { "ephemeral_5m_input_tokens": 2141, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1714, "output_tokens_details": { "thinking_tokens": 1576 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezk7PB32SLbZCr6jTTS2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EYMUJUvK8ZEhtga5T1A1Fe", "name": "move_to", "input": { "targets": { "z": 0.755 }, "note": "Handle is centered between the fingers; descend to handle level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2209, "cache_read_input_tokens": 22697, "cache_creation": { "ephemeral_5m_input_tokens": 2209, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 363, "output_tokens_details": { "thinking_tokens": 269 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezk7wR2dCWiRARfe63ed", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PPZ8KfzoVZ4vZ6wZ7XXKa1", "name": "move_to", "input": { "targets": { "x": 0.672, "y": -0.052, "z": 0.79 }, "note": "Contact stopped descent; handle appears offset to +x-image-right, so shift x back slightly and stay just above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 856, "cache_read_input_tokens": 24906, "cache_creation": { "ephemeral_5m_input_tokens": 856, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 435, "output_tokens_details": { "thinking_tokens": 307 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezk8ZNVJmYKVxe8wcb88", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018C9zHUMWRzmaLsMCU1SMNr", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at current pose over 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": 929, "cache_read_input_tokens": 25762, "cache_creation": { "ephemeral_5m_input_tokens": 929, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 398, "output_tokens_details": { "thinking_tokens": 309 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezk9BAY6veBSF8fVGg88", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017hqPJH7KziL3neFKQKVJLq", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Lift to check if the ladle came 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": 892, "cache_read_input_tokens": 26691, "cache_creation": { "ephemeral_5m_input_tokens": 892, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 207, "output_tokens_details": { "thinking_tokens": 115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezk9ZBrZbrXaGhLF34oU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LqcMynbxSE5Jr4HfeKZnZZ", "name": "move_to", "input": { "targets": { "x": 0.705, "y": -0.105, "z": 0.83, "gripper": 1 }, "note": "Gripper was empty; wrist camera is offset from finger gap, so shift +x and -y to bring the handle into the actual finger gap, and reopen." }, "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": 27583, "cache_creation": { "ephemeral_5m_input_tokens": 700, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1226, "output_tokens_details": { "thinking_tokens": 1077 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezkBCCM7im1pqKyUwKAB", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017LB7QsJtU9Dh3s5Y5jBV3q", "name": "move_to", "input": { "targets": { "z": 0.795 }, "note": "Handle now appears aligned with the finger gap; descend to handle level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1721, "cache_read_input_tokens": 28283, "cache_creation": { "ephemeral_5m_input_tokens": 1721, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 274, "output_tokens_details": { "thinking_tokens": 176 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezkBgJYhaN1ijtTssMcb", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01VFqEQH2BnRa8ttacH9weDB", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on the handle at the corrected position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 769, "cache_read_input_tokens": 30004, "cache_creation": { "ephemeral_5m_input_tokens": 769, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 90, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezkC12BFG8Q5eymiWBri", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013PsHgEuYxqvugWwPRpZYLc", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to verify whether the ladle is grasped." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 585, "cache_read_input_tokens": 30773, "cache_creation": { "ephemeral_5m_input_tokens": 585, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 151, "output_tokens_details": { "thinking_tokens": 59 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezkCKE3gANxJ9Dmhz3VQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SR3jcaWKexLkoFpFpeYWSK", "name": "give_up", "input": { "note": "Repeated grasp attempts on the ladle handle closed empty; remaining simulated motion time (2.4 s) is insufficient for another align-descend-close-lift cycle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 31358, "cache_creation": { "ephemeral_5m_input_tokens": 645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 205, "output_tokens_details": { "thinking_tokens": 102 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.01915, -0.82531, 0.02485, -2.35138, -0.02649, 1.57993, -0.04257 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30567, 0.00624, 1.03082 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99548, 0.07722, 0.05524 ], [ 0.07963, -0.99591, -0.04274 ], [ 0.05171, 0.04695, -0.99756 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 7.806319738738239, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.2 }, "note": "Raise to get a wider view of the table to locate the ladle." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.01221, -0.60179, 0.02709, -1.74211, -0.03153, 1.19461, -0.05601 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3057, 0.00624, 1.19873 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00018, 0.0 ], "tcp_rotation_matrix": [ [ 0.99547, 0.07722, 0.05542 ], [ 0.07963, -0.99591, -0.04273 ], [ 0.05189, 0.04695, -0.99755 ] ], "simulated_seconds_remaining": 28.578, "calls_remaining_including_this": 56 }, "api_seconds": 8.807597468607128, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.15, "z": 1.15 }, "note": "Move forward-left above the table to look down on the objects and identify the ladle." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.07288, -0.03572, 0.24058, -1.3515, -0.05039, 1.35641, 0.22309 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49894, 0.14922, 1.15015 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.0001, 9e-05 ], "tcp_rotation_matrix": [ [ 0.99548, 0.07731, 0.05514 ], [ 0.07971, -0.9959, -0.0428 ], [ 0.05161, 0.047, -0.99756 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 55 }, "api_seconds": 5.8054953925311565, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Lower to inspect the ladle-like object seen in wrist center." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.06754, -0.14825, 0.22818, -1.74344, -0.02359, 1.6391, 0.21641 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49893, 0.14921, 1.05118 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00039, 9e-05 ], "tcp_rotation_matrix": [ [ 0.9955, 0.07733, 0.05485 ], [ 0.07973, -0.99589, -0.04287 ], [ 0.05131, 0.04705, -0.99757 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 54 }, "api_seconds": 13.210723595693707, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.22, "z": 1.15 }, "note": "Back off up-left so the fingers don't occlude the ladle; re-inspect its orientation." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.13283, -0.13087, 0.32391, -1.45499, -0.0216, 1.36167, 0.37109 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44056, 0.21939, 1.14911 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00014, 0.00029 ], "tcp_rotation_matrix": [ [ 0.99547, 0.07752, 0.05512 ], [ 0.07992, -0.99588, -0.04277 ], [ 0.05157, 0.04698, -0.99756 ] ], "simulated_seconds_remaining": 24.486, "calls_remaining_including_this": 53 }, "api_seconds": 20.416214182041585, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.16, "z": 1.12, "yaw": 1.57 }, "note": "Center over estimated ladle location and rotate 90 deg so fingers straddle the handle which lies along y." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.11398, -0.01917, 0.16161, -1.42069, 0.04446, 1.45824, -1.36191 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5198, 0.16012, 1.12004 ], "tcp_roll_pitch_yaw": [ 8e-05, 0.00016, 1.56511 ], "tcp_rotation_matrix": [ [ -0.07396, 0.99633, 0.04298 ], [ 0.99593, 0.07157, 0.05484 ], [ 0.05156, 0.04686, -0.99757 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 52 }, "api_seconds": 15.213144312612712, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57 }, "note": "Calibration move +0.05 m in x to determine pixel-to-meter mapping in the rotated wrist view." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the ladle.", "joint_positions": [ 0.1173, 0.16236, 0.16105, -1.18937, 0.01539, 1.4058, -1.36514 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56888, 0.16008, 1.11992 ], "tcp_roll_pitch_yaw": [ 0.00031, 0.00021, 1.56504 ], "tcp_rotation_matrix": [ [ -0.07388, 0.99635, 0.04276 ], [ 0.99593, 0.0715, 0.05479 ], [ 0.05153, 0.04663, -0.99758 ] ], "simulated_seconds_remaining": 21.45, "calls_remaining_including_this": 51 }, "api_seconds": 9.207751980051398, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": 0.04 }, "note": "Using calibrated scale (0.0025 m/px), center camera over the white ladle bowl." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.0154, 0.31888, 0.08227, -0.95987, 0.02705, 1.32388, -1.57399 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61953, 0.04106, 1.11985 ], "tcp_roll_pitch_yaw": [ 0.00042, 0.00026, 1.56475 ], "tcp_rotation_matrix": [ [ -0.07359, 0.99638, 0.04266 ], [ 0.99596, 0.07121, 0.05472 ], [ 0.05149, 0.04651, -0.99759 ] ], "simulated_seconds_remaining": 20.262, "calls_remaining_including_this": 50 }, "api_seconds": 10.808651538565755, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.637, "y": -0.045 }, "note": "Ladle clearly visible: bowl at image (103,90) with handle extending toward -y. Centering over lower handle region." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1193, 0.45656, 0.04343, -0.73945, 0.04111, 1.23397, -1.7094 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63676, -0.04381, 1.11977 ], "tcp_roll_pitch_yaw": [ 0.00054, 0.00032, 1.56445 ], "tcp_rotation_matrix": [ [ -0.07328, 0.9964, 0.04255 ], [ 0.99598, 0.07092, 0.05466 ], [ 0.05144, 0.04638, -0.9976 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 49 }, "api_seconds": 14.41093717329204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.649, "y": -0.11 }, "note": "Shift along the handle direction (-y) to center over the ladle handle before descending." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1193, 0.45656, 0.04343, -0.73945, 0.04111, 1.23397, -1.7094 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63676, -0.04381, 1.11977 ], "tcp_roll_pitch_yaw": [ 0.00054, 0.00032, 1.56445 ], "tcp_rotation_matrix": [ [ -0.07328, 0.9964, 0.04255 ], [ 0.99598, 0.07092, 0.05466 ], [ 0.05144, 0.04638, -0.9976 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 48 }, "api_seconds": 12.610765397548676, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "y": -0.06 }, "note": "Previous target unreachable; taking a nearer point on the handle close to the bowl." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 11, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1193, 0.45656, 0.04343, -0.73945, 0.04111, 1.23397, -1.7094 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63676, -0.04381, 1.11977 ], "tcp_roll_pitch_yaw": [ 0.00054, 0.00032, 1.56445 ], "tcp_rotation_matrix": [ [ -0.07328, 0.9964, 0.04255 ], [ 0.99598, 0.07092, 0.05466 ], [ 0.05144, 0.04638, -0.9976 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 47 }, "api_seconds": 6.405221786350012, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.645, "y": -0.05 }, "note": "Small incremental step toward the handle grasp point to avoid joint jumps." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 12, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1193, 0.45656, 0.04343, -0.73945, 0.04111, 1.23397, -1.7094 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63676, -0.04381, 1.11977 ], "tcp_roll_pitch_yaw": [ 0.00054, 0.00032, 1.56445 ], "tcp_rotation_matrix": [ [ -0.07328, 0.9964, 0.04255 ], [ 0.99598, 0.07092, 0.05466 ], [ 0.05144, 0.04638, -0.9976 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 46 }, "api_seconds": 6.205552622675896, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Lateral moves rejected; try descending in place toward the table to test reachability." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12583, 0.27316, 0.04154, -1.2146, 0.04699, 1.52504, -1.72606 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63676, -0.04381, 1.05114 ], "tcp_roll_pitch_yaw": [ 0.00084, 0.0003, 1.56446 ], "tcp_rotation_matrix": [ [ -0.07328, 0.99642, 0.04225 ], [ 0.99598, 0.07093, 0.05468 ], [ 0.05149, 0.04609, -0.99761 ] ], "simulated_seconds_remaining": 18.612, "calls_remaining_including_this": 45 }, "api_seconds": 5.605025354772806, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Continue descending to approach the table surface and get finer resolution on the ladle." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12689, 0.21434, 0.04099, -1.55535, 0.05087, 1.80627, -1.74101 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63673, -0.04381, 0.95114 ], "tcp_roll_pitch_yaw": [ 0.00121, 0.00027, 1.56447 ], "tcp_rotation_matrix": [ [ -0.07326, 0.99643, 0.04189 ], [ 0.99598, 0.07093, 0.05471 ], [ 0.05155, 0.04573, -0.99762 ] ], "simulated_seconds_remaining": 17.622, "calls_remaining_including_this": 44 }, "api_seconds": 6.606008781120181, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Keep descending toward the ladle; still no contact visible." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12625, 0.23706, 0.04124, -1.7285, 0.05335, 2.00154, -1.75078 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63668, -0.04381, 0.8711 ], "tcp_roll_pitch_yaw": [ 0.00157, 0.00023, 1.56447 ], "tcp_rotation_matrix": [ [ -0.07325, 0.99645, 0.04152 ], [ 0.99598, 0.07093, 0.05475 ], [ 0.05161, 0.04537, -0.99764 ] ], "simulated_seconds_remaining": 16.764, "calls_remaining_including_this": 43 }, "api_seconds": 7.405926492065191, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.81 }, "note": "Descend further in small step; watching for the fingers reaching table/handle level." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12543, 0.2846, 0.04154, -1.81865, 0.05514, 2.13872, -1.75763 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63661, -0.0438, 0.81106 ], "tcp_roll_pitch_yaw": [ 0.00192, 0.0002, 1.56448 ], "tcp_rotation_matrix": [ [ -0.07324, 0.99646, 0.04117 ], [ 0.99598, 0.07094, 0.05478 ], [ 0.05167, 0.04502, -0.99765 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 42 }, "api_seconds": 7.60711401514709, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Small descent; handle appears as vertical line near image center, good alignment." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12497, 0.31726, 0.0417, -1.85242, 0.05603, 2.2048, -1.761 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.63654, -0.0438, 0.78092 ], "tcp_roll_pitch_yaw": [ 0.0022, 0.00018, 1.56448 ], "tcp_rotation_matrix": [ [ -0.07323, 0.99648, 0.04089 ], [ 0.99597, 0.07094, 0.05481 ], [ 0.05171, 0.04474, -0.99766 ] ], "simulated_seconds_remaining": 15.51, "calls_remaining_including_this": 41 }, "api_seconds": 5.004244425334036, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74 }, "note": "Descend toward handle level before closing gripper." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12432, 0.36192, 0.04201, -1.88364, 0.0572, 2.28571, -1.76501 ], "gripper_open": 1.0, "tcp_xyz": [ 0.63765, -0.04381, 0.74609 ], "tcp_roll_pitch_yaw": [ -0.00289, 0.00064, 1.56435 ], "tcp_rotation_matrix": [ [ -0.07335, 0.99625, 0.04597 ], [ 0.99601, 0.07083, 0.05431 ], [ 0.05085, 0.04977, -0.99747 ] ], "simulated_seconds_remaining": 14.916, "calls_remaining_including_this": 40 }, "api_seconds": 8.807652277871966, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "At handle level; close gripper to grasp the ladle handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12498, 0.35392, 0.04124, -1.88191, 0.05681, 2.28022, -1.76457 ], "gripper_open": 0.807, "tcp_xyz": [ 0.63821, -0.04483, 0.75142 ], "tcp_roll_pitch_yaw": [ -0.00702, 0.00165, 1.56306 ], "tcp_rotation_matrix": [ [ -0.07229, 0.99612, 0.05016 ], [ 0.99615, 0.06961, 0.05321 ], [ 0.04951, 0.05381, -0.99732 ] ], "simulated_seconds_remaining": 13.992, "calls_remaining_including_this": 39 }, "api_seconds": 4.603848770260811, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "gripper": 0 }, "note": "Lift to check whether the ladle handle was grasped." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12732, 0.21209, 0.04026, -1.56638, 0.05059, 1.82373, -1.74161 ], "gripper_open": 0.0, "tcp_xyz": [ 0.63828, -0.04483, 0.94884 ], "tcp_roll_pitch_yaw": [ -0.00741, 0.00168, 1.56306 ], "tcp_rotation_matrix": [ [ -0.0723, 0.9961, 0.05054 ], [ 0.99616, 0.06961, 0.05318 ], [ 0.04945, 0.05419, -0.9973 ] ], "simulated_seconds_remaining": 12.342, "calls_remaining_including_this": 38 }, "api_seconds": 23.620835781097412, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.66, "y": -0.044, "z": 0.93, "yaw": 2.35, "gripper": 1 }, "note": "Missed grasp; ladle now appears with handle along a 45° diagonal. Re-open gripper, center over handle midpoint and rotate yaw to 135° so fingers close across the handle." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.18536, 0.33991, 0.11297, -1.42295, 0.03604, 1.75323, -2.50953 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.65987, -0.04401, 0.93006 ], "tcp_roll_pitch_yaw": [ -0.00732, 0.00162, 2.34527 ], "tcp_rotation_matrix": [ [ -0.75342, 0.65753, -0.00173 ], [ 0.65567, 0.75148, 0.07333 ], [ 0.04952, 0.05412, -0.99731 ] ], "simulated_seconds_remaining": 11.022, "calls_remaining_including_this": 37 }, "api_seconds": 24.024809441529214, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.683, "y": -0.055, "yaw": 1.57 }, "note": "Handle runs along the y axis; return yaw to 90 deg (fingers across x) and center over the handle midpoint at x=0.683." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11717, 0.37631, 0.02058, -1.37837, 0.05224, 1.79871, -1.76231 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.68287, -0.05494, 0.93005 ], "tcp_roll_pitch_yaw": [ -0.00731, 0.00164, 1.57466 ], "tcp_rotation_matrix": [ [ -0.08385, 0.99523, 0.04983 ], [ 0.99525, 0.08116, 0.0538 ], [ 0.0495, 0.0541, -0.99731 ] ], "simulated_seconds_remaining": 9.702, "calls_remaining_including_this": 36 }, "api_seconds": 7.005618914961815, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.755 }, "note": "Handle is centered between the fingers; descend to handle level." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.12045, 0.416, 0.01714, -1.65745, 0.05904, 2.19827, -1.78376 ], "gripper_open": 1.0, "tcp_xyz": [ 0.69671, -0.06301, 0.80736 ], "tcp_roll_pitch_yaw": [ -0.08773, 0.01338, 1.56497 ], "tcp_rotation_matrix": [ [ -0.07805, 0.98841, 0.13023 ], [ 0.99646, 0.07325, 0.04123 ], [ 0.03121, 0.13298, -0.99063 ] ], "simulated_seconds_remaining": 8.25, "calls_remaining_including_this": 35 }, "api_seconds": 8.20710560400039, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.672, "y": -0.052, "z": 0.79 }, "note": "Contact stopped descent; handle appears offset to +x-image-right, so shift x back slightly and stay just above." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11608, 0.34998, 0.0156, -1.78433, 0.05961, 2.27887, -1.77404 ], "gripper_open": 1.0, "tcp_xyz": [ 0.67694, -0.05979, 0.79988 ], "tcp_roll_pitch_yaw": [ -0.10651, 0.01731, 1.55389 ], "tcp_rotation_matrix": [ [ -0.06782, 0.98648, 0.14918 ], [ 0.99737, 0.06319, 0.03562 ], [ 0.02571, 0.1512, -0.98817 ] ], "simulated_seconds_remaining": 7.722, "calls_remaining_including_this": 34 }, "api_seconds": 8.006345603615046, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at current pose over the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11671, 0.33881, 0.01519, -1.77391, 0.0607, 2.28431, -1.77387 ], "gripper_open": 0.0, "tcp_xyz": [ 0.68328, -0.06113, 0.8134 ], "tcp_roll_pitch_yaw": [ -0.13348, 0.01909, 1.55128 ], "tcp_rotation_matrix": [ [ -0.06634, 0.98219, 0.17581 ], [ 0.99756, 0.06147, 0.03304 ], [ 0.02164, 0.17757, -0.98387 ] ], "simulated_seconds_remaining": 6.798, "calls_remaining_including_this": 33 }, "api_seconds": 4.604308107867837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Lift to check if the ladle came with the gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.11707, 0.26741, 0.01324, -1.60271, 0.0536, 2.04238, -1.7601 ], "gripper_open": 0.0, "tcp_xyz": [ 0.68336, -0.06113, 0.91884 ], "tcp_roll_pitch_yaw": [ -0.13389, 0.01912, 1.55127 ], "tcp_rotation_matrix": [ [ -0.06635, 0.98211, 0.17621 ], [ 0.99756, 0.06147, 0.033 ], [ 0.02158, 0.17797, -0.9838 ] ], "simulated_seconds_remaining": 5.808, "calls_remaining_including_this": 32 }, "api_seconds": 22.018450395204127, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.705, "y": -0.105, "z": 0.83, "gripper": 1 }, "note": "Gripper was empty; wrist camera is offset from finger gap, so shift +x and -y to bring the handle into the actual finger gap, and reopen." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.16292, 0.40675, -0.00165, -1.62376, 0.07666, 2.19834, -1.83932 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.70465, -0.10452, 0.83094 ], "tcp_roll_pitch_yaw": [ -0.13354, 0.0191, 1.55115 ], "tcp_rotation_matrix": [ [ -0.06621, 0.98218, 0.17587 ], [ 0.99757, 0.06134, 0.03301 ], [ 0.02164, 0.17762, -0.98386 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 31 }, "api_seconds": 6.005639568902552, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.795 }, "note": "Handle now appears aligned with the finger gap; descend to handle level." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.16317, 0.43935, -0.00022, -1.66585, 0.08031, 2.27255, -1.84522 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.70459, -0.10451, 0.79604 ], "tcp_roll_pitch_yaw": [ -0.1332, 0.01905, 1.55116 ], "tcp_rotation_matrix": [ [ -0.06621, 0.98224, 0.17553 ], [ 0.99757, 0.06134, 0.03307 ], [ 0.02171, 0.1773, -0.98392 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 30 }, "api_seconds": 4.404300003312528, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on the handle at the corrected position." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.16317, 0.43935, -0.00022, -1.66585, 0.08031, 2.27255, -1.84522 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.70459, -0.10451, 0.79603 ], "tcp_roll_pitch_yaw": [ -0.13321, 0.01905, 1.55116 ], "tcp_rotation_matrix": [ [ -0.06621, 0.98224, 0.17554 ], [ 0.99757, 0.06134, 0.03307 ], [ 0.02171, 0.1773, -0.98392 ] ], "simulated_seconds_remaining": 3.366, "calls_remaining_including_this": 29 }, "api_seconds": 3.8037834400311112, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to verify whether the ladle is grasped." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the ladle.", "joint_positions": [ -0.1631, 0.36706, -0.00354, -1.50798, 0.07074, 2.04319, -1.82832 ], "gripper_open": 0.0, "tcp_xyz": [ 0.70466, -0.10452, 0.89888 ], "tcp_roll_pitch_yaw": [ -0.13361, 0.0191, 1.55115 ], "tcp_rotation_matrix": [ [ -0.06622, 0.98217, 0.17593 ], [ 0.99757, 0.06134, 0.03301 ], [ 0.02163, 0.17769, -0.98385 ] ], "simulated_seconds_remaining": 2.376, "calls_remaining_including_this": 28 }, "api_seconds": 5.0047138929367065, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasp attempts on the ladle handle closed empty; remaining simulated motion time (2.4 s) is insufficient for another align-descend-close-lift cycle." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 039 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 39, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 17, "api_calls": 19, "wall_seconds": 142.3672776222229, "usage": { "input_tokens": 38, "cache_creation_input_tokens": 17433, "cache_read_input_tokens": 175085, "output_tokens": 6996 }, "estimated_cost_usd": 0.37158875 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezk6hZ4jKPtFk2ajfypF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018RMbm6RNECiNPb76jmbdVs", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 78, "output_tokens_details": { "thinking_tokens": 54 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezk6tLwtRN6q41Ugc5TV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HAVtUs2aYGNRSeNvUWEQB3", "name": "move_to", "input": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the table objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 514, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 514, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 340, "output_tokens_details": { "thinking_tokens": 247 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezk7QHXCkCh7zMrJEQHA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q1KLfWpFFQhEGBZjZpaZCT", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.1 }, "note": "Move forward over table to view objects from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 833, "cache_read_input_tokens": 2274, "cache_creation": { "ephemeral_5m_input_tokens": 833, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 339, "output_tokens_details": { "thinking_tokens": 243 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezk7x9RWw1KJ5vdY9jNN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gafjuf2VdFW4yWgvwcehwJ", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.08, "z": 1.0 }, "note": "Spoon seen right-forward in wrist view; approach it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 839, "cache_read_input_tokens": 3107, "cache_creation": { "ephemeral_5m_input_tokens": 839, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 273, "output_tokens_details": { "thinking_tokens": 162 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezk8NXsm2VTBreSQWJJk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VopnJafp4ShEArQdZa9o8u", "name": "move_to", "input": { "targets": { "x": 0.62, "y": -0.16, "z": 1.0 }, "note": "Centering wrist view on spoon: move right and forward." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 773, "cache_read_input_tokens": 3946, "cache_creation": { "ephemeral_5m_input_tokens": 773, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 263, "output_tokens_details": { "thinking_tokens": 154 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011Cezk8kaBoMbx5rFZc3aGD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VpgdZr2jnFqgPEYhiKBTUt", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Empirical test: move back in x to determine wrist image axis mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 4719, "cache_creation": { "ephemeral_5m_input_tokens": 757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1219, "output_tokens_details": { "thinking_tokens": 1121 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezkAEef8qjfuZir1cdXS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gwa55BweNCDvZyPXEeeHcH", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Spoon is at +y relative to gripper; move left to center it." }, "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": 5476, "cache_creation": { "ephemeral_5m_input_tokens": 1714, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1464, "output_tokens_details": { "thinking_tokens": 1368 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezkC6e1RFjHt8242bdNh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JiLN5XeAHfaJCeqTQBJ4Jp", "name": "move_to", "input": { "targets": { "x": 0.47, "y": 0.12 }, "note": "Spoon nearly centered; fine-align over handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1962, "cache_read_input_tokens": 7190, "cache_creation": { "ephemeral_5m_input_tokens": 1962, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 501, "output_tokens_details": { "thinking_tokens": 400 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezkCtCRtNta4CPpcZQCs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015ULMFwWeaQwB9TxFKTpx2o", "name": "move_to", "input": { "targets": { "y": 0.105, "z": 0.94 }, "note": "Descend toward spoon handle while nudging y slightly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 995, "cache_read_input_tokens": 9152, "cache_creation": { "ephemeral_5m_input_tokens": 995, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 307, "output_tokens_details": { "thinking_tokens": 205 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezkDMTXhUJQvAuZn5Lsf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LZ1DKJH5V6uy9xyedmHGXb", "name": "move_to", "input": { "targets": { "x": 0.48, "y": 0.115, "z": 0.89 }, "note": "Align over handle and descend closer to table." }, "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": 10147, "cache_creation": { "ephemeral_5m_input_tokens": 802, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 560, "output_tokens_details": { "thinking_tokens": 456 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezkE2ntb3Nu8MkofS2CC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014jgcaaCBLpvcmPa6LTygCM", "name": "move_to", "input": { "targets": { "z": 0.84 }, "note": "Descend further to gauge finger position relative to spoon." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1055, "cache_read_input_tokens": 10949, "cache_creation": { "ephemeral_5m_input_tokens": 1055, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 338, "output_tokens_details": { "thinking_tokens": 245 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezkEXa1S6zQ3HXi99oeN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011YFhPwjHkRFYQovnufsL2i", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Continue descending toward table surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 833, "cache_read_input_tokens": 12004, "cache_creation": { "ephemeral_5m_input_tokens": 833, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 241, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezkEspQxPY8N77PDijqr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015hk25Dw1phUfxE5z7xig5A", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Descend more; spoon growing 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": 736, "cache_read_input_tokens": 12837, "cache_creation": { "ephemeral_5m_input_tokens": 736, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 180, "output_tokens_details": { "thinking_tokens": 89 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezkF9vJCJ5Qmju2V4Aw8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WDUi7DecQsFeSXyaNUQNWW", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper attempting to grasp spoon handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 13573, "cache_creation": { "ephemeral_5m_input_tokens": 674, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 289, "output_tokens_details": { "thinking_tokens": 196 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezkFaYskLZmAP6vaKmYX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018NTLiyzoSUc2DqSDUxUNuQ", "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": 784, "cache_read_input_tokens": 14247, "cache_creation": { "ephemeral_5m_input_tokens": 784, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 98, "output_tokens_details": { "thinking_tokens": 74 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezkFksjHJnTqizAFeUUT", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011hw1RniUdjfdKDeGoRRc7r", "name": "move_to", "input": { "targets": { "gripper": 0, "z": 0.75 }, "note": "Re-command full close to ensure fingers grip handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 537, "cache_read_input_tokens": 15031, "cache_creation": { "ephemeral_5m_input_tokens": 537, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 190, "output_tokens_details": { "thinking_tokens": 89 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezkG6pYByhWQ8iYVsaLJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RdHYc5uEgqAGS8c6gzBGQE", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Continue closing gripper fully." }, "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": 15568, "cache_creation": { "ephemeral_5m_input_tokens": 684, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 107, "output_tokens_details": { "thinking_tokens": 21 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezkGokAB1QFnqc6KafuB", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01WSzppdVDM8AE1H8AhYEPvP", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Finish closing gripper on handle." }, "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": 16252, "cache_creation": { "ephemeral_5m_input_tokens": 601, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 86, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezkGzqQFAB9pUtanSwjU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01L5gJKFHrXEzb6KBkq5Mpob", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Gripper closed on handle; lift to check grasp." }, "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": 16853, "cache_creation": { "ephemeral_5m_input_tokens": 580, "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": "pick up the spoon.", "joint_positions": [ -0.02702, -0.81453, -0.00293, -2.38494, 0.00482, 1.54114, -0.01155 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29093, -0.00737, 1.00804 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99942, -0.01748, -0.02905 ], [ -0.01726, -0.99982, 0.00779 ], [ -0.02918, -0.00729, -0.99955 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.01106571778655, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the table objects." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.02629, -0.65676, -0.0032, -1.90625, 0.00534, 1.22043, -0.00966 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29096, -0.00737, 1.14873 ], "tcp_roll_pitch_yaw": [ 0.0, -0.0002, -0.0 ], "tcp_rotation_matrix": [ [ 0.99943, -0.01748, -0.02886 ], [ -0.01727, -0.99982, 0.0078 ], [ -0.02899, -0.00729, -0.99955 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 56 }, "api_seconds": 6.806489469483495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.1 }, "note": "Move forward over table to view objects from above." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.02414, -0.26698, 0.00268, -1.72504, 0.00796, 1.42876, -0.00317 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44871, -0.00738, 1.10029 ], "tcp_roll_pitch_yaw": [ 1e-05, 9e-05, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99942, -0.01749, -0.02915 ], [ -0.01727, -0.99982, 0.0078 ], [ -0.02928, -0.00729, -0.99954 ] ], "simulated_seconds_remaining": 27.39, "calls_remaining_including_this": 55 }, "api_seconds": 5.004518626257777, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.08, "z": 1.0 }, "note": "Spoon seen right-forward in wrist view; approach it." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.07605, 0.0041, -0.06941, -1.68512, 0.00378, 1.65892, -0.12836 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54915, -0.07945, 1.00068 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00041, -0.00012 ], "tcp_rotation_matrix": [ [ 0.99941, -0.0176, -0.02946 ], [ -0.01738, -0.99982, 0.00784 ], [ -0.02959, -0.00732, -0.99954 ] ], "simulated_seconds_remaining": 26.004, "calls_remaining_including_this": 54 }, "api_seconds": 4.604705838486552, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": -0.16, "z": 1.0 }, "note": "Centering wrist view on spoon: move right and forward." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.15631, 0.30731, -0.12058, -1.28479, 0.036, 1.55933, -0.25429 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61909, -0.15908, 0.9999 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00059, -0.00033 ], "tcp_rotation_matrix": [ [ 0.9994, -0.01782, -0.02964 ], [ -0.01759, -0.99981, 0.00785 ], [ -0.02978, -0.00732, -0.99953 ] ], "simulated_seconds_remaining": 25.014, "calls_remaining_including_this": 53 }, "api_seconds": 19.617526662535965, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Empirical test: move back in x to determine wrist image axis mapping." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spoon.", "joint_positions": [ -0.16303, -0.08925, -0.13649, -1.79554, -0.01341, 1.67661, -0.27937 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50127, -0.15913, 1.00002 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00044, -0.00042 ], "tcp_rotation_matrix": [ [ 0.9994, -0.01791, -0.02949 ], [ -0.01769, -0.99981, 0.00782 ], [ -0.02963, -0.00729, -0.99953 ] ], "simulated_seconds_remaining": 23.892, "calls_remaining_including_this": 52 }, "api_seconds": 24.419890647754073, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Spoon is at +y relative to gripper; move left to center it." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.00236, -0.15996, 0.08187, -1.87467, 0.0234, 1.68646, 0.09747 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50127, 0.0488, 1.00002 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00044, -0.00012 ], "tcp_rotation_matrix": [ [ 0.99941, -0.01761, -0.02949 ], [ -0.01738, -0.99982, 0.0078 ], [ -0.02962, -0.00729, -0.99953 ] ], "simulated_seconds_remaining": 22.176, "calls_remaining_including_this": 51 }, "api_seconds": 10.20946005731821, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": 0.12 }, "note": "Spoon nearly centered; fine-align over handle." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05989, -0.2206, 0.15991, -1.93618, 0.04911, 1.69104, 0.22617 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47053, 0.11888, 1.00004 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00038, 0.00018 ], "tcp_rotation_matrix": [ [ 0.99942, -0.01731, -0.02944 ], [ -0.01709, -0.99982, 0.00779 ], [ -0.02957, -0.00728, -0.99954 ] ], "simulated_seconds_remaining": 21.384, "calls_remaining_including_this": 50 }, "api_seconds": 6.005445200018585, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.105, "z": 0.94 }, "note": "Descend toward spoon handle while nudging y slightly." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05157, -0.22725, 0.1474, -2.09363, 0.0482, 1.84077, 0.19852 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47049, 0.10525, 0.9411 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00067, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99941, -0.01736, -0.02973 ], [ -0.01714, -0.99982, 0.00775 ], [ -0.02986, -0.00723, -0.99953 ] ], "simulated_seconds_remaining": 20.658, "calls_remaining_including_this": 49 }, "api_seconds": 8.807907870039344, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48, "y": 0.115, "z": 0.89 }, "note": "Align over handle and descend closer to table." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05811, -0.16995, 0.16143, -2.16277, 0.04462, 1.96694, 0.2163 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47973, 0.11477, 0.89107 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00099, 0.00016 ], "tcp_rotation_matrix": [ [ 0.9994, -0.01733, -0.03004 ], [ -0.01711, -0.99982, 0.00769 ], [ -0.03017, -0.00717, -0.99952 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 48 }, "api_seconds": 6.405748654156923, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.84 }, "note": "Descend further to gauge finger position relative to spoon." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05888, -0.1269, 0.16532, -2.24867, 0.04041, 2.0952, 0.2191 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47967, 0.11476, 0.84107 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00129, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99939, -0.01734, -0.03035 ], [ -0.01711, -0.99982, 0.00764 ], [ -0.03048, -0.00711, -0.99951 ] ], "simulated_seconds_remaining": 19.338, "calls_remaining_including_this": 47 }, "api_seconds": 4.403779317624867, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Continue descending toward table surface." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05923, -0.04873, 0.16927, -2.32707, 0.02897, 2.25066, 0.22689 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4796, 0.11474, 0.7811 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.00162, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99938, -0.01735, -0.03067 ], [ -0.01712, -0.99982, 0.00758 ], [ -0.0308, -0.00705, -0.9995 ] ], "simulated_seconds_remaining": 18.612, "calls_remaining_including_this": 46 }, "api_seconds": 3.4034683564677835, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Descend more; spoon growing in wrist view." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.06105, 0.01079, 0.17115, -2.36825, 0.00712, 2.36707, 0.24425 ], "gripper_open": 1.0, "tcp_xyz": [ 0.48213, 0.1152, 0.74447 ], "tcp_roll_pitch_yaw": [ -0.00387, -0.01601, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99977, -0.0172, -0.01305 ], [ -0.01715, -0.99985, 0.00393 ], [ -0.01311, -0.0037, -0.99991 ] ], "simulated_seconds_remaining": 17.886, "calls_remaining_including_this": 45 }, "api_seconds": 5.204571367241442, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper attempting to grasp spoon handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05886, 0.00299, 0.16833, -2.36489, 0.00582, 2.3642, 0.24519 ], "gripper_open": 0.8354, "tcp_xyz": [ 0.48487, 0.1129, 0.74942 ], "tcp_roll_pitch_yaw": [ -0.00417, -0.02447, -0.00476 ], "tcp_rotation_matrix": [ [ 0.99974, -0.02216, -0.00457 ], [ -0.02215, -0.99975, 0.00365 ], [ -0.00465, -0.00354, -0.99998 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 44 }, "api_seconds": 6.60572368465364, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0, "z": 0.75 }, "note": "Re-command full close to ensure fingers grip handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05626, -0.00519, 0.16498, -2.35939, 0.00391, 2.36306, 0.24526 ], "gripper_open": 0.5505, "tcp_xyz": [ 0.48916, 0.11037, 0.75564 ], "tcp_roll_pitch_yaw": [ -0.00394, -0.03718, -0.00942 ], "tcp_rotation_matrix": [ [ 0.99961, -0.02676, 0.00816 ], [ -0.0268, -0.99963, 0.00378 ], [ 0.00806, -0.00399, -0.99996 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 43 }, "api_seconds": 9.007979200221598, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Continue closing gripper fully." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05499, -0.00784, 0.16336, -2.35673, 0.00317, 2.36384, 0.24527 ], "gripper_open": 0.3774, "tcp_xyz": [ 0.49133, 0.1092, 0.75815 ], "tcp_roll_pitch_yaw": [ -0.00349, -0.04329, -0.01183 ], "tcp_rotation_matrix": [ [ 0.99947, -0.02913, 0.01428 ], [ -0.02919, -0.99957, 0.00414 ], [ 0.01416, -0.00456, -0.99989 ] ], "simulated_seconds_remaining": 15.114, "calls_remaining_including_this": 42 }, "api_seconds": 2.002309407107532, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Finish closing gripper on handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spoon.", "joint_positions": [ 0.05425, -0.00864, 0.1624, -2.35615, 0.00267, 2.36383, 0.24525 ], "gripper_open": 0.3163, "tcp_xyz": [ 0.49192, 0.10838, 0.7588 ], "tcp_roll_pitch_yaw": [ -0.00364, -0.04473, -0.01315 ], "tcp_rotation_matrix": [ [ 0.99941, -0.03045, 0.01573 ], [ -0.03051, -0.99953, 0.00395 ], [ 0.0156, -0.00443, -0.99987 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 41 }, "api_seconds": 2.8029366694390774, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Gripper closed on handle; lift to check grasp." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 040 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 40, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 20, "api_calls": 21, "wall_seconds": 145.45706033706665, "usage": { "input_tokens": 42, "cache_creation_input_tokens": 18357, "cache_read_input_tokens": 184160, "output_tokens": 6996 }, "estimated_cost_usd": 0.38192125 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezkEZrgeUJJbAbRvrffx", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LahTc5f9XBb4Nc8gWSP6Cm", "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": 1756, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 23, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezkEjDzKDAW7dP5FomGd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PcFFWWitnJteggx28dxg8p", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 1.15, "pitch": 0.0 }, "note": "Raise to see scene better and find the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 455, "cache_read_input_tokens": 1756, "cache_creation": { "ephemeral_5m_input_tokens": 455, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 181, "output_tokens_details": { "thinking_tokens": 74 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezkF4dJo3RVipfuvvGLC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018KXhxQuJv9mTxzkj5xWPiM", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 1.3, "pitch": -0.6 }, "note": "Lift higher and tilt to survey the area for the remote." }, "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": 2211, "cache_creation": { "ephemeral_5m_input_tokens": 671, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 343, "output_tokens_details": { "thinking_tokens": 231 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezkFYBFVWrahFJwXZDNc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XUnSyLe1KhVHekW8LkyDAm", "name": "move_to", "input": { "targets": { "pitch": -0.7 }, "note": "Tilt wrist camera to survey forward for the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 830, "cache_read_input_tokens": 2882, "cache_creation": { "ephemeral_5m_input_tokens": 830, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 221, "output_tokens_details": { "thinking_tokens": 125 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezkFtxenkmKcnzB53p1G", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016oU12h3ppZykTakSmxRuP8", "name": "move_to", "input": { "targets": { "yaw": 0.5, "pitch": -0.5 }, "note": "Yaw left toward couch to look for remote near laptop." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 713, "cache_read_input_tokens": 3712, "cache_creation": { "ephemeral_5m_input_tokens": 713, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 215, "output_tokens_details": { "thinking_tokens": 109 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezkGGkbM8F4BgGdAawpd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y2nQ6z9eJa5ygsTxquaiEb", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.3, "z": 1.15, "pitch": 0.0, "yaw": 0.0 }, "note": "Move over couch seat area, looking straight down to spot remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 707, "cache_read_input_tokens": 4425, "cache_creation": { "ephemeral_5m_input_tokens": 707, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 362, "output_tokens_details": { "thinking_tokens": 231 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezkGpJdriwb6ruMGW4cZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Xi2nK11fAd8gVjZpXqp31s", "name": "move_to", "input": { "targets": { "z": 1.0 }, "note": "Lower toward couch seat for closer 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": 853, "cache_read_input_tokens": 5132, "cache_creation": { "ephemeral_5m_input_tokens": 853, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 263, "output_tokens_details": { "thinking_tokens": 171 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezkHFWhdKxiQg3RyFusV", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011bSNQ9Ff4QN3RERKRB7CEu", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.5, "z": 1.05 }, "note": "Shift left over the couch seat where the laptop/remote appear 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": 754, "cache_read_input_tokens": 5985, "cache_creation": { "ephemeral_5m_input_tokens": 754, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 671, "output_tokens_details": { "thinking_tokens": 554 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezkJB6a3uVtmmnxpuVZi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BTR8hdu75bBJG5JFpCubqS", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.4, "z": 1.25, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Reset orientation and rise for top-down view of couch seat." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1169, "cache_read_input_tokens": 6739, "cache_creation": { "ephemeral_5m_input_tokens": 1169, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 285, "output_tokens_details": { "thinking_tokens": 145 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezkJZ98PhbiAPmreSUJk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NhDex6pEZaEyQQwHtW4Tur", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.4, "z": 1.18, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Reset orientation, rise to 1.18 for top-down view of couch seat." }, "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": 7908, "cache_creation": { "ephemeral_5m_input_tokens": 775, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 210, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezkJoxN9CCXHXarSbrSr", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01QEwE9TKW7g5XArJ5oN5yDb", "name": "move_to", "input": { "targets": { "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "First fix orientation to level top-down before translating." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 701, "cache_read_input_tokens": 8683, "cache_creation": { "ephemeral_5m_input_tokens": 701, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 110, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezkK2knw7XGMguphzfXH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014SZ8atM6FKAFPfLXZHwuoQ", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.18, "pitch": -1.0 }, "note": "Back off and tilt camera forward for a wide survey of the scene." }, "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": 9384, "cache_creation": { "ephemeral_5m_input_tokens": 601, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 422, "output_tokens_details": { "thinking_tokens": 299 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezkKkTo5Mi7ADephc6HE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BHBeZkZNqMXdkoNb9uKuKH", "name": "move_to", "input": { "targets": { "x": 0.42, "y": 0.3, "z": 1.05, "pitch": 0.0 }, "note": "Return to top-down over the suspected object location for a close look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 914, "cache_read_input_tokens": 9985, "cache_creation": { "ephemeral_5m_input_tokens": 914, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 677, "output_tokens_details": { "thinking_tokens": 558 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezkLhxWPhFd4yL87xMVs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LrD8dnKHuvtTTVrmVRNCNH", "name": "move_to", "input": { "targets": { "x": 0.34, "y": 0.22, "z": 1.02 }, "note": "Shift toward the gray object seen at lower-left of 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": 1168, "cache_read_input_tokens": 10899, "cache_creation": { "ephemeral_5m_input_tokens": 1168, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 287, "output_tokens_details": { "thinking_tokens": 174 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezkM8ZMwZAFjuKyLtr3m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AAgUMKLExkVuWRiDkwCmYD", "name": "move_to", "input": { "targets": { "x": 0.46, "y": 0.34, "z": 0.97 }, "note": "Move over the couch-seat object and descend closer to inspect it." }, "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": 12067, "cache_creation": { "ephemeral_5m_input_tokens": 779, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 805, "output_tokens_details": { "thinking_tokens": 693 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezkN8zBAgyEdyX4UZMrj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RshoGL7E5iQAqCk2vND3W8", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Descend toward seat surface to see the object closely 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": 1296, "cache_read_input_tokens": 12846, "cache_creation": { "ephemeral_5m_input_tokens": 1296, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 306, "output_tokens_details": { "thinking_tokens": 210 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezkNhsrYZArWcggrwLn5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016RmVwKKKcF6a5pfmwQ1obT", "name": "move_to", "input": { "targets": { "y": 0.31, "z": 0.84 }, "note": "Descend further to seat level at estimated object position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 14142, "cache_creation": { "ephemeral_5m_input_tokens": 798, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 691, "output_tokens_details": { "thinking_tokens": 593 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezkPcszTx5MkCkuFvPFt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TAz4Mur7qe6hd2YpT1L7Y2", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Close gripper on whatever is between fingers at seat level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1181, "cache_read_input_tokens": 14940, "cache_creation": { "ephemeral_5m_input_tokens": 1181, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 207, "output_tokens_details": { "thinking_tokens": 111 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezkPzfgPTRo4ijZGXMcj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MAXfkjiHKbVe3HVLqs1tsz", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.1, "gripper": 1.0 }, "note": "Retract to clear view of couch in exterior camera to locate the remote." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 698, "cache_read_input_tokens": 16121, "cache_creation": { "ephemeral_5m_input_tokens": 698, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 214, "output_tokens_details": { "thinking_tokens": 90 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezkQQBXwQ1pafa6zFEPj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01U2eoWfaoAcEfw1bekV29Ne", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.45, "z": 0.9 }, "note": "Move over object further left on couch seat for 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": 705, "cache_read_input_tokens": 16819, "cache_creation": { "ephemeral_5m_input_tokens": 705, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 337, "output_tokens_details": { "thinking_tokens": 227 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezkQzbUtevrg2EFEuVKY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Net2XR7RfozT95uDFoBM4s", "name": "give_up", "input": { "note": "Could not reliably locate the remote; wrist camera was largely occluded by the arm link and simulated motion time ran out before a successful grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 833, "cache_read_input_tokens": 17524, "cache_creation": { "ephemeral_5m_input_tokens": 833, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 166, "output_tokens_details": { "thinking_tokens": 75 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.01814, -0.81203, 0.02462, -2.34184, -0.03536, 1.61595, -0.03038 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31801, 0.00423, 1.03525 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9941, 0.06381, 0.08766 ], [ 0.06837, -0.9964, -0.05006 ], [ 0.08415, 0.05576, -0.99489 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.204992974177003, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1.15, "pitch": 0.0 }, "note": "Raise to see scene better and find the remote." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.01172, -0.59618, 0.02573, -1.89927, -0.0392, 1.38964, -0.0414 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34968, 0.00423, 1.1488 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00013, -0.0 ], "tcp_rotation_matrix": [ [ 0.99409, 0.0638, 0.08779 ], [ 0.06837, -0.9964, -0.05005 ], [ 0.08428, 0.05576, -0.99488 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 56 }, "api_seconds": 6.405632178299129, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 1.3, "pitch": -0.6 }, "note": "Lift higher and tilt to survey the area for the remote." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 3, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.01172, -0.59618, 0.02573, -1.89927, -0.0392, 1.38964, -0.0414 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34968, 0.00423, 1.1488 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.00013, -0.0 ], "tcp_rotation_matrix": [ [ 0.99409, 0.0638, 0.08779 ], [ 0.06837, -0.9964, -0.05005 ], [ 0.08428, 0.05576, -0.99488 ] ], "simulated_seconds_remaining": 28.908, "calls_remaining_including_this": 55 }, "api_seconds": 4.204510360024869, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": -0.7 }, "note": "Tilt wrist camera to survey forward for the remote." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.01421, -1.16066, 0.02678, -2.52954, -0.06005, 2.14963, -0.00061 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34964, 0.00422, 1.14874 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.69555, -2e-05 ], "tcp_rotation_matrix": [ [ 0.70925, 0.01322, 0.70483 ], [ 0.06836, -0.9964, -0.0501 ], [ 0.70163, 0.08372, -0.7076 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 54 }, "api_seconds": 4.604430329985917, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 0.5, "pitch": -0.5 }, "note": "Yaw left toward couch to look for remote near laptop." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.27806, -1.01309, -0.22469, -2.32477, -0.02395, 1.89424, -0.44638 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34967, 0.0042, 1.14876 ], "tcp_roll_pitch_yaw": [ -0.00028, -0.50159, 0.49578 ], "tcp_rotation_matrix": [ [ 0.69858, 0.49951, 0.51232 ], [ 0.45558, -0.86262, 0.21984 ], [ 0.55175, 0.07982, -0.83018 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 53 }, "api_seconds": 6.205562342889607, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.3, "z": 1.15, "pitch": 0.0, "yaw": 0.0 }, "note": "Move over couch seat area, looking straight down to spot remote." } } } ] } } ] }, "execution": { "steps": 38, "motion_seconds": 2.508, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.32592, 0.2088, 0.32641, -1.04716, -0.1666, 1.29059, 0.52639 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4996, 0.29921, 1.14988 ], "tcp_roll_pitch_yaw": [ -0.0, -0.00133, 0.0019 ], "tcp_rotation_matrix": [ [ 0.99386, 0.06563, 0.08908 ], [ 0.07026, -0.99628, -0.0499 ], [ 0.08547, 0.05585, -0.99477 ] ], "simulated_seconds_remaining": 24.156, "calls_remaining_including_this": 52 }, "api_seconds": 5.20468043256551, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.0 }, "note": "Lower toward couch seat for closer wrist view." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.27639, 0.02542, 0.306, -1.67934, -0.10001, 1.74958, 0.52947 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49958, 0.29919, 1.00119 ], "tcp_roll_pitch_yaw": [ -0.00017, -0.00104, 0.0019 ], "tcp_rotation_matrix": [ [ 0.99389, 0.06564, 0.08879 ], [ 0.07027, -0.99627, -0.05006 ], [ 0.08517, 0.05599, -0.99479 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 51 }, "api_seconds": 11.60909287352115, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.5, "z": 1.05 }, "note": "Shift left over the couch seat where the laptop/remote appear in wrist view." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.61649, 0.4892, 0.41936, -0.91193, -0.65307, 1.03274, 0.87547 ], "gripper_open": 0.9533, "tcp_xyz": [ 0.46991, 0.35915, 1.0637 ], "tcp_roll_pitch_yaw": [ -0.4527, -0.10881, -0.1528 ], "tcp_rotation_matrix": [ [ 0.98676, -0.12213, 0.10672 ], [ -0.05251, -0.86311, -0.50228 ], [ 0.15346, 0.49002, -0.8581 ] ], "simulated_seconds_remaining": 21.12, "calls_remaining_including_this": 50 }, "api_seconds": 5.203918685205281, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.4, "z": 1.25, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Reset orientation and rise for top-down view of couch seat." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 9, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.61649, 0.4892, 0.41936, -0.91193, -0.65307, 1.03274, 0.87547 ], "gripper_open": 0.9533, "tcp_xyz": [ 0.46991, 0.35915, 1.0637 ], "tcp_roll_pitch_yaw": [ -0.4527, -0.10881, -0.1528 ], "tcp_rotation_matrix": [ [ 0.98676, -0.12213, 0.10672 ], [ -0.05251, -0.86311, -0.50228 ], [ 0.15346, 0.49002, -0.8581 ] ], "simulated_seconds_remaining": 21.12, "calls_remaining_including_this": 49 }, "api_seconds": 3.4032286750152707, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.4, "z": 1.18, "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "Reset orientation, rise to 1.18 for top-down view of couch seat." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 10, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.61649, 0.4892, 0.41936, -0.91193, -0.65307, 1.03274, 0.87547 ], "gripper_open": 0.9533, "tcp_xyz": [ 0.46991, 0.35915, 1.0637 ], "tcp_roll_pitch_yaw": [ -0.4527, -0.10881, -0.1528 ], "tcp_rotation_matrix": [ [ 0.98676, -0.12213, 0.10672 ], [ -0.05251, -0.86311, -0.50228 ], [ 0.15346, 0.49002, -0.8581 ] ], "simulated_seconds_remaining": 21.12, "calls_remaining_including_this": 48 }, "api_seconds": 2.4026756742969155, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0.0, "pitch": 0.0, "yaw": 0.0 }, "note": "First fix orientation to level top-down before translating." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.28366, 0.116, 0.45104, -1.41114, -0.14988, 1.54558, 0.66034 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46997, 0.35899, 1.06375 ], "tcp_roll_pitch_yaw": [ -0.00409, -0.00056, -0.00155 ], "tcp_rotation_matrix": [ [ 0.99416, 0.06223, 0.08814 ], [ 0.06718, -0.99626, -0.05427 ], [ 0.08443, 0.05987, -0.99463 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 47 }, "api_seconds": 8.406193774193525, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.18, "pitch": -1.0 }, "note": "Back off and tilt camera forward for a wide survey of the scene." } } } ] } } ] }, "execution": { "steps": 46, "motion_seconds": 3.036, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.22572, -1.48832, -0.05287, -2.71466, -0.36504, 2.2744, 0.23232 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30041, 0.00085, 1.17978 ], "tcp_roll_pitch_yaw": [ -0.00379, -0.99759, -0.00185 ], "tcp_rotation_matrix": [ [ 0.46877, -0.01726, 0.88315 ], [ 0.06782, -0.99615, -0.05547 ], [ 0.88071, 0.0859, -0.4658 ] ], "simulated_seconds_remaining": 17.094, "calls_remaining_including_this": 46 }, "api_seconds": 11.608767295256257, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.42, "y": 0.3, "z": 1.05, "pitch": 0.0 }, "note": "Return to top-down over the suspected object location for a close look." } } } ] } } ] }, "execution": { "steps": 40, "motion_seconds": 2.64, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.27218, -0.17415, 0.3541, -1.76769, -0.03671, 1.64604, 0.56006 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41969, 0.29912, 1.05027 ], "tcp_roll_pitch_yaw": [ -0.00388, -0.00275, -0.00186 ], "tcp_rotation_matrix": [ [ 0.994, 0.0618, 0.09029 ], [ 0.06685, -0.9963, -0.05409 ], [ 0.08661, 0.0598, -0.99445 ] ], "simulated_seconds_remaining": 14.454, "calls_remaining_including_this": 45 }, "api_seconds": 5.204719163477421, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.34, "y": 0.22, "z": 1.02 }, "note": "Shift toward the gray object seen at lower-left of wrist view." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.2873, -0.53519, 0.26234, -2.17132, 0.04113, 1.7033, 0.44886 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34092, 0.22091, 1.02041 ], "tcp_roll_pitch_yaw": [ -0.0039, -0.00284, -0.00188 ], "tcp_rotation_matrix": [ [ 0.99399, 0.06177, 0.09038 ], [ 0.06684, -0.9963, -0.05411 ], [ 0.08671, 0.05983, -0.99444 ] ], "simulated_seconds_remaining": 13.398, "calls_remaining_including_this": 44 }, "api_seconds": 13.010578129440546, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.46, "y": 0.34, "z": 0.97 }, "note": "Move over the couch-seat object and descend closer to inspect it." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.28274, -0.00841, 0.39317, -1.79478, -0.09877, 1.82245, 0.63431 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45907, 0.33906, 0.97029 ], "tcp_roll_pitch_yaw": [ -0.004, -0.00263, -0.00186 ], "tcp_rotation_matrix": [ [ 0.99401, 0.0618, 0.09018 ], [ 0.06686, -0.99629, -0.05421 ], [ 0.08649, 0.05991, -0.99445 ] ], "simulated_seconds_remaining": 11.946, "calls_remaining_including_this": 43 }, "api_seconds": 7.206242443062365, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Descend toward seat surface to see the object closely in wrist view." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.28304, 0.01288, 0.39341, -1.94747, -0.11383, 1.99321, 0.65673 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45904, 0.33902, 0.9011 ], "tcp_roll_pitch_yaw": [ -0.00417, -0.00236, -0.00188 ], "tcp_rotation_matrix": [ [ 0.99403, 0.0618, 0.08991 ], [ 0.06685, -0.99628, -0.05438 ], [ 0.08622, 0.06007, -0.99446 ] ], "simulated_seconds_remaining": 11.154, "calls_remaining_including_this": 42 }, "api_seconds": 12.00985177140683, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.31, "z": 0.84 }, "note": "Descend further to seat level at estimated object position." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.26666, -0.0185, 0.37907, -2.09469, -0.11519, 2.15944, 0.62952 ], "gripper_open": 1.0, "tcp_xyz": [ 0.46119, 0.32271, 0.86335 ], "tcp_roll_pitch_yaw": [ 0.01772, -0.04133, 0.01165 ], "tcp_rotation_matrix": [ [ 0.98888, 0.0738, 0.12909 ], [ 0.0784, -0.99644, -0.03092 ], [ 0.12635, 0.0407, -0.99115 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 41 }, "api_seconds": 4.40443707909435, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Close gripper on whatever is between fingers at seat level." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.27201, -0.02728, 0.3858, -2.08316, -0.10741, 2.19606, 0.62971 ], "gripper_open": 0.0346, "tcp_xyz": [ 0.4667, 0.33827, 0.87777 ], "tcp_roll_pitch_yaw": [ 0.05546, -0.08324, 0.02148 ], "tcp_rotation_matrix": [ [ 0.98177, 0.08498, 0.17003 ], [ 0.08471, -0.99637, 0.00882 ], [ 0.17016, 0.00575, -0.9854 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 40 }, "api_seconds": 4.404180806130171, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.1, "gripper": 1.0 }, "note": "Retract to clear view of couch in exterior camera to locate the remote." } } } ] } } ] }, "execution": { "steps": 49, "motion_seconds": 3.234, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.1719, -0.87558, -0.08877, -2.22409, -0.07793, 1.5221, 0.01316 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30054, 0.00101, 1.09939 ], "tcp_roll_pitch_yaw": [ 0.05554, -0.08347, 0.02136 ], "tcp_rotation_matrix": [ [ 0.98174, 0.08486, 0.17026 ], [ 0.08458, -0.99638, 0.00889 ], [ 0.17039, 0.00568, -0.98536 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 39 }, "api_seconds": 6.4078588262200356, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.45, "z": 0.9 }, "note": "Move over object further left on couch seat for grasp attempt." } } } ] } } ] }, "execution": { "steps": 58, "motion_seconds": 3.8280000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the remote.", "joint_positions": [ 0.36313, 0.127, 0.44521, -1.63149, -0.32146, 1.60026, 0.81602 ], "gripper_open": 0.9779, "tcp_xyz": [ 0.45071, 0.34618, 0.9682 ], "tcp_roll_pitch_yaw": [ -0.23107, -0.0223, -0.04713 ], "tcp_rotation_matrix": [ [ 0.99532, 0.01234, 0.09583 ], [ 0.03898, -0.9588, -0.28141 ], [ 0.0884, 0.28383, -0.95479 ] ], "simulated_seconds_remaining": 2.442, "calls_remaining_including_this": 38 }, "api_seconds": 4.203897218219936, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not reliably locate the remote; wrist camera was largely occluded by the arm link and simulated motion time ran out before a successful grasp." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 041 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 41, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 29, "api_calls": 30, "wall_seconds": 307.6099977493286, "usage": { "input_tokens": 60, "cache_creation_input_tokens": 32313, "cache_read_input_tokens": 473047, "output_tokens": 16422 }, "estimated_cost_usd": 0.84932975 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezkJwjBNoyEdoza2tbVr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LEUHRYH6GYRWPbvfMSugw7", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 112, "output_tokens_details": { "thinking_tokens": 88 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezkK8kTfvtoJf2LK85c8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E3skAvosWCPzjhCptizz5d", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Lower to get a clearer wrist view of the table objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 546, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 546, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 289, "output_tokens_details": { "thinking_tokens": 195 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezkKZsooBUVHRMyFqwtu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E3VYaSZ1R5dNpYzeTp7n94", "name": "move_to", "input": { "targets": { "x": 0.45 }, "note": "Move forward over the table to bring objects into wrist view center." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 783, "cache_read_input_tokens": 2304, "cache_creation": { "ephemeral_5m_input_tokens": 783, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 313, "output_tokens_details": { "thinking_tokens": 219 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezkL4WzTuaembf71Sj6K", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sh8cewjCfRSKbynMiHo16B", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Descend to better resolve bottle position 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": 807, "cache_read_input_tokens": 3087, "cache_creation": { "ephemeral_5m_input_tokens": 807, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 227 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezkLaF9tFUMBYgWdHPe3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HqqQd4mRYQXsxL5wsDrPat", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Probe: move +y 0.05 to learn image-axis mapping from bottle shift." }, "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": 3894, "cache_creation": { "ephemeral_5m_input_tokens": 815, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 499, "output_tokens_details": { "thinking_tokens": 395 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezkMBzygbZfbYDosSoXP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MDuQZ4KquTLSwBm37qbvgp", "name": "move_to", "input": { "targets": { "y": -0.01, "x": 0.4 }, "note": "Probe: return y near 0 and move back in x to learn vertical image mapping." }, "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": 4709, "cache_creation": { "ephemeral_5m_input_tokens": 994, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 411, "output_tokens_details": { "thinking_tokens": 302 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezkMpFJXFwjpmrvY81gM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016qiUfD4GMf6wW5dytSzyxN", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 0.8 }, "note": "Move over estimated bottle location and descend closer to judge grasp alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 906, "cache_read_input_tokens": 5703, "cache_creation": { "ephemeral_5m_input_tokens": 906, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 767, "output_tokens_details": { "thinking_tokens": 651 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezkNmpEUw4Sg6VxhsPhm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AfPyD579LbGUNFRQU8DFX1", "name": "move_to", "input": { "targets": { "z": 0.74 }, "note": "Descend further to see the bottle and table clearance." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1261, "cache_read_input_tokens": 6609, "cache_creation": { "ephemeral_5m_input_tokens": 1261, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 758, "output_tokens_details": { "thinking_tokens": 667 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezkPeUEs3Vwemh5QJvQL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RbC9b1m6M5TU37FpV7Y4DQ", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Bottle appears to the +y side in both views; shift left to center it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1253, "cache_read_input_tokens": 7870, "cache_creation": { "ephemeral_5m_input_tokens": 1253, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 527, "output_tokens_details": { "thinking_tokens": 430 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezkQLjRwXVGNb2Yqo6rN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011YXn2xQndLdknksZCiYjDP", "name": "move_to", "input": { "targets": { "y": -0.08 }, "note": "Corrected image-axis mapping: image-left = -y. Moving to y=-0.08 to center bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1021, "cache_read_input_tokens": 9123, "cache_creation": { "ephemeral_5m_input_tokens": 1021, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 726, "output_tokens_details": { "thinking_tokens": 615 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezkRHiPBnJvuQnLu3uM8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Qwix3n87vYVEtFiKZShaAy", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Raise for a wider wrist view to relocate the bottle after the y move." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1221, "cache_read_input_tokens": 10144, "cache_creation": { "ephemeral_5m_input_tokens": 1221, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 390, "output_tokens_details": { "thinking_tokens": 291 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezkRqezyAfjL3t8ukW1N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KMvfYU8vEL9rCh3Xptbm1k", "name": "move_to", "input": { "targets": { "z": 0.73 }, "note": "Descend to grasp height; expecting bottle to be between fingers (occluded)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 884, "cache_read_input_tokens": 11365, "cache_creation": { "ephemeral_5m_input_tokens": 884, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1066, "output_tokens_details": { "thinking_tokens": 965 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezkTELHKh763w6b4BSLU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MxAJHBHpWfvZBSQnqbtHNd", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt a close at current pose to test whether the bottle 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": 1561, "cache_read_input_tokens": 12249, "cache_creation": { "ephemeral_5m_input_tokens": 1561, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 400, "output_tokens_details": { "thinking_tokens": 300 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezkTjUEqsoM4Lbrj8rah", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KWP65EMA5aEp932Sweq7Th", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.95, "y": 0.0 }, "note": "Nothing was grasped; reopen and rise to re-locate the bottle from a wider view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 894, "cache_read_input_tokens": 13810, "cache_creation": { "ephemeral_5m_input_tokens": 894, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 970, "output_tokens_details": { "thinking_tokens": 849 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezkUxCjcjTuY2P6SqGP7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012aPm7mvKweQVHvp2Q9UxiS", "name": "move_to", "input": { "targets": { "y": 0.08 }, "note": "Clean probe at high z: move +y 0.08 and track both objects to fix the image-axis sign." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1465, "cache_read_input_tokens": 14704, "cache_creation": { "ephemeral_5m_input_tokens": 1465, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 591, "output_tokens_details": { "thinking_tokens": 483 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezkVn9HGsLbnqu2wemoW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PvpqVjwAbWm2UboXYkXxF8", "name": "move_to", "input": { "targets": { "x": 0.5, "y": -0.025 }, "note": "Using calibrated mapping (image left = -y, image down = +x), center over green bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1090, "cache_read_input_tokens": 16169, "cache_creation": { "ephemeral_5m_input_tokens": 1090, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 642, "output_tokens_details": { "thinking_tokens": 530 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezkWhchtw1WyMoGbZ5RH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LBvrD6Mg3WpK4RvTmnk5Na", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Descend toward grasp height at the new estimate to check finger alignment with the bottle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1137, "cache_read_input_tokens": 17259, "cache_creation": { "ephemeral_5m_input_tokens": 1137, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 910, "output_tokens_details": { "thinking_tokens": 807 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezkXoMWMYbi3jN7oHTyK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RrmNkQMKZPFAhtrprTv48m", "name": "move_to", "input": { "targets": { "x": 0.47, "y": -0.01, "z": 0.73 }, "note": "Reposition to best estimate of bottle (near y~0) at grasp height 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": 1405, "cache_read_input_tokens": 18396, "cache_creation": { "ephemeral_5m_input_tokens": 1405, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 812, "output_tokens_details": { "thinking_tokens": 693 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezkYxyjNNVk3v1ThTQfW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01U2JQEXWF1Aaneop1Hn1dRL", "name": "move_to", "input": { "targets": { "y": 0.02, "gripper": 0 }, "note": "Exterior suggests bottle slightly +y of fingers; shift +y and close to test grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1312, "cache_read_input_tokens": 19801, "cache_creation": { "ephemeral_5m_input_tokens": 1312, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 623, "output_tokens_details": { "thinking_tokens": 508 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezkZmM1V5fdyzA5RUxmZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YAd9ncZXLwZrgKRrTfanJB", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.68 }, "note": "Open and descend lower; the bottle may be shorter than assumed and below 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": 1116, "cache_read_input_tokens": 21113, "cache_creation": { "ephemeral_5m_input_tokens": 1116, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 520, "output_tokens_details": { "thinking_tokens": 409 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezkaRBqUeG7vjz4RJZFy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0171ycpu426DZCDoB7CAuVzo", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Bottle now occluded by gripper in exterior view; closing to grasp at 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": 1012, "cache_read_input_tokens": 22229, "cache_creation": { "ephemeral_5m_input_tokens": 1012, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 182, "output_tokens_details": { "thinking_tokens": 78 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezkakB6uWYRs3jncHQzs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CAR7Jrqj9rhHUxK2BrfNLH", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.45, "y": -0.13, "z": 0.78 }, "note": "Reinterpreting: bottle is the yellow-green object at image left, ~0.13 m in -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": 23241, "cache_creation": { "ephemeral_5m_input_tokens": 673, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1122, "output_tokens_details": { "thinking_tokens": 984 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezkcBcpUNQoJYVwTdJb9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011ZP21vcore2oX8kc4VEFC6", "name": "move_to", "input": { "targets": { "x": 0.47, "y": 0.05, "z": 0.7 }, "note": "Yellow blob is part of the hand; targeting the green bottle: exterior suggests y~+0.05." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1617, "cache_read_input_tokens": 23914, "cache_creation": { "ephemeral_5m_input_tokens": 1617, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1636, "output_tokens_details": { "thinking_tokens": 1510 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezkeBuk5vckWeSoSwyjY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RRj9dqKx27g4C1tB2YF4Ux", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Bottle occluded by hand in exterior; attempt close here." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2131, "cache_read_input_tokens": 25531, "cache_creation": { "ephemeral_5m_input_tokens": 2131, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 358, "output_tokens_details": { "thinking_tokens": 262 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezkf1DqPZKnn8XrmKSsj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017fLSPnMaFKTmMnChnydbgs", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.44, "y": -0.01, "z": 0.7 }, "note": "Bottle appears left/below fingers in wrist view; shift -y and -x to bring it 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": 852, "cache_read_input_tokens": 27662, "cache_creation": { "ephemeral_5m_input_tokens": 852, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 355, "output_tokens_details": { "thinking_tokens": 220 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezkfXoMAURw5D7MrbaKx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Em22VeMBmFUFz3GXHcwFHp", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at this pose; bottle appears immediately adjacent to fingers." }, "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": 28514, "cache_creation": { "ephemeral_5m_input_tokens": 850, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 160, "output_tokens_details": { "thinking_tokens": 61 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezkg21jARQcXXC9Cz5cQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MHLHi3ff4AP37yHSZx6Dkf", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.53 }, "note": "Residual offset may be in depth (x); try reaching further forward 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": 654, "cache_read_input_tokens": 29364, "cache_creation": { "ephemeral_5m_input_tokens": 654, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 264, "output_tokens_details": { "thinking_tokens": 157 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezkgVYTCg86uZw4Pxu2k", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013b7HUk8xWBsaRqAjzr5B5m", "name": "move_to", "input": { "targets": { "x": 0.47, "y": 0.09 }, "note": "Final alignment attempt: shift +y where exterior view places the bottle relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 758, "cache_read_input_tokens": 30018, "cache_creation": { "ephemeral_5m_input_tokens": 758, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 461, "output_tokens_details": { "thinking_tokens": 348 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezkhAAu3PfkxrmQjhvzA", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01REMPMd7WXgN4HNebwyvqL5", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Last attempt: close gripper at this alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 955, "cache_read_input_tokens": 30776, "cache_creation": { "ephemeral_5m_input_tokens": 955, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 90, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezkhPpgioHtDVfRxH5N1", "type": "message", "role": "assistant", "content": [ { "type": "text", "text": "I was unable to localize the bottle accurately enough — the wrist camera's offset made my image-to-base-frame calibration unreliable, and repeated closes caught nothing. Simulated time is now exhausted." }, { "type": "tool_use", "id": "toolu_01A8LQcMasPezTjTKQqEpHJ3", "name": "give_up", "input": { "note": "Could not converge on the bottle's position; several grasp attempts closed on empty air and 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": 582, "cache_read_input_tokens": 31731, "cache_creation": { "ephemeral_5m_input_tokens": 582, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 148, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.03665, -0.80469, 0.04679, -2.33321, -0.022, 1.52244, -0.01444 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29611, -0.00323, 1.0277 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00934, -0.00687 ], [ 0.00894, -0.99841, -0.05562 ], [ -0.00738, 0.05556, -0.99843 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.406942195259035, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Lower to get a clearer wrist view of the table objects." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.03168, -0.85005, 0.05124, -2.63162, -0.01752, 1.77491, -0.00352 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.29607, -0.00323, 0.92129 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00029, -0.0 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00935, -0.00716 ], [ 0.00894, -0.99841, -0.05564 ], [ -0.00767, 0.05557, -0.99843 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 56 }, "api_seconds": 6.005271288566291, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45 }, "note": "Move forward over the table to bring objects into wrist view center." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.05163, -0.33649, 0.06518, -2.25842, -0.03619, 1.91457, 0.01301 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44865, -0.00324, 0.92126 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00039, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00934, -0.00727 ], [ 0.00892, -0.99841, -0.05563 ], [ -0.00778, 0.05556, -0.99843 ] ], "simulated_seconds_remaining": 27.72, "calls_remaining_including_this": 55 }, "api_seconds": 6.605519741773605, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Descend to better resolve bottle position in wrist view." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0527, -0.2846, 0.06796, -2.39265, -0.04228, 2.09999, 0.02482 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44859, -0.00324, 0.85114 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00072, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00935, -0.0076 ], [ 0.00892, -0.99841, -0.05563 ], [ -0.0081, 0.05556, -0.99842 ] ], "simulated_seconds_remaining": 26.928, "calls_remaining_including_this": 54 }, "api_seconds": 8.006991731002927, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Probe: move +y 0.05 to learn image-axis mapping from bottle shift." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.00744, -0.2738, 0.13435, -2.3788, -0.02093, 2.09296, 0.12289 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44859, 0.04885, 0.85114 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00071, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00959, -0.00757 ], [ 0.00916, -0.99841, -0.05567 ], [ -0.0081, 0.05559, -0.99842 ] ], "simulated_seconds_remaining": 26.268, "calls_remaining_including_this": 53 }, "api_seconds": 8.007358309812844, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.01, "x": 0.4 }, "note": "Probe: return y near 0 and move back in x to learn vertical image mapping." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.04998, -0.43737, 0.05342, -2.53155, -0.03805, 2.08696, 0.00804 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40085, -0.00904, 0.85117 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00067, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00941, -0.00755 ], [ 0.00898, -0.99841, -0.05567 ], [ -0.00806, 0.05559, -0.99842 ] ], "simulated_seconds_remaining": 25.476, "calls_remaining_including_this": 52 }, "api_seconds": 12.810409584082663, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 0.8 }, "note": "Move over estimated bottle location and descend closer to judge grasp alignment." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.04948, -0.22063, 0.07251, -2.46269, -0.05098, 2.23768, 0.04318 ], "gripper_open": 1.0, "tcp_xyz": [ 0.45034, 0.00012, 0.80281 ], "tcp_roll_pitch_yaw": [ -0.00033, -0.00371, 0.00065 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00979, -0.00314 ], [ 0.0096, -0.99839, -0.05596 ], [ -0.00368, 0.05592, -0.99843 ] ], "simulated_seconds_remaining": 24.684, "calls_remaining_including_this": 51 }, "api_seconds": 11.40890143159777, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.74 }, "note": "Descend further to see the bottle and table clearance." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0543, -0.11085, 0.0755, -2.52724, -0.07132, 2.41089, 0.06427 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45028, 0.00011, 0.74118 ], "tcp_roll_pitch_yaw": [ -0.00035, -0.00346, 0.00066 ], "tcp_rotation_matrix": [ [ 0.99995, 0.0098, -0.00338 ], [ 0.0096, -0.99839, -0.05598 ], [ -0.00393, 0.05594, -0.99843 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 50 }, "api_seconds": 9.006893089041114, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Bottle appears to the +y side in both views; shift left to center it." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00448, -0.09696, 0.1465, -2.50845, -0.06035, 2.39989, 0.18502 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45029, 0.05889, 0.74119 ], "tcp_roll_pitch_yaw": [ -0.00037, -0.00347, 0.00091 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01005, -0.00336 ], [ 0.00985, -0.99838, -0.05599 ], [ -0.00392, 0.05596, -0.99843 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 49 }, "api_seconds": 12.212548524141312, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.08 }, "note": "Corrected image-axis mapping: image-left = -y. Moving to y=-0.08 to center bottle." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.13378, -0.09681, -0.01984, -2.51384, -0.08756, 2.42038, -0.09753 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45029, -0.07879, 0.74118 ], "tcp_roll_pitch_yaw": [ -0.00034, -0.00348, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00977, -0.00337 ], [ 0.00956, -0.99839, -0.05597 ], [ -0.00391, 0.05593, -0.99843 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 48 }, "api_seconds": 7.005739081650972, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Raise for a wider wrist view to relocate the bottle after the y move." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.12836, -0.293, -0.01708, -2.33081, -0.06827, 2.04201, -0.12351 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45038, -0.0788, 0.87882 ], "tcp_roll_pitch_yaw": [ -0.00039, -0.00383, 0.00063 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00975, -0.00302 ], [ 0.00957, -0.99838, -0.05601 ], [ -0.00356, 0.05598, -0.99843 ] ], "simulated_seconds_remaining": 20.724, "calls_remaining_including_this": 47 }, "api_seconds": 18.214292217977345, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.73 }, "note": "Descend to grasp height; expecting bottle to be between fingers (occluded)." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.13433, -0.07591, -0.01999, -2.52121, -0.08989, 2.4486, -0.09486 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45029, -0.0788, 0.73119 ], "tcp_roll_pitch_yaw": [ -0.00035, -0.00346, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00976, -0.00339 ], [ 0.00956, -0.99839, -0.05598 ], [ -0.00393, 0.05594, -0.99843 ] ], "simulated_seconds_remaining": 19.404, "calls_remaining_including_this": 46 }, "api_seconds": 6.405438455753028, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt a close at current pose to test whether the bottle is between the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.13433, -0.07591, -0.01999, -2.52121, -0.08989, 2.4486, -0.09486 ], "gripper_open": 0.0, "tcp_xyz": [ 0.45029, -0.0788, 0.73117 ], "tcp_roll_pitch_yaw": [ -0.00035, -0.00346, 0.00062 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00976, -0.00338 ], [ 0.00956, -0.99839, -0.05598 ], [ -0.00392, 0.05594, -0.99843 ] ], "simulated_seconds_remaining": 18.48, "calls_remaining_including_this": 45 }, "api_seconds": 15.812059662304819, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.95, "y": 0.0 }, "note": "Nothing was grasped; reopen and rise to re-locate the bottle from a wider view." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.05786, -0.34361, 0.0754, -2.19506, -0.03181, 1.84843, 0.01213 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45037, -0.00043, 0.94883 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.0038, 0.0007 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00983, -0.00305 ], [ 0.00964, -0.99838, -0.05599 ], [ -0.00359, 0.05596, -0.99843 ] ], "simulated_seconds_remaining": 16.632, "calls_remaining_including_this": 44 }, "api_seconds": 10.808409170247614, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.08 }, "note": "Clean probe at high z: move +y 0.08 and track both objects to fix the image-axis sign." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.00118, -0.31933, 0.17638, -2.16607, 0.00038, 1.83897, 0.15839 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45037, 0.07884, 0.94883 ], "tcp_roll_pitch_yaw": [ -0.0004, -0.0038, 0.00095 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01007, -0.00303 ], [ 0.00989, -0.99838, -0.05603 ], [ -0.00358, 0.05599, -0.99842 ] ], "simulated_seconds_remaining": 15.774, "calls_remaining_including_this": 43 }, "api_seconds": 12.010309474542737, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": -0.025 }, "note": "Using calibrated mapping (image left = -y, image down = +x), center over green bottle." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.08386, -0.19264, 0.05762, -2.04695, -0.0469, 1.85276, -0.02395 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49943, -0.02389, 0.9488 ], "tcp_roll_pitch_yaw": [ -0.00035, -0.00374, 0.00068 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00981, -0.0031 ], [ 0.00962, -0.99839, -0.05598 ], [ -0.00365, 0.05595, -0.99843 ] ], "simulated_seconds_remaining": 14.718, "calls_remaining_including_this": 42 }, "api_seconds": 14.211749684996903, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Descend toward grasp height at the new estimate to check finger alignment with the bottle." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.08713, -0.01256, 0.05923, -2.34951, -0.07659, 2.3336, 0.01539 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49934, -0.0239, 0.76119 ], "tcp_roll_pitch_yaw": [ -0.00035, -0.00337, 0.00067 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00982, -0.00347 ], [ 0.00961, -0.99839, -0.05598 ], [ -0.00402, 0.05594, -0.99843 ] ], "simulated_seconds_remaining": 13.134, "calls_remaining_including_this": 41 }, "api_seconds": 15.2113774465397, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": -0.01, "z": 0.73 }, "note": "Reposition to best estimate of bottle (near y~0) at grasp height before closing." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.07498, -0.03356, 0.07218, -2.4688, -0.08215, 2.43011, 0.04972 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47074, -0.01035, 0.73078 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.00314, 0.00075 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00991, -0.0037 ], [ 0.00969, -0.99838, -0.05599 ], [ -0.00425, 0.05595, -0.99842 ] ], "simulated_seconds_remaining": 12.54, "calls_remaining_including_this": 40 }, "api_seconds": 10.808220682665706, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.02, "gripper": 0 }, "note": "Exterior suggests bottle slightly +y of fingers; shift +y and close to test grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.04453, -0.03106, 0.10473, -2.46463, -0.07991, 2.4251, 0.11074 ], "gripper_open": 0.0, "tcp_xyz": [ 0.47074, 0.0193, 0.73079 ], "tcp_roll_pitch_yaw": [ -0.00036, -0.00314, 0.00084 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01, -0.00369 ], [ 0.00978, -0.99838, -0.05599 ], [ -0.00425, 0.05595, -0.99842 ] ], "simulated_seconds_remaining": 11.616, "calls_remaining_including_this": 39 }, "api_seconds": 8.407011976465583, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.68 }, "note": "Open and descend lower; the bottle may be shorter than assumed and below the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.046, 0.08045, 0.10074, -2.48765, -0.11594, 2.55768, 0.14163 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.47068, 0.01929, 0.68104 ], "tcp_roll_pitch_yaw": [ -0.00037, -0.00296, 0.00083 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01, -0.00387 ], [ 0.00977, -0.99838, -0.056 ], [ -0.00443, 0.05596, -0.99842 ] ], "simulated_seconds_remaining": 10.692, "calls_remaining_including_this": 38 }, "api_seconds": 3.803241051733494, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Bottle now occluded by gripper in exterior view; closing to grasp at lower height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.046, 0.08045, 0.10074, -2.48765, -0.11594, 2.55768, 0.14163 ], "gripper_open": 0.0, "tcp_xyz": [ 0.47068, 0.01929, 0.68103 ], "tcp_roll_pitch_yaw": [ -0.00037, -0.00296, 0.00083 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01, -0.00387 ], [ 0.00977, -0.99838, -0.056 ], [ -0.00443, 0.05596, -0.99842 ] ], "simulated_seconds_remaining": 9.768, "calls_remaining_including_this": 37 }, "api_seconds": 19.21639425866306, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.45, "y": -0.13, "z": 0.78 }, "note": "Reinterpreting: bottle is the yellow-green object at image left, ~0.13 m in -y. Moving there." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.19689, -0.1395, -0.06066, -2.44743, -0.08664, 2.31698, -0.20811 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4502, -0.12899, 0.77933 ], "tcp_roll_pitch_yaw": [ -0.0004, -0.00315, 0.00059 ], "tcp_rotation_matrix": [ [ 0.99995, 0.00975, -0.0037 ], [ 0.00953, -0.99838, -0.05603 ], [ -0.00424, 0.05599, -0.99842 ] ], "simulated_seconds_remaining": 8.25, "calls_remaining_including_this": 36 }, "api_seconds": 26.618383578024805, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": 0.05, "z": 0.7 }, "note": "Yellow blob is part of the hand; targeting the green bottle: exterior suggests y~+0.05." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02146, 0.03965, 0.1412, -2.47381, -0.10172, 2.5001, 0.19163 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46983, 0.04883, 0.70051 ], "tcp_roll_pitch_yaw": [ -0.00042, -0.00303, 0.00088 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01005, -0.0038 ], [ 0.00982, -0.99838, -0.05605 ], [ -0.00436, 0.05601, -0.99842 ] ], "simulated_seconds_remaining": 6.666, "calls_remaining_including_this": 35 }, "api_seconds": 10.608072826638818, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Bottle occluded by hand in exterior; attempt close here." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.02146, 0.03965, 0.1412, -2.47381, -0.10172, 2.5001, 0.19163 ], "gripper_open": 0.0, "tcp_xyz": [ 0.46983, 0.04884, 0.70051 ], "tcp_roll_pitch_yaw": [ -0.00042, -0.00303, 0.00088 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01005, -0.0038 ], [ 0.00982, -0.99838, -0.05605 ], [ -0.00436, 0.05601, -0.99842 ] ], "simulated_seconds_remaining": 5.742, "calls_remaining_including_this": 34 }, "api_seconds": 6.805732233449817, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.44, "y": -0.01, "z": 0.7 }, "note": "Bottle appears left/below fingers in wrist view; shift -y and -x to bring it into the finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0823, -0.04377, 0.08025, -2.58402, -0.09228, 2.53468, 0.06406 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44064, -0.00878, 0.70001 ], "tcp_roll_pitch_yaw": [ -0.00042, -0.00301, 0.00071 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00988, -0.00383 ], [ 0.00965, -0.99838, -0.05605 ], [ -0.00438, 0.05601, -0.99842 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 33 }, "api_seconds": 6.205394904129207, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at this pose; bottle appears immediately adjacent to fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.0823, -0.04377, 0.08025, -2.58402, -0.09228, 2.53468, 0.06406 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44063, -0.00879, 0.70001 ], "tcp_roll_pitch_yaw": [ -0.00042, -0.00301, 0.00072 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00989, -0.00383 ], [ 0.00966, -0.99838, -0.05605 ], [ -0.00438, 0.05601, -0.99842 ] ], "simulated_seconds_remaining": 3.894, "calls_remaining_including_this": 32 }, "api_seconds": 6.004876289516687, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.53 }, "note": "Residual offset may be in depth (x); try reaching further forward before closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the bottle.", "joint_positions": [ -0.07934, 0.17758, 0.07875, -2.28608, -0.11071, 2.45641, 0.07442 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.52877, -0.0088, 0.70001 ], "tcp_roll_pitch_yaw": [ -0.00041, -0.00304, 0.0007 ], "tcp_rotation_matrix": [ [ 0.99994, 0.00987, -0.0038 ], [ 0.00964, -0.99838, -0.05604 ], [ -0.00435, 0.056, -0.99842 ] ], "simulated_seconds_remaining": 2.97, "calls_remaining_including_this": 31 }, "api_seconds": 8.406997686251998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "y": 0.09 }, "note": "Final alignment attempt: shift +y where exterior view places the bottle relative to fingers." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.03358, 0.05998, 0.16876, -2.4476, -0.10589, 2.48903, 0.27679 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47067, 0.08897, 0.70002 ], "tcp_roll_pitch_yaw": [ -0.0004, -0.00303, 0.00101 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01017, -0.00379 ], [ 0.00994, -0.99838, -0.05603 ], [ -0.00436, 0.05599, -0.99842 ] ], "simulated_seconds_remaining": 1.914, "calls_remaining_including_this": 30 }, "api_seconds": 3.002991213463247, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Last attempt: close gripper at this alignment." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the bottle.", "joint_positions": [ 0.03358, 0.05998, 0.16876, -2.4476, -0.10589, 2.48903, 0.27679 ], "gripper_open": 0.0, "tcp_xyz": [ 0.47066, 0.08898, 0.70002 ], "tcp_roll_pitch_yaw": [ -0.0004, -0.00303, 0.001 ], "tcp_rotation_matrix": [ [ 0.99994, 0.01017, -0.00379 ], [ 0.00994, -0.99838, -0.05603 ], [ -0.00435, 0.05599, -0.99842 ] ], "simulated_seconds_remaining": 0.99, "calls_remaining_including_this": 29 }, "api_seconds": 3.403214962221682, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not converge on the bottle's position; several grasp attempts closed on empty air and simulated time ran out." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 042 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 42, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 32, "api_calls": 32, "wall_seconds": 436.1366035938263, "usage": { "input_tokens": 64, "cache_creation_input_tokens": 38363, "cache_read_input_tokens": 559258, "output_tokens": 21492 }, "estimated_cost_usd": 1.05701775 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezkT8BCeXjA7bgoiDWxp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NtZtaZcZP6uyEyD7bvdNzt", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.15, "z": 1.15 }, "note": "Raise and shift left to get an overview of the counter to locate the pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1756, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 306, "output_tokens_details": { "thinking_tokens": 192 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezkTeGCm2d3zHfT2rh25", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Sy5zqVXwSRfKNk9ooRhy8L", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Lower to inspect the pot-like object seen 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": 803, "cache_read_input_tokens": 1756, "cache_creation": { "ephemeral_5m_input_tokens": 803, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 232, "output_tokens_details": { "thinking_tokens": 136 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezkU1ux2ufgaDqxDFN7V", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018sV6mvwP5wdWdLD2Ggff3p", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.1, "z": 1.3 }, "note": "Raise high for an overhead survey of the counter to identify the pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 724, "cache_read_input_tokens": 2559, "cache_creation": { "ephemeral_5m_input_tokens": 724, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 347, "output_tokens_details": { "thinking_tokens": 234 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezkUbBCaSXnDVumWfFxk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MMYtjZqpWL7gkyWtjMx8Lo", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.3, "z": 1.15 }, "note": "Move forward-left toward the white container region to inspect it with wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 836, "cache_read_input_tokens": 3283, "cache_creation": { "ephemeral_5m_input_tokens": 836, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 292, "output_tokens_details": { "thinking_tokens": 177 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezkV4Fd9Rhwsq7hHJSfq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RwCcAPvg8V1y6TLsXoAgvs", "name": "move_to", "input": { "targets": { "x": 0.53 }, "note": "Small +x test move to learn wrist-image mapping while approaching the white pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 789, "cache_read_input_tokens": 4119, "cache_creation": { "ephemeral_5m_input_tokens": 789, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 431, "output_tokens_details": { "thinking_tokens": 330 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezkVmz6Why4k1b2sJsTJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019hYMsSJ71yeYpdrnaALm1s", "name": "move_to", "input": { "targets": { "y": 0.4 }, "note": "Test move further left (+y) to see how the white pot shifts 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": 923, "cache_read_input_tokens": 4908, "cache_creation": { "ephemeral_5m_input_tokens": 923, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 200, "output_tokens_details": { "thinking_tokens": 100 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezkW9sV8PxAm3nZuGwEb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0187XdJyarjFTeLv4rxA4wD3", "name": "move_to", "input": { "targets": { "y": 0.2 }, "note": "Wrist mapping suggests +y moves object left in image; move -y to center the pot." }, "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": 5831, "cache_creation": { "ephemeral_5m_input_tokens": 692, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 731, "output_tokens_details": { "thinking_tokens": 628 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezkXRuBE4qQcwXqkjjDo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GdhCLQs5DELdBwEA5U1YEp", "name": "move_to", "input": { "targets": { "z": 1.08 }, "note": "Pot roughly centered in wrist view; descend to check alignment closer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1228, "cache_read_input_tokens": 6523, "cache_creation": { "ephemeral_5m_input_tokens": 1228, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 349, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezkXvoj43Q4Kn2DF1L8F", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NBUEQKT2KBdzBSvV7CaJnX", "name": "move_to", "input": { "targets": { "z": 0.98 }, "note": "Continue descending to gauge height of the counter and pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 7751, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 691, "output_tokens_details": { "thinking_tokens": 598 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezkYsqfcvRJGYpW1dM6C", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013eZdEPPpqLDkfsmByeT1vR", "name": "move_to", "input": { "targets": { "x": 0.41 }, "note": "Test -x move to learn vertical image mapping and center the pot 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": 1183, "cache_read_input_tokens": 8592, "cache_creation": { "ephemeral_5m_input_tokens": 1183, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 343, "output_tokens_details": { "thinking_tokens": 243 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezkZTC7m6rF8JeJRbbvz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0129rF1SXhS3hM4dZaJQaEp9", "name": "move_to", "input": { "targets": { "x": 0.47, "z": 0.94 }, "note": "Return +x and descend further to approach the pot." }, "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": 9775, "cache_creation": { "ephemeral_5m_input_tokens": 835, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 582, "output_tokens_details": { "thinking_tokens": 484 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezkaHF75dNJrrrG2HtK9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mn313HYwQbt4xRj9vVVVNh", "name": "move_to", "input": { "targets": { "y": 0.32, "z": 1.1 }, "note": "Realized the white blob was the gripper itself; moving +y and up to test how the plate landmark shifts 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": 1073, "cache_read_input_tokens": 10610, "cache_creation": { "ephemeral_5m_input_tokens": 1073, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1206, "output_tokens_details": { "thinking_tokens": 1084 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezkbyiD44KiWKNF3nQUb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012NAPJiVtc2BwNUAEJwfNv3", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.2, "z": 1.15, "pitch": -0.8 }, "note": "Tilting wrist camera forward to survey the counter and localize the pot relative to the arm." }, "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": 11683, "cache_creation": { "ephemeral_5m_input_tokens": 1703, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2090, "output_tokens_details": { "thinking_tokens": 1959 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezkeU6aGQSLG7TZQsvFq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PkYLo1Ep85fWqwP1eDWsmV", "name": "move_to", "input": { "targets": { "x": 0.47 }, "note": "Move +x to test whether the white pot seen at top of tilted wrist view approaches (moves down/larger)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2586, "cache_read_input_tokens": 13386, "cache_creation": { "ephemeral_5m_input_tokens": 2586, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 844, "output_tokens_details": { "thinking_tokens": 734 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezkfbEU2aryMt2BQyCrh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013eaVFhSbKrKF8sALVn9Qmc", "name": "move_to", "input": { "targets": { "y": 0.3 }, "note": "Test +y move to determine horizontal image mapping for the pot." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1336, "cache_read_input_tokens": 15972, "cache_creation": { "ephemeral_5m_input_tokens": 1336, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 380, "output_tokens_details": { "thinking_tokens": 284 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezkg8crQWR1bPQEc7Qeg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DoaRbU51FEyLdYqQixJzAi", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.22, "z": 1.1, "pitch": -0.5 }, "note": "Pot appears far forward and near y=0.22; advancing +x with mild tilt to close distance." }, "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": 17308, "cache_creation": { "ephemeral_5m_input_tokens": 872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 778, "output_tokens_details": { "thinking_tokens": 645 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezkh9G5xdrLzH1ip5oEd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015CPVbCdnZLN5KegaPMHiaZ", "name": "move_to", "input": { "targets": { "x": 0.65, "z": 1.02, "pitch": -0.3 }, "note": "Advance and lower toward the pot, reducing tilt for a more top-down view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1276, "cache_read_input_tokens": 18180, "cache_creation": { "ephemeral_5m_input_tokens": 1276, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 486, "output_tokens_details": { "thinking_tokens": 367 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezkhydfnfjWt1JvPGaJ4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019PU2t2vtbR2TmL9X7fbCym", "name": "move_to", "input": { "targets": { "x": 0.7, "pitch": 0.0 }, "note": "Pot large and slightly forward of center; move forward and level the wrist for a top-down grasp view." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 979, "cache_read_input_tokens": 19456, "cache_creation": { "ephemeral_5m_input_tokens": 979, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 415, "output_tokens_details": { "thinking_tokens": 298 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezkidKZYAxfSYPxUhTBB", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01KJMfSftPCEsCZLakwv4cMh", "name": "move_to", "input": { "targets": { "x": 0.7, "pitch": -0.2 }, "note": "Split motion: advance x and slightly level the wrist." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 906, "cache_read_input_tokens": 20435, "cache_creation": { "ephemeral_5m_input_tokens": 906, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 102, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezkitDm25zJPyREhj9bU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0146hGXZqvzj14TzCpVs5uGt", "name": "move_to", "input": { "targets": { "x": 0.62 }, "note": "Testing whether -x brings the pot down toward image center (resolving vertical mapping sign)." }, "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": 21341, "cache_creation": { "ephemeral_5m_input_tokens": 594, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 440, "output_tokens_details": { "thinking_tokens": 335 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezkjaXB18r3MuK67kuTX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rpkf2cJk33BrJ4seh75K1m", "name": "move_to", "input": { "targets": { "x": 0.52, "y": 0.19 }, "note": "Move back toward the pot (image up = -x), aiming to place it under 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": 938, "cache_read_input_tokens": 21935, "cache_creation": { "ephemeral_5m_input_tokens": 938, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 735, "output_tokens_details": { "thinking_tokens": 625 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezkkg6ZaTpVaEAvYABxe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016nzDAeuEQA2w8p9dXdkjDA", "name": "move_to", "input": { "targets": { "z": 0.97 }, "note": "Descending slowly over the pot to judge finger alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1228, "cache_read_input_tokens": 22873, "cache_creation": { "ephemeral_5m_input_tokens": 1228, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 893, "output_tokens_details": { "thinking_tokens": 799 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezkmpZaAf9vsueViCr8V", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VwXfpsW2zUXDkYNn95wucw", "name": "move_to", "input": { "targets": { "x": 0.44, "y": 0.17 }, "note": "Pot appears behind the fingertips; retracting x to bring it under 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": 1386, "cache_read_input_tokens": 24101, "cache_creation": { "ephemeral_5m_input_tokens": 1386, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1261, "output_tokens_details": { "thinking_tokens": 1151 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezkoP3xdKDGWiazqciLm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011hY3MZWon3gZPp1YeAJ232", "name": "move_to", "input": { "targets": { "z": 0.92, "y": 0.15 }, "note": "Descend toward pot and nudge -y to center it 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": 1759, "cache_read_input_tokens": 25487, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 380, "output_tokens_details": { "thinking_tokens": 276 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezkpa1YaqkE4ATduv74m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018oih3od5cB2sZcw871xg1M", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Pot appears between the fingers; closing gripper to grasp." }, "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": 27246, "cache_creation": { "ephemeral_5m_input_tokens": 872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 804, "output_tokens_details": { "thinking_tokens": 706 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezkqhU3yTMoNji3cPydq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NDpgjGemuktWjnm9xJT8zU", "name": "move_to", "input": { "targets": { "gripper": 1.0, "z": 0.87 }, "note": "Closure caught nothing; reopening and descending lower to reach the pot body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1295, "cache_read_input_tokens": 28118, "cache_creation": { "ephemeral_5m_input_tokens": 1295, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2734, "output_tokens_details": { "thinking_tokens": 2624 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezku7p6NyN843hkwWEfW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012XwM7SQLmmMyMDPjZyieNm", "name": "move_to", "input": { "targets": { "x": 0.56, "y": 0.19, "z": 1.0 }, "note": "Realized the white blob is the hand; repositioning over the estimated pot location (x~0.56,y~0.19) for a look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 3226, "cache_read_input_tokens": 29413, "cache_creation": { "ephemeral_5m_input_tokens": 3226, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 936, "output_tokens_details": { "thinking_tokens": 804 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezkvLd4VgUfDemwH8ZVz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HJo7tKSRJ7k5Qhf9W9ohLi", "name": "move_to", "input": { "targets": { "x": 0.51, "z": 0.9 }, "note": "Pot centered near x~0.51; descending to grasp height for a closer look." }, "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": 32639, "cache_creation": { "ephemeral_5m_input_tokens": 1429, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 982, "output_tokens_details": { "thinking_tokens": 874 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezkwyuRguiauHHMqeqQx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UXMUEuyRJvJpVUgEyPDyio", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Attempting grasp at this pose where the pot appears 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": 1475, "cache_read_input_tokens": 34068, "cache_creation": { "ephemeral_5m_input_tokens": 1475, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 669, "output_tokens_details": { "thinking_tokens": 569 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezky4R5Rc68Jq2NmdHDj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RY2C2MBE8iRqrtXa7YWotK", "name": "move_to", "input": { "targets": { "gripper": 1.0, "y": 0.26, "x": 0.49 }, "note": "Empty closure again; the white pot lies to the image-left (+y), so reopen and shift +y 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": 1161, "cache_read_input_tokens": 35543, "cache_creation": { "ephemeral_5m_input_tokens": 1161, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 466, "output_tokens_details": { "thinking_tokens": 332 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezkzEjxooJRudMzU4GZy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01E7RCxCRF7nFzUooMUFXUwW", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Gripper now over the pot per exterior view; closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 959, "cache_read_input_tokens": 36704, "cache_creation": { "ephemeral_5m_input_tokens": 959, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 208, "output_tokens_details": { "thinking_tokens": 109 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011Cezkzxo37pwU3eDgWrfBS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HzAxHxZ5v91BjZ64byLTo7", "name": "give_up", "input": { "note": "I could not reliably localize the pot: the wrist view was dominated by the white gripper body, which I repeatedly mistook for the pot, and my closures caught nothing. Simulated motion time is exhausted, so I cannot complete the pick." }, "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": 37663, "cache_creation": { "ephemeral_5m_input_tokens": 700, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 179, "output_tokens_details": { "thinking_tokens": 56 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.00231, -0.78799, 0.00954, -2.39346, -0.01234, 1.6144, -0.03338 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31114, 0.00023, 1.00232 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99904, 0.04283, 0.00908 ], [ 0.04299, -0.99889, -0.01901 ], [ 0.00825, 0.01938, -0.99978 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 6.6059681894257665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.15, "z": 1.15 }, "note": "Raise and shift left to get an overview of the counter to locate the pot." } } } ] } } ] }, "execution": { "steps": 26, "motion_seconds": 1.7160000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.05188, -0.45565, 0.24384, -1.75091, 0.08863, 1.31172, 0.25174 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34977, 0.14909, 1.14907 ], "tcp_roll_pitch_yaw": [ -1e-05, -8e-05, 0.00013 ], "tcp_rotation_matrix": [ [ 0.99904, 0.04295, 0.00916 ], [ 0.04312, -0.99889, -0.01902 ], [ 0.00833, 0.0194, -0.99978 ] ], "simulated_seconds_remaining": 28.314, "calls_remaining_including_this": 56 }, "api_seconds": 4.604059145785868, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Lower to inspect the pot-like object seen in wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.06603, -0.56081, 0.24848, -2.09682, 0.11039, 1.55343, 0.23693 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34975, 0.14909, 1.0512 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00016, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99904, 0.04297, 0.00892 ], [ 0.04313, -0.99889, -0.01909 ], [ 0.00809, 0.01946, -0.99978 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 55 }, "api_seconds": 7.8065053299069405, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.1, "z": 1.3 }, "note": "Raise high for an overhead survey of the counter to identify the pot." } } } ] } } ] }, "execution": { "error": "Target outside robot workspace bounds (+/-1.2 m)", "movement_executed": false } } { "call": 4, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.06603, -0.56081, 0.24848, -2.09682, 0.11039, 1.55343, 0.23693 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34975, 0.14909, 1.0512 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00016, 0.00014 ], "tcp_rotation_matrix": [ [ 0.99904, 0.04297, 0.00892 ], [ 0.04313, -0.99889, -0.01909 ], [ 0.00809, 0.01946, -0.99978 ] ], "simulated_seconds_remaining": 27.324, "calls_remaining_including_this": 54 }, "api_seconds": 5.605489533394575, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.3, "z": 1.15 }, "note": "Move forward-left toward the white container region to inspect it with wrist camera." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.14666, 0.09685, 0.4987, -1.18865, -0.07002, 1.27002, 0.57958 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44934, 0.29906, 1.14929 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00026, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99903, 0.04318, 0.00882 ], [ 0.04334, -0.99888, -0.01915 ], [ 0.00799, 0.01951, -0.99978 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 53 }, "api_seconds": 9.608063629828393, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53 }, "note": "Small +x test move to learn wrist-image mapping while approaching the white pot." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.14666, 0.09685, 0.4987, -1.18865, -0.07002, 1.27002, 0.57958 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44934, 0.29906, 1.14929 ], "tcp_roll_pitch_yaw": [ -0.00014, 0.00026, 0.00035 ], "tcp_rotation_matrix": [ [ 0.99903, 0.04318, 0.00882 ], [ 0.04334, -0.99888, -0.01915 ], [ 0.00799, 0.01951, -0.99978 ] ], "simulated_seconds_remaining": 25.674, "calls_remaining_including_this": 52 }, "api_seconds": 4.604242739267647, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.4 }, "note": "Test move further left (+y) to see how the white pot shifts in wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.47129, 0.4866, 0.54815, -0.63389, -0.30281, 1.06666, 0.77559 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44932, 0.39884, 1.14918 ], "tcp_roll_pitch_yaw": [ -0.0002, 0.00046, 0.00074 ], "tcp_rotation_matrix": [ [ 0.99901, 0.04358, 0.00863 ], [ 0.04373, -0.99886, -0.0192 ], [ 0.00779, 0.01955, -0.99978 ] ], "simulated_seconds_remaining": 24.684, "calls_remaining_including_this": 51 }, "api_seconds": 16.61350577697158, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.2 }, "note": "Wrist mapping suggests +y moves object left in image; move -y to center the pot." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01303, -0.09957, 0.3826, -1.40967, 0.01654, 1.31794, 0.35467 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44937, 0.20123, 1.14921 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.00039, 0.00047 ], "tcp_rotation_matrix": [ [ 0.99902, 0.04331, 0.0087 ], [ 0.04347, -0.99887, -0.01924 ], [ 0.00786, 0.0196, -0.99978 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 50 }, "api_seconds": 6.405002295970917, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.08 }, "note": "Pot roughly centered in wrist view; descend to check alignment closer." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01049, -0.19046, 0.36773, -1.68834, 0.04712, 1.51123, 0.33155 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44936, 0.20124, 1.0813 ], "tcp_roll_pitch_yaw": [ -0.00033, 0.00066, 0.0005 ], "tcp_rotation_matrix": [ [ 0.99902, 0.04334, 0.00842 ], [ 0.0435, -0.99887, -0.01933 ], [ 0.00758, 0.01968, -0.99978 ] ], "simulated_seconds_remaining": 22.308, "calls_remaining_including_this": 49 }, "api_seconds": 12.409065204672515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.98 }, "note": "Continue descending to gauge height of the counter and pot." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01727, -0.23706, 0.36964, -1.99167, 0.06519, 1.77007, 0.32112 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44933, 0.20123, 0.98119 ], "tcp_roll_pitch_yaw": [ -0.00041, 0.00096, 0.00051 ], "tcp_rotation_matrix": [ [ 0.99903, 0.04335, 0.00813 ], [ 0.0435, -0.99886, -0.01942 ], [ 0.00728, 0.01975, -0.99978 ] ], "simulated_seconds_remaining": 21.318, "calls_remaining_including_this": 48 }, "api_seconds": 7.406183574348688, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.41 }, "note": "Test -x move to learn vertical image mapping and center the pot between fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.03679, -0.35079, 0.36548, -2.09407, 0.10394, 1.76415, 0.3182 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4113, 0.20129, 0.98126 ], "tcp_roll_pitch_yaw": [ -0.00045, 0.00083, 0.00064 ], "tcp_rotation_matrix": [ [ 0.99902, 0.04349, 0.00826 ], [ 0.04364, -0.99886, -0.01945 ], [ 0.00741, 0.01979, -0.99978 ] ], "simulated_seconds_remaining": 20.79, "calls_remaining_including_this": 47 }, "api_seconds": 10.808034555986524, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47, "z": 0.94 }, "note": "Return +x and descend further to approach the pot." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.01032, -0.17231, 0.37724, -2.03212, 0.04412, 1.87159, 0.32593 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46897, 0.20123, 0.94062 ], "tcp_roll_pitch_yaw": [ -0.00048, 0.00109, 0.00053 ], "tcp_rotation_matrix": [ [ 0.99903, 0.04338, 0.008 ], [ 0.04353, -0.99886, -0.01949 ], [ 0.00714, 0.01982, -0.99978 ] ], "simulated_seconds_remaining": 19.998, "calls_remaining_including_this": 46 }, "api_seconds": 22.417288108728826, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.32, "z": 1.1 }, "note": "Realized the white blob was the gripper itself; moving +y and up to test how the plate landmark shifts in wrist view." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.13604, 0.11687, 0.52216, -1.30803, -0.07962, 1.40457, 0.59875 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46896, 0.3193, 1.09898 ], "tcp_roll_pitch_yaw": [ -0.00039, 0.00096, 0.00073 ], "tcp_rotation_matrix": [ [ 0.99902, 0.04358, 0.00813 ], [ 0.04373, -0.99886, -0.01939 ], [ 0.00728, 0.01973, -0.99978 ] ], "simulated_seconds_remaining": 18.348, "calls_remaining_including_this": 45 }, "api_seconds": 33.226716871373355, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.2, "z": 1.15, "pitch": -0.8 }, "note": "Tilting wrist camera forward to survey the counter and localize the pot relative to the arm." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.12834, -0.85025, 0.34729, -2.34436, -0.11272, 2.25522, 0.46552 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40033, 0.20063, 1.14979 ], "tcp_roll_pitch_yaw": [ -0.00051, -0.79576, 0.00072 ], "tcp_rotation_matrix": [ [ 0.69316, 0.01647, 0.7206 ], [ 0.04349, -0.99887, -0.019 ], [ 0.71947, 0.04451, -0.69309 ] ], "simulated_seconds_remaining": 16.962, "calls_remaining_including_this": 44 }, "api_seconds": 14.814086358062923, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.47 }, "note": "Move +x to test whether the white pot seen at top of tilted wrist view approaches (moves down/larger)." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.05945, -0.65959, 0.35174, -2.23893, -0.15076, 2.34669, 0.45393 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.46882, 0.20057, 1.14971 ], "tcp_roll_pitch_yaw": [ -0.00051, -0.79555, 0.0006 ], "tcp_rotation_matrix": [ [ 0.69331, 0.01636, 0.72045 ], [ 0.04341, -0.99887, -0.01909 ], [ 0.71933, 0.04451, -0.69324 ] ], "simulated_seconds_remaining": 16.17, "calls_remaining_including_this": 43 }, "api_seconds": 7.006108144298196, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.3 }, "note": "Test +y move to determine horizontal image mapping for the pot." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.00745, -0.5268, 0.57398, -2.071, -0.2144, 2.28735, 0.65067 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4688, 0.29881, 1.14969 ], "tcp_roll_pitch_yaw": [ -0.00067, -0.79555, 0.00089 ], "tcp_rotation_matrix": [ [ 0.69331, 0.01654, 0.72045 ], [ 0.04362, -0.99887, -0.01904 ], [ 0.71932, 0.04462, -0.69324 ] ], "simulated_seconds_remaining": 15.18, "calls_remaining_including_this": 42 }, "api_seconds": 13.010954262688756, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.22, "z": 1.1, "pitch": -0.5 }, "note": "Pot appears far forward and near y=0.22; advancing +x with mild tilt to close distance." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.08268, -0.1001, 0.47805, -1.72749, -0.19189, 2.09736, 0.42359 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.59928, 0.22033, 1.1002 ], "tcp_roll_pitch_yaw": [ -0.00065, -0.50163, 0.00058 ], "tcp_rotation_matrix": [ [ 0.87198, 0.0285, 0.48872 ], [ 0.0435, -0.99887, -0.01938 ], [ 0.48761, 0.03816, -0.87223 ] ], "simulated_seconds_remaining": 13.794, "calls_remaining_including_this": 41 }, "api_seconds": 11.008769331499934, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.65, "z": 1.02, "pitch": -0.3 }, "note": "Advance and lower toward the pot, reducing tilt for a more top-down view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06118, 0.19771, 0.48653, -1.50915, -0.24932, 1.95618, 0.42645 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.64952, 0.22023, 1.02066 ], "tcp_roll_pitch_yaw": [ -0.00069, -0.30181, 0.00046 ], "tcp_rotation_matrix": [ [ 0.95142, 0.03539, 0.30586 ], [ 0.04344, -0.99886, -0.01956 ], [ 0.30482, 0.03189, -0.95188 ] ], "simulated_seconds_remaining": 12.87, "calls_remaining_including_this": 40 }, "api_seconds": 8.606829153373837, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "pitch": 0.0 }, "note": "Pot large and slightly forward of center; move forward and level the wrist for a top-down grasp view." } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 19, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06118, 0.19771, 0.48653, -1.50915, -0.24932, 1.95618, 0.42645 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.64952, 0.22023, 1.02066 ], "tcp_roll_pitch_yaw": [ -0.00069, -0.30181, 0.00046 ], "tcp_rotation_matrix": [ [ 0.95142, 0.03539, 0.30586 ], [ 0.04344, -0.99886, -0.01956 ], [ 0.30482, 0.03189, -0.95188 ] ], "simulated_seconds_remaining": 12.87, "calls_remaining_including_this": 39 }, "api_seconds": 3.203490606509149, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.7, "pitch": -0.2 }, "note": "Split motion: advance x and slightly level the wrist." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the pot.", "joint_positions": [ 0.03835, 0.50832, 0.46453, -1.03567, -0.32715, 1.68247, 0.39572 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.69925, 0.22025, 1.02058 ], "tcp_roll_pitch_yaw": [ -0.00065, -0.20174, 0.00053 ], "tcp_rotation_matrix": [ [ 0.97711, 0.03848, 0.20923 ], [ 0.04352, -0.99886, -0.01955 ], [ 0.20824, 0.0282, -0.97767 ] ], "simulated_seconds_remaining": 12.21, "calls_remaining_including_this": 38 }, "api_seconds": 9.00717922206968, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Testing whether -x brings the pot down toward image center (resolving vertical mapping sign)." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06708, 0.1863, 0.49894, -1.48789, -0.19835, 1.83418, 0.40892 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.62121, 0.22035, 1.02073 ], "tcp_roll_pitch_yaw": [ -0.00063, -0.20193, 0.00073 ], "tcp_rotation_matrix": [ [ 0.97706, 0.03867, 0.20942 ], [ 0.04371, -0.99885, -0.01948 ], [ 0.20843, 0.02819, -0.97763 ] ], "simulated_seconds_remaining": 11.352, "calls_remaining_including_this": 37 }, "api_seconds": 14.411305657587945, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52, "y": 0.19 }, "note": "Move back toward the pot (image up = -x), aiming to place it under the gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.11317, -0.19431, 0.45599, -1.89891, -0.00423, 1.9167, 0.30285 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52127, 0.19044, 1.02084 ], "tcp_roll_pitch_yaw": [ -0.00071, -0.20209, 0.00086 ], "tcp_rotation_matrix": [ [ 0.97702, 0.03878, 0.20958 ], [ 0.04384, -0.99885, -0.01954 ], [ 0.20858, 0.02828, -0.9776 ] ], "simulated_seconds_remaining": 10.362, "calls_remaining_including_this": 36 }, "api_seconds": 15.211523436941206, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.97 }, "note": "Descending slowly over the pot to judge finger alignment." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.11043, -0.19302, 0.46117, -2.02421, -0.00577, 2.0426, 0.31188 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52124, 0.19042, 0.97107 ], "tcp_roll_pitch_yaw": [ -0.00077, -0.20182, 0.00086 ], "tcp_rotation_matrix": [ [ 0.97708, 0.03878, 0.20932 ], [ 0.04384, -0.99885, -0.0196 ], [ 0.20832, 0.02833, -0.97765 ] ], "simulated_seconds_remaining": 9.702, "calls_remaining_including_this": 35 }, "api_seconds": 20.815310179255903, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.44, "y": 0.17 }, "note": "Pot appears behind the fingertips; retracting x to bring it under the fingers." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06185, -0.46491, 0.40385, -2.26479, 0.10292, 2.02666, 0.24218 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44125, 0.17035, 0.97114 ], "tcp_roll_pitch_yaw": [ -0.00085, -0.20194, 0.00095 ], "tcp_rotation_matrix": [ [ 0.97705, 0.03885, 0.20944 ], [ 0.04393, -0.99884, -0.01966 ], [ 0.20843, 0.02841, -0.97762 ] ], "simulated_seconds_remaining": 8.844, "calls_remaining_including_this": 34 }, "api_seconds": 9.207457667216659, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "y": 0.15 }, "note": "Descend toward pot and nudge -y to center it between fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06592, -0.46412, 0.38962, -2.3977, 0.10769, 2.15852, 0.21 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44122, 0.15043, 0.92108 ], "tcp_roll_pitch_yaw": [ -0.00089, -0.20167, 0.00088 ], "tcp_rotation_matrix": [ [ 0.97711, 0.03878, 0.20917 ], [ 0.04386, -0.99884, -0.01972 ], [ 0.20816, 0.02844, -0.97768 ] ], "simulated_seconds_remaining": 8.184, "calls_remaining_including_this": 33 }, "api_seconds": 21.419394480995834, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Pot appears between the fingers; closing gripper to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06592, -0.46412, 0.38962, -2.3977, 0.10769, 2.15852, 0.21 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44122, 0.15042, 0.92107 ], "tcp_roll_pitch_yaw": [ -0.00089, -0.20167, 0.00088 ], "tcp_rotation_matrix": [ [ 0.97711, 0.03878, 0.20917 ], [ 0.04386, -0.99884, -0.01972 ], [ 0.20816, 0.02844, -0.97768 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 32 }, "api_seconds": 46.03344888240099, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "z": 0.87 }, "note": "Closure caught nothing; reopening and descending lower to reach the pot body." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06828, -0.42017, 0.41292, -2.49234, 0.10462, 2.29584, 0.22455 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44119, 0.15041, 0.87104 ], "tcp_roll_pitch_yaw": [ -0.00093, -0.20151, 0.00088 ], "tcp_rotation_matrix": [ [ 0.97714, 0.03878, 0.20901 ], [ 0.04386, -0.99884, -0.01975 ], [ 0.208, 0.02847, -0.97771 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 31 }, "api_seconds": 15.812505443580449, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "y": 0.19, "z": 1.0 }, "note": "Realized the white blob is the hand; repositioning over the estimated pot location (x~0.56,y~0.19) for a look." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.12601, -0.07417, 0.47078, -1.83558, -0.06067, 1.96052, 0.32277 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55916, 0.18972, 0.99908 ], "tcp_roll_pitch_yaw": [ -0.00087, -0.2016, 0.00087 ], "tcp_rotation_matrix": [ [ 0.97712, 0.03878, 0.2091 ], [ 0.04385, -0.99884, -0.01969 ], [ 0.2081, 0.02841, -0.9777 ] ], "simulated_seconds_remaining": 4.818, "calls_remaining_including_this": 30 }, "api_seconds": 21.81509892642498, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51, "z": 0.9 }, "note": "Pot centered near x~0.51; descending to grasp height for a closer look." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.1065, -0.18951, 0.4743, -2.2004, -0.00968, 2.22099, 0.33195 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51052, 0.18973, 0.90107 ], "tcp_roll_pitch_yaw": [ -0.00095, -0.20137, 0.00095 ], "tcp_rotation_matrix": [ [ 0.97717, 0.03885, 0.20887 ], [ 0.04393, -0.99884, -0.01975 ], [ 0.20786, 0.02848, -0.97774 ] ], "simulated_seconds_remaining": 3.762, "calls_remaining_including_this": 29 }, "api_seconds": 14.412215606309474, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Attempting grasp at this pose where the pot appears between the fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.1065, -0.18951, 0.4743, -2.2004, -0.00968, 2.22099, 0.33195 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51052, 0.18973, 0.90106 ], "tcp_roll_pitch_yaw": [ -0.00095, -0.20137, 0.00095 ], "tcp_rotation_matrix": [ [ 0.97717, 0.03885, 0.20888 ], [ 0.04393, -0.99884, -0.01975 ], [ 0.20787, 0.02848, -0.97774 ] ], "simulated_seconds_remaining": 2.838, "calls_remaining_including_this": 28 }, "api_seconds": 11.008979044854641, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "y": 0.26, "x": 0.49 }, "note": "Empty closure again; the white pot lies to the image-left (+y), so reopen and shift +y for a final grasp attempt." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06035, -0.15344, 0.56689, -2.15376, -0.04575, 2.19827, 0.48994 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.49026, 0.25907, 0.90106 ], "tcp_roll_pitch_yaw": [ -0.00097, -0.20139, 0.00118 ], "tcp_rotation_matrix": [ [ 0.97716, 0.03908, 0.2089 ], [ 0.04416, -0.99883, -0.01973 ], [ 0.20788, 0.0285, -0.97774 ] ], "simulated_seconds_remaining": 1.914, "calls_remaining_including_this": 27 }, "api_seconds": 13.811524552293122, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Gripper now over the pot per exterior view; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 32, "state": { "instruction": "pick up the pot.", "joint_positions": [ -0.06035, -0.15344, 0.56689, -2.15376, -0.04575, 2.19827, 0.48994 ], "gripper_open": 0.0, "tcp_xyz": [ 0.49026, 0.25908, 0.90106 ], "tcp_roll_pitch_yaw": [ -0.00097, -0.20139, 0.00118 ], "tcp_rotation_matrix": [ [ 0.97716, 0.03907, 0.2089 ], [ 0.04416, -0.99883, -0.01973 ], [ 0.20788, 0.0285, -0.97774 ] ], "simulated_seconds_remaining": 0.99, "calls_remaining_including_this": 26 }, "api_seconds": 4.605494783259928, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "I could not reliably localize the pot: the wrist view was dominated by the white gripper body, which I repeatedly mistook for the pot, and my closures caught nothing. Simulated motion time is exhausted, so I cannot complete the pick." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 043 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 43, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "api_calls": 32, "wall_seconds": 262.82187485694885, "usage": { "input_tokens": 64, "cache_creation_input_tokens": 30362, "cache_read_input_tokens": 495596, "output_tokens": 13552 }, "estimated_cost_usd": 0.7766805 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezngitMk59RoyT87qaRQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011sjzdkGM4YWJwqrXW63Yc7", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "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_011CezngxkJMG7mXPa1uiawd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0132UDLqho5KYtj34n1V2DGC", "name": "move_to", "input": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Move forward over table to view objects from above" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 552, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 552, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 426, "output_tokens_details": { "thinking_tokens": 331 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CeznhZWaV6Ljoe2gXRkjP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TGgnnGDYpK1SCpgSnM4wkB", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Lower to see table objects in wrist camera" }, "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": 2310, "cache_creation": { "ephemeral_5m_input_tokens": 923, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 380, "output_tokens_details": { "thinking_tokens": 291 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezni5vBNn7132F2W74mG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016utSbivyfXDVGPkKPbTuLU", "name": "move_to", "input": { "targets": { "x": 0.55, "y": 0.1, "z": 0.95 }, "note": "Move toward the red round object (candidate apple) at far-left of table" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 873, "cache_read_input_tokens": 3233, "cache_creation": { "ephemeral_5m_input_tokens": 873, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 425, "output_tokens_details": { "thinking_tokens": 313 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CeznigoeDEvnxLyPFGNSL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TWiVcQGgCpHz4ciaz9eRG1", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Lower slightly to inspect the red and beige objects more closely" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 917, "cache_read_input_tokens": 4106, "cache_creation": { "ephemeral_5m_input_tokens": 917, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 329, "output_tokens_details": { "thinking_tokens": 234 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CeznjATogReZUCDUcm4om", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DnaaaVA9VyM32or6LproiU", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.02, "z": 1.0, "pitch": 0 }, "note": "Back up and raise for a top-down overview of the table objects" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 819, "cache_read_input_tokens": 5023, "cache_creation": { "ephemeral_5m_input_tokens": 819, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 469, "output_tokens_details": { "thinking_tokens": 352 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CeznjtcqYNgZmLZshmED9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UCGjpVgsdwyNjc8nAGTyCw", "name": "move_to", "input": { "targets": { "y": -0.06 }, "note": "Probe move rightward to learn how wrist image maps to base y" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 960, "cache_read_input_tokens": 5842, "cache_creation": { "ephemeral_5m_input_tokens": 960, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1005, "output_tokens_details": { "thinking_tokens": 910 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CeznmVLQfGjfuK2JxJHLx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NpqSju939B4qHvHUXfVZUe", "name": "move_to", "input": { "targets": { "x": 0.56, "y": -0.1, "z": 0.95 }, "note": "Shift toward estimated apple position (down-left in wrist view) and lower a bit" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1503, "cache_read_input_tokens": 6802, "cache_creation": { "ephemeral_5m_input_tokens": 1503, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1167, "output_tokens_details": { "thinking_tokens": 1049 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CeznnqqEph1NE4Pwumr3k", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rj2NDPRSuwXykxu1P5cVzb", "name": "move_to", "input": { "targets": { "x": 0.62, "y": -0.08 }, "note": "Adjust to center apple in wrist view based on observed image shifts" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1660, "cache_read_input_tokens": 8305, "cache_creation": { "ephemeral_5m_input_tokens": 1660, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 666, "output_tokens_details": { "thinking_tokens": 562 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Ceznodh1Z3jGRjfcBpx4D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017oVzWYRAgRSvmb6fDaaw1T", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Descend to see apple relative to gripper fingers" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1159, "cache_read_input_tokens": 9965, "cache_creation": { "ephemeral_5m_input_tokens": 1159, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 702, "output_tokens_details": { "thinking_tokens": 611 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CeznpUkGohPsF6VGB1LDX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N5yoFMsDnp3QMh8DtzrMQH", "name": "move_to", "input": { "targets": { "y": -0.02 }, "note": "Pure +y step to calibrate lateral image mapping" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1195, "cache_read_input_tokens": 11124, "cache_creation": { "ephemeral_5m_input_tokens": 1195, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 634, "output_tokens_details": { "thinking_tokens": 541 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CeznqJn2CWiFxwaFjGwij", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EyyyVBWx7dY9uVgUE4PXo9", "name": "move_to", "input": { "targets": { "x": 0.68, "z": 0.92 }, "note": "Move forward to bring apple toward image center (under gripper)" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1127, "cache_read_input_tokens": 12319, "cache_creation": { "ephemeral_5m_input_tokens": 1127, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 436, "output_tokens_details": { "thinking_tokens": 334 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CeznqxxCoiM87zLYa1L6C", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FiRVc3qaYMdbLben1uNX27", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Apple centered in wrist view; descend toward it" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 929, "cache_read_input_tokens": 13446, "cache_creation": { "ephemeral_5m_input_tokens": 929, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 157, "output_tokens_details": { "thinking_tokens": 66 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CeznrFkyn6B5J3GYi9gL2", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013DdN9wTzAa1mXGmQkZkpMj", "name": "move_to", "input": { "targets": { "z": 0.79 }, "note": "Continue descending toward apple, staying centered" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 650, "cache_read_input_tokens": 14375, "cache_creation": { "ephemeral_5m_input_tokens": 650, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 120, "output_tokens_details": { "thinking_tokens": 31 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CeznrXnu4zsUSDm1WabSX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UUQcjc3HFewrNjiaEYdZed", "name": "move_to", "input": { "targets": { "z": 0.75 }, "note": "Descend to apple 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": 611, "cache_read_input_tokens": 15025, "cache_creation": { "ephemeral_5m_input_tokens": 611, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 170, "output_tokens_details": { "thinking_tokens": 85 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CeznrqiQekGwxYnqbyLoc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ao4XiHxhPwc1Kmo2niZXiM", "name": "move_to", "input": { "targets": { "x": 0.715 }, "note": "Nudge forward slightly so fingers straddle apple center" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 665, "cache_read_input_tokens": 15636, "cache_creation": { "ephemeral_5m_input_tokens": 665, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 562, "output_tokens_details": { "thinking_tokens": 468 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CeznsaJjHMvnhrGJqikdy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Hkj3umgXegorgvVxxby4jt", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to grasp the apple" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1053, "cache_read_input_tokens": 16301, "cache_creation": { "ephemeral_5m_input_tokens": 1053, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 175, "output_tokens_details": { "thinking_tokens": 88 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CeznstMgAoC4CTddEXQQv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018suJ2APRKTeafRCpSFDkhe", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.77 }, "note": "Open gripper and move further forward toward apple, which lies beyond fingers" }, "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": 17354, "cache_creation": { "ephemeral_5m_input_tokens": 667, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 255, "output_tokens_details": { "thinking_tokens": 148 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezntHjbndeTs4ef7TKkF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EmCBznWi6eLeiVDW6acD5g", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Lower gripper to apple center height 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": 747, "cache_read_input_tokens": 18021, "cache_creation": { "ephemeral_5m_input_tokens": 747, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 341, "output_tokens_details": { "thinking_tokens": 252 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezntospmtckACHxD3FWR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Y2wXTEXWuWJc6d7NQHSLMy", "name": "move_to", "input": { "targets": { "x": 0.81 }, "note": "Nudge forward more so apple lies 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": 832, "cache_read_input_tokens": 18768, "cache_creation": { "ephemeral_5m_input_tokens": 832, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 237, "output_tokens_details": { "thinking_tokens": 146 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CeznuHWjwXB8FHQYoQrby", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015Tps2GB7FA55PwtQyWswm9", "name": "move_to", "input": { "targets": { "x": 0.79, "z": 0.8 }, "note": "Small forward step (larger step was rejected by IK)" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 726, "cache_read_input_tokens": 19600, "cache_creation": { "ephemeral_5m_input_tokens": 726, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 333, "output_tokens_details": { "thinking_tokens": 233 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CeznujAqn7DhmhHwFRfZq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014W1Tyi8ZfuqwfHFKtpJwZN", "name": "move_to", "input": { "targets": { "x": 0.805 }, "note": "Another small forward step to reach apple" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 825, "cache_read_input_tokens": 20326, "cache_creation": { "ephemeral_5m_input_tokens": 825, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 130, "output_tokens_details": { "thinking_tokens": 44 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Ceznv2U8uHaBGZn1A6TK4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01T1irr5wrSXFBJcT8baDjtE", "name": "move_to", "input": { "targets": { "x": 0.75, "z": 0.74 }, "note": "Exterior suggests apple is below fingertips; retract slightly and descend" }, "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": 21151, "cache_creation": { "ephemeral_5m_input_tokens": 620, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 839, "output_tokens_details": { "thinking_tokens": 732 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Ceznw55BdfdhfKY7u9z2a", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FNZYNkL53cAfasPehHJ9PC", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Test grasp at current near-limit pose" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1330, "cache_read_input_tokens": 21771, "cache_creation": { "ephemeral_5m_input_tokens": 1330, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 363, "output_tokens_details": { "thinking_tokens": 275 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CeznwhNVeTL6zKBxRGQXj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UQU363zUqRKiVgrzp9Hsm3", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.7, "z": 0.85, "pitch": -1.2 }, "note": "Retract and pitch gripper forward for a horizontal approach, which extends x reach" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 854, "cache_read_input_tokens": 23101, "cache_creation": { "ephemeral_5m_input_tokens": 854, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1441, "output_tokens_details": { "thinking_tokens": 1313 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CeznyMCrTmPGHzGdWPcH8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FyHLKR5Cra7hFi6H7bzgwF", "name": "move_to", "input": { "targets": { "x": 0.75, "z": 0.8 }, "note": "Bring the forward-facing gripper down to apple height and extend toward it" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1937, "cache_read_input_tokens": 23955, "cache_creation": { "ephemeral_5m_input_tokens": 1937, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 179, "output_tokens_details": { "thinking_tokens": 73 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Ceznyhm7qUoVEbsazSFTn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0155pQx24qU6xoyXE1ZHaQT5", "name": "move_to", "input": { "targets": { "x": 0.68, "y": -0.02, "z": 0.86, "pitch": 0 }, "note": "Revert to top-down orientation above apple region" }, "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": 25892, "cache_creation": { "ephemeral_5m_input_tokens": 672, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 228, "output_tokens_details": { "thinking_tokens": 115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Ceznz2XDqcrGG3j8LpZXE", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01J6bPokAYhPKpeRoBXCLaxB", "name": "move_to", "input": { "targets": { "roll": 0, "pitch": -0.6, "yaw": 0 }, "note": "Unflip wrist orientation gradually before repositioning" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 721, "cache_read_input_tokens": 26564, "cache_creation": { "ephemeral_5m_input_tokens": 721, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 198, "output_tokens_details": { "thinking_tokens": 88 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CeznzNY137qXs6QoXDh51", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TaZy62YKcV7Kaxr21vrJzZ", "name": "move_to", "input": { "targets": { "x": 0.82, "y": -0.02, "z": 0.82, "pitch": -0.6 }, "note": "Tilted-forward approach to reach the apple farther out" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 689, "cache_read_input_tokens": 27285, "cache_creation": { "ephemeral_5m_input_tokens": 689, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 278, "output_tokens_details": { "thinking_tokens": 159 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CeznzpHJjVJghtYyMbmLC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018J4hT8jPawj3YU6wygr32Y", "name": "move_to", "input": { "targets": { "x": 0.845, "y": -0.05, "z": 0.8 }, "note": "Final approach toward apple (up-left 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": 770, "cache_read_input_tokens": 27974, "cache_creation": { "ephemeral_5m_input_tokens": 770, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 278, "output_tokens_details": { "thinking_tokens": 169 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011Cezo1KL3GYP9tMFApCRqy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RRt3U5kX4uao4hjfhqaTKG", "name": "move_to", "input": { "targets": { "x": 0.86, "y": -0.06, "gripper": 0 }, "note": "Final nudge and close gripper on apple" }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 776, "cache_read_input_tokens": 28744, "cache_creation": { "ephemeral_5m_input_tokens": 776, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 352, "output_tokens_details": { "thinking_tokens": 248 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011Cezo1ptYuZyqDc4mDL5PW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AvZsC9XMVFBEQoM768nt6M", "name": "give_up", "input": { "note": "The apple sits beyond the arm's reach on the far side of the table; repeated approaches at x up to 0.86 m closed on empty air 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": 842, "cache_read_input_tokens": 29520, "cache_creation": { "ephemeral_5m_input_tokens": 842, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 159, "output_tokens_details": { "thinking_tokens": 59 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.01875, -0.75398, 0.01684, -2.37179, -0.03909, 1.53309, -0.01265 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.29674, -0.01133, 0.99598 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99635, 0.00797, -0.08497 ], [ 0.00373, -0.99874, -0.04997 ], [ -0.08527, 0.04947, -0.99513 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.20918659772724, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "z": 0.95 }, "note": "Move forward over table to view objects from above" } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.02337, -0.28249, 0.02253, -2.11811, -0.0446, 1.75025, 0.00198 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44872, -0.01133, 0.95031 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0002, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99633, 0.00797, -0.08517 ], [ 0.00372, -0.99874, -0.04997 ], [ -0.08547, 0.04947, -0.99511 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 6.806089475750923, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Lower to see table objects in wrist camera" } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.02423, -0.22659, 0.02247, -2.31938, -0.04983, 2.00679, 0.01458 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44866, -0.01134, 0.85117 ], "tcp_roll_pitch_yaw": [ -0.0, 0.00054, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99631, 0.00799, -0.08551 ], [ 0.00372, -0.99874, -0.04997 ], [ -0.0858, 0.04947, -0.99508 ] ], "simulated_seconds_remaining": 27.654, "calls_remaining_including_this": 55 }, "api_seconds": 7.606827155686915, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": 0.1, "z": 0.95 }, "note": "Move toward the red round object (candidate apple) at far-left of table" } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the apple.", "joint_positions": [ 0.06661, 0.06361, 0.13116, -1.73185, -0.04085, 1.70095, 0.1991 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54925, 0.09926, 0.94927 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00054, 0.00013 ], "tcp_rotation_matrix": [ [ 0.9963, 0.00813, -0.0855 ], [ 0.00386, -0.99874, -0.04997 ], [ -0.0858, 0.04945, -0.99508 ] ], "simulated_seconds_remaining": 26.136, "calls_remaining_including_this": 54 }, "api_seconds": 6.205377005971968, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Lower slightly to inspect the red and beige objects more closely" } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the apple.", "joint_positions": [ 0.06657, 0.07019, 0.13084, -1.86444, -0.04925, 2.02086, 0.20576 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59307, 0.10853, 0.90993 ], "tcp_roll_pitch_yaw": [ 0.03205, -0.1769, 0.0048 ], "tcp_rotation_matrix": [ [ 0.99574, 0.00958, 0.09175 ], [ 0.01124, -0.99978, -0.01762 ], [ 0.09157, 0.01858, -0.99563 ] ], "simulated_seconds_remaining": 25.41, "calls_remaining_including_this": 53 }, "api_seconds": 9.408334166742861, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.02, "z": 1.0, "pitch": 0 }, "note": "Back up and raise for a top-down overview of the table objects" } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.01591, 0.21194, 0.06615, -1.40941, -0.02828, 1.53679, 0.03781 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60004, 0.0206, 0.99932 ], "tcp_roll_pitch_yaw": [ 0.032, -0.00174, 0.00456 ], "tcp_rotation_matrix": [ [ 0.99646, 0.01251, -0.08316 ], [ 0.011, -0.99977, -0.01849 ], [ -0.08337, 0.01751, -0.99636 ] ], "simulated_seconds_remaining": 24.288, "calls_remaining_including_this": 52 }, "api_seconds": 21.417551673948765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.06 }, "note": "Probe move rightward to learn how wrist image maps to base y" } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.09774, 0.21815, 0.01302, -1.40097, -0.02834, 1.53769, -0.09617 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60003, -0.05891, 0.99931 ], "tcp_roll_pitch_yaw": [ 0.03195, -0.00171, 0.00425 ], "tcp_rotation_matrix": [ [ 0.99646, 0.0122, -0.08319 ], [ 0.01069, -0.99977, -0.01851 ], [ -0.08339, 0.01756, -0.99636 ] ], "simulated_seconds_remaining": 23.43, "calls_remaining_including_this": 51 }, "api_seconds": 18.018991518765688, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "y": -0.1, "z": 0.95 }, "note": "Shift toward estimated apple position (down-left in wrist view) and lower a bit" } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.14252, 0.08701, -0.01995, -1.69998, -0.0303, 1.70753, -0.16842 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56067, -0.09938, 0.95083 ], "tcp_roll_pitch_yaw": [ 0.03194, -0.00155, 0.00407 ], "tcp_rotation_matrix": [ [ 0.99645, 0.01201, -0.08335 ], [ 0.0105, -0.99977, -0.01851 ], [ -0.08356, 0.01757, -0.99635 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 50 }, "api_seconds": 10.407792114652693, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62, "y": -0.08 }, "note": "Adjust to center apple in wrist view based on observed image shifts" } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.11653, 0.27577, -0.00119, -1.44474, -0.02791, 1.63963, -0.12604 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61883, -0.08033, 0.95074 ], "tcp_roll_pitch_yaw": [ 0.03197, -0.00141, 0.00418 ], "tcp_rotation_matrix": [ [ 0.99643, 0.01213, -0.08349 ], [ 0.01062, -0.99977, -0.01849 ], [ -0.08369, 0.01753, -0.99634 ] ], "simulated_seconds_remaining": 21.912, "calls_remaining_including_this": 49 }, "api_seconds": 11.208438630215824, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Descend to see apple relative to gripper fingers" } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.11707, 0.28213, -0.00132, -1.61326, -0.0287, 1.81411, -0.12171 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61878, -0.08032, 0.88109 ], "tcp_roll_pitch_yaw": [ 0.03201, -0.00106, 0.00418 ], "tcp_rotation_matrix": [ [ 0.99641, 0.01213, -0.08384 ], [ 0.01062, -0.99977, -0.01845 ], [ -0.08404, 0.0175, -0.99631 ] ], "simulated_seconds_remaining": 21.12, "calls_remaining_including_this": 48 }, "api_seconds": 11.008607350289822, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.02 }, "note": "Pure +y step to calibrate lateral image mapping" } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.05639, 0.26823, 0.03462, -1.63268, -0.03041, 1.81714, -0.02567 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.6188, -0.02103, 0.88109 ], "tcp_roll_pitch_yaw": [ 0.03206, -0.00108, 0.00448 ], "tcp_rotation_matrix": [ [ 0.9964, 0.01243, -0.08382 ], [ 0.01093, -0.99977, -0.01843 ], [ -0.08403, 0.01744, -0.99631 ] ], "simulated_seconds_remaining": 20.394, "calls_remaining_including_this": 47 }, "api_seconds": 8.606834908947349, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.68, "z": 0.92 }, "note": "Move forward to bring apple toward image center (under gripper)" } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.04742, 0.49337, 0.03447, -1.19897, -0.03614, 1.60848, -0.02522 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.67898, -0.02103, 0.9193 ], "tcp_roll_pitch_yaw": [ 0.03206, -0.00113, 0.00449 ], "tcp_rotation_matrix": [ [ 0.99641, 0.01244, -0.08377 ], [ 0.01094, -0.99977, -0.01842 ], [ -0.08398, 0.01744, -0.99631 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 46 }, "api_seconds": 3.6032975651323795, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Apple centered in wrist view; descend toward it" } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.04954, 0.49264, 0.03407, -1.37371, -0.03694, 1.78202, -0.02128 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.67892, -0.02104, 0.8512 ], "tcp_roll_pitch_yaw": [ 0.03207, -0.00072, 0.00449 ], "tcp_rotation_matrix": [ [ 0.99637, 0.01245, -0.08418 ], [ 0.01093, -0.99977, -0.01842 ], [ -0.08439, 0.01743, -0.99628 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 45 }, "api_seconds": 3.4033147310838103, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79 }, "note": "Continue descending toward apple, staying centered" } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.05003, 0.51874, 0.03298, -1.46912, -0.04007, 1.91666, -0.01722 ], "gripper_open": 1.0, "tcp_xyz": [ 0.68175, -0.0214, 0.799 ], "tcp_roll_pitch_yaw": [ 0.03054, -0.01387, 0.00431 ], "tcp_rotation_matrix": [ [ 0.9974, 0.01202, -0.07106 ], [ 0.01063, -0.99975, -0.01987 ], [ -0.07129, 0.01906, -0.99727 ] ], "simulated_seconds_remaining": 18.15, "calls_remaining_including_this": 44 }, "api_seconds": 4.003484980203211, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.75 }, "note": "Descend to apple grasp height" } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.05003, 0.49887, 0.03116, -1.51041, -0.04502, 2.01793, -0.01356 ], "gripper_open": 1.0, "tcp_xyz": [ 0.69635, -0.02305, 0.80166 ], "tcp_roll_pitch_yaw": [ 0.02416, -0.09363, 0.00443 ], "tcp_rotation_matrix": [ [ 0.99991, 0.01, 0.00864 ], [ 0.01022, -0.99961, -0.02588 ], [ 0.00838, 0.02597, -0.99963 ] ], "simulated_seconds_remaining": 17.556, "calls_remaining_including_this": 43 }, "api_seconds": 9.807517321780324, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.715 }, "note": "Nudge forward slightly so fingers straddle apple center" } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.04787, 0.55825, 0.03041, -1.40732, -0.04644, 1.98085, -0.01373 ], "gripper_open": 1.0, "tcp_xyz": [ 0.7153, -0.02358, 0.80539 ], "tcp_roll_pitch_yaw": [ 0.02319, -0.10029, 0.00422 ], "tcp_rotation_matrix": [ [ 0.99984, 0.00952, 0.01528 ], [ 0.00993, -0.99959, -0.02682 ], [ 0.01502, 0.02697, -0.99952 ] ], "simulated_seconds_remaining": 17.16, "calls_remaining_including_this": 42 }, "api_seconds": 3.8034837748855352, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to grasp the apple" } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.04549, 0.54734, 0.03336, -1.39781, -0.04508, 1.98421, -0.01366 ], "gripper_open": 0.0003, "tcp_xyz": [ 0.7205, -0.01983, 0.81813 ], "tcp_roll_pitch_yaw": [ 0.02515, -0.12414, 0.00823 ], "tcp_rotation_matrix": [ [ 0.99914, 0.01312, 0.03922 ], [ 0.01409, -0.9996, -0.02461 ], [ 0.03888, 0.02514, -0.99893 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 41 }, "api_seconds": 5.204710709862411, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.77 }, "note": "Open gripper and move further forward toward apple, which lies beyond fingers" } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.03692, 0.76416, 0.03126, -1.03828, -0.04738, 1.84145, -0.01662 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.76892, -0.01983, 0.81805 ], "tcp_roll_pitch_yaw": [ 0.02516, -0.12406, 0.00823 ], "tcp_rotation_matrix": [ [ 0.99915, 0.01313, 0.03913 ], [ 0.0141, -0.9996, -0.02461 ], [ 0.0388, 0.02514, -0.99893 ] ], "simulated_seconds_remaining": 15.312, "calls_remaining_including_this": 40 }, "api_seconds": 6.805994224734604, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Lower gripper to apple center height before closing" } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.03977, 0.76512, 0.02826, -1.10132, -0.05141, 1.93035, -0.01411 ], "gripper_open": 1.0, "tcp_xyz": [ 0.77409, -0.02372, 0.79522 ], "tcp_roll_pitch_yaw": [ 0.01985, -0.14884, 0.00617 ], "tcp_rotation_matrix": [ [ 0.99791, 0.00966, 0.06383 ], [ 0.01158, -0.99949, -0.02982 ], [ 0.06351, 0.0305, -0.99751 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 39 }, "api_seconds": 6.405269548296928, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.81 }, "note": "Nudge forward more so apple lies between fingers" } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 20, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.03977, 0.76512, 0.02826, -1.10132, -0.05141, 1.93035, -0.01411 ], "gripper_open": 1.0, "tcp_xyz": [ 0.77409, -0.02372, 0.79522 ], "tcp_roll_pitch_yaw": [ 0.01985, -0.14884, 0.00617 ], "tcp_rotation_matrix": [ [ 0.99791, 0.00966, 0.06383 ], [ 0.01158, -0.99949, -0.02982 ], [ 0.06351, 0.0305, -0.99751 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 38 }, "api_seconds": 5.805712201632559, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.79, "z": 0.8 }, "note": "Small forward step (larger step was rejected by IK)" } } } ] } } ] }, "execution": { "steps": 6, "motion_seconds": 0.396, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.03639, 0.85077, 0.02747, -0.94204, -0.05135, 1.85676, -0.01668 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.78905, -0.02371, 0.79965 ], "tcp_roll_pitch_yaw": [ 0.01985, -0.14884, 0.00618 ], "tcp_rotation_matrix": [ [ 0.99791, 0.00967, 0.06384 ], [ 0.01159, -0.99949, -0.02982 ], [ 0.06352, 0.0305, -0.99751 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 37 }, "api_seconds": 4.003773489035666, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.805 }, "note": "Another small forward step to reach apple" } } } ] } } ] }, "execution": { "error": "IK requires a large joint jump; split the motion or adjust orientation.", "movement_executed": false } } { "call": 22, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.03639, 0.85077, 0.02747, -0.94204, -0.05135, 1.85676, -0.01668 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.78905, -0.02371, 0.79965 ], "tcp_roll_pitch_yaw": [ 0.01985, -0.14884, 0.00618 ], "tcp_rotation_matrix": [ [ 0.99791, 0.00967, 0.06384 ], [ 0.01159, -0.99949, -0.02982 ], [ 0.06352, 0.0305, -0.99751 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 36 }, "api_seconds": 14.010947226546705, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.75, "z": 0.74 }, "note": "Exterior suggests apple is below fingertips; retract slightly and descend" } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.04211, 0.66832, 0.02906, -1.32935, -0.05556, 2.26803, -0.00788 ], "gripper_open": 1.0, "tcp_xyz": [ 0.79877, -0.02137, 0.79724 ], "tcp_roll_pitch_yaw": [ 0.01546, -0.35475, 0.01563 ], "tcp_rotation_matrix": [ [ 0.96371, 0.01128, 0.26672 ], [ 0.02011, -0.99934, -0.03042 ], [ 0.2662, 0.03468, -0.96329 ] ], "simulated_seconds_remaining": 13.596, "calls_remaining_including_this": 35 }, "api_seconds": 8.006299216300249, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Test grasp at current near-limit pose" } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.0406, 0.66001, 0.03084, -1.32232, -0.05507, 2.27142, -0.00787 ], "gripper_open": 0.0002, "tcp_xyz": [ 0.80281, -0.01896, 0.80828 ], "tcp_roll_pitch_yaw": [ 0.0163, -0.37407, 0.01804 ], "tcp_rotation_matrix": [ [ 0.95833, 0.01333, 0.28534 ], [ 0.02241, -0.99934, -0.02861 ], [ 0.28477, 0.03381, -0.958 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 34 }, "api_seconds": 21.817207964137197, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.7, "z": 0.85, "pitch": -1.2 }, "note": "Retract and pitch gripper forward for a horizontal approach, which extends x reach" } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the apple.", "joint_positions": [ 0.01662, 0.03812, -0.0633, -2.32886, -0.04344, 3.76771, 0.02255 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.69471, -0.02231, 1.05118 ], "tcp_roll_pitch_yaw": [ 0.01869, -1.48533, 0.01062 ], "tcp_rotation_matrix": [ [ 0.16985, -0.0194, 0.98528 ], [ 0.00713, -0.99976, -0.02091 ], [ 0.98544, 0.01057, -0.16967 ] ], "simulated_seconds_remaining": 11.286, "calls_remaining_including_this": 33 }, "api_seconds": 4.403745188377798, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.75, "z": 0.8 }, "note": "Bring the forward-facing gripper down to apple height and extend toward it" } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the apple.", "joint_positions": [ 0.00727, 0.23351, -0.05465, -2.0573, -0.01587, 4.20446, 0.03109 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.71313, -0.02504, 1.18124 ], "tcp_roll_pitch_yaw": [ -3.12089, -1.14267, -3.13706 ], "tcp_rotation_matrix": [ [ -0.33619, -0.02497, 0.94146 ], [ 0.00397, -0.99968, -0.0251 ], [ 0.94178, -0.0047, 0.33618 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 32 }, "api_seconds": 4.203683994710445, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.68, "y": -0.02, "z": 0.86, "pitch": 0 }, "note": "Revert to top-down orientation above apple region" } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 27, "state": { "instruction": "pick up the apple.", "joint_positions": [ 0.00727, 0.23351, -0.05465, -2.0573, -0.01587, 4.20446, 0.03109 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.71313, -0.02504, 1.18124 ], "tcp_roll_pitch_yaw": [ -3.12089, -1.14267, -3.13706 ], "tcp_rotation_matrix": [ [ -0.33619, -0.02497, 0.94146 ], [ 0.00397, -0.99968, -0.0251 ], [ 0.94178, -0.0047, 0.33618 ] ], "simulated_seconds_remaining": 9.306, "calls_remaining_including_this": 31 }, "api_seconds": 4.0036136684939265, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "roll": 0, "pitch": -0.6, "yaw": 0 }, "note": "Unflip wrist orientation gradually before repositioning" } } } ] } } ] }, "execution": { "steps": 33, "motion_seconds": 2.178, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.12311, 0.21999, 0.12529, -1.1409, -0.07676, 1.87902, 0.00512 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.71346, -0.025, 1.18133 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.60505, 0.00023 ], "tcp_rotation_matrix": [ [ 0.86797, -0.02135, 0.49615 ], [ 0.00393, -0.99875, -0.04985 ], [ 0.49659, 0.04522, -0.8668 ] ], "simulated_seconds_remaining": 7.128, "calls_remaining_including_this": 30 }, "api_seconds": 5.204639481380582, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.82, "y": -0.02, "z": 0.82, "pitch": -0.6 }, "note": "Tilted-forward approach to reach the apple farther out" } } } ] } } ] }, "execution": { "steps": 43, "motion_seconds": 2.838, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.09006, 0.58277, 0.08524, -1.52681, -0.16348, 2.61871, 0.09845 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.81955, -0.02002, 0.82103 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.5996, 0.00021 ], "tcp_rotation_matrix": [ [ 0.87067, -0.02111, 0.49142 ], [ 0.00392, -0.99875, -0.04985 ], [ 0.49186, 0.04532, -0.86949 ] ], "simulated_seconds_remaining": 4.29, "calls_remaining_including_this": 29 }, "api_seconds": 6.606001666747034, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.845, "y": -0.05, "z": 0.8 }, "note": "Final approach toward apple (up-left in wrist view)" } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.12854, 0.69607, 0.0942, -1.39326, -0.14545, 2.59988, 0.04234 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.84426, -0.04933, 0.80042 ], "tcp_roll_pitch_yaw": [ -2e-05, -0.59937, 3e-05 ], "tcp_rotation_matrix": [ [ 0.87078, -0.0213, 0.49121 ], [ 0.00376, -0.99874, -0.04998 ], [ 0.49166, 0.04536, -0.8696 ] ], "simulated_seconds_remaining": 3.696, "calls_remaining_including_this": 28 }, "api_seconds": 6.605631426908076, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.86, "y": -0.06, "gripper": 0 }, "note": "Final nudge and close gripper on apple" } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the apple.", "joint_positions": [ -0.13858, 0.75623, 0.09864, -1.29054, -0.13804, 2.55762, 0.02011 ], "gripper_open": 0.0, "tcp_xyz": [ 0.85935, -0.05959, 0.8004 ], "tcp_roll_pitch_yaw": [ -3e-05, -0.59935, 0.0 ], "tcp_rotation_matrix": [ [ 0.87079, -0.02134, 0.4912 ], [ 0.00373, -0.99874, -0.05 ], [ 0.49165, 0.04537, -0.86961 ] ], "simulated_seconds_remaining": 2.772, "calls_remaining_including_this": 27 }, "api_seconds": 3.8040359932929277, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "The apple sits beyond the arm's reach on the far side of the table; repeated approaches at x up to 0.86 m closed on empty air and simulated time is exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 044 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 44, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "api_calls": 31, "wall_seconds": 686.0417666435242, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 34259, "cache_read_input_tokens": 575010, "output_tokens": 23182 }, "estimated_cost_usd": 1.08148375 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011Cezm32f1sjfJGaxsm1FpH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JjHcsBaBdcvUGG8DpTBZCX", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 139, "output_tokens_details": { "thinking_tokens": 115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011Cezm3MKfjDtEHDfjgfVg6", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01EiGH7eKcoPF7aVPvHCpqcX", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Test move left to calibrate wrist view mapping toward the bowl." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 575, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 575, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 430, "output_tokens_details": { "thinking_tokens": 332 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezm66jAhwv8s458xVuWy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015hQb5iaU63mDuYJ15pZx71", "name": "move_to", "input": { "targets": { "x": 0.37 }, "note": "Test forward move to calibrate vertical image axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 0, "cache_read_input_tokens": 3259, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 340, "output_tokens_details": { "thinking_tokens": 248 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezm6vfy4d5RFSkjirG6u", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XJsHnanXati3QB5QLapJVN", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.15 }, "note": "Moving toward estimated bowl position (left and back) to center it 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": 835, "cache_read_input_tokens": 3259, "cache_creation": { "ephemeral_5m_input_tokens": 835, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 744, "output_tokens_details": { "thinking_tokens": 635 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezmAfrbM7N6gkVzxLUQX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PS8xsiFR4YQYrLjU5HpchC", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.05, "z": 1.15 }, "note": "Raising to get a wider overhead wrist view to localize the bowl properly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 0, "cache_read_input_tokens": 5332, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 349, "output_tokens_details": { "thinking_tokens": 233 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezmBPoyXvagQ4zivQNKz", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ly8d9xTsUGZUMk7UqKSyyz", "name": "move_to", "input": { "targets": { "y": 0.13 }, "note": "Calibration move +0.08 in y at height 1.15 to measure pixel shift of the gray bowl." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 843, "cache_read_input_tokens": 5332, "cache_creation": { "ephemeral_5m_input_tokens": 843, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 388, "output_tokens_details": { "thinking_tokens": 278 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezmCK126z21dxaukwpN7", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AZdGnMvq8zE1WJiq9qsKRx", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Large lateral calibration move (-0.18 m in y) to get reliable pixel-to-meter mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 887, "cache_read_input_tokens": 6175, "cache_creation": { "ephemeral_5m_input_tokens": 887, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 645, "output_tokens_details": { "thinking_tokens": 534 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezmDvV15yDFqSQKyRpn1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HKF6A58KZHJjMsRKa4PLqh", "name": "move_to", "input": { "targets": { "z": 1.06 }, "note": "Descending to check how the gray bowl shifts, refining its direction relative to TCP." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1141, "cache_read_input_tokens": 7062, "cache_creation": { "ephemeral_5m_input_tokens": 1141, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1209, "output_tokens_details": { "thinking_tokens": 1106 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezmQ6PppsJNqbicj72n8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NrCDjmz5XpoLmZDNadAnT2", "name": "move_to", "input": { "targets": { "x": 0.41 }, "note": "Forward calibration move at this height to measure pixel scale for x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 0, "cache_read_input_tokens": 9913, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 696, "output_tokens_details": { "thinking_tokens": 600 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezmR5AgqfcHhjZSwAccc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014bhQYb4AG7LoDBgXFaCh1G", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 0.98 }, "note": "Descending closer to the table to identify the objects clearly 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": 1192, "cache_read_input_tokens": 9913, "cache_creation": { "ephemeral_5m_input_tokens": 1192, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1239, "output_tokens_details": { "thinking_tokens": 1132 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezmSkoSqXvmiq8iJPuYa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BrFWF5zT4uhjatqfsXUh2P", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Lowering further to near table height to see finger/bowl relationship." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1735, "cache_read_input_tokens": 11105, "cache_creation": { "ephemeral_5m_input_tokens": 1735, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 841, "output_tokens_details": { "thinking_tokens": 745 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezmUVbwdWw4oJKx6Ganr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016vu1m4GX8KZXrbj4HbQTfP", "name": "move_to", "input": { "targets": { "x": 0.27, "z": 0.96 }, "note": "Moving backward so the bowl shifts down in wrist image toward 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": 1334, "cache_read_input_tokens": 12840, "cache_creation": { "ephemeral_5m_input_tokens": 1334, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1576, "output_tokens_details": { "thinking_tokens": 1466 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezmWcBds8MM5NWgTB6fh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ne1n8eHo8o1deTuAhQGDhb", "name": "move_to", "input": { "targets": { "x": 0.23 }, "note": "Continue moving backward to bring bowl to finger level 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": 2077, "cache_read_input_tokens": 14174, "cache_creation": { "ephemeral_5m_input_tokens": 2077, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 442, "output_tokens_details": { "thinking_tokens": 344 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezmaKYdSYuyYg3m69MEK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PJxwsrecWPkQSqzZWYPE1o", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Descending toward the table to reach bowl grasp height; watching for contact." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 0, "cache_read_input_tokens": 17194, "cache_creation": { "ephemeral_5m_input_tokens": 0, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 441, "output_tokens_details": { "thinking_tokens": 342 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezmb5M8bi9qe4wr1uPAv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01U5WdczHwP7D4E1tNuVPn2f", "name": "move_to", "input": { "targets": { "y": 0.05, "z": 0.95 }, "note": "Exterior suggests gripper is right of the bowl; testing a +0.1 m y move while lifting slightly." }, "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": 17194, "cache_creation": { "ephemeral_5m_input_tokens": 935, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 2411, "output_tokens_details": { "thinking_tokens": 2291 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezmduuSSxt8vpEAWVXw3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FiN5UrEcUvq1bWp2KSUXPQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper to identify finger positions in the wrist image for alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2905, "cache_read_input_tokens": 18129, "cache_creation": { "ephemeral_5m_input_tokens": 2905, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 802, "output_tokens_details": { "thinking_tokens": 703 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezmeyQ49mijmEUiGYrHq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01QbPKHriQadYWrE8XB1Qk7M", "name": "move_to", "input": { "targets": { "x": 0.23, "y": -0.05, "z": 0.95 }, "note": "Returning to previous pose with gripper closed to compare the bowl position against the finger mass (grasp point projection)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1295, "cache_read_input_tokens": 21034, "cache_creation": { "ephemeral_5m_input_tokens": 1295, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 945, "output_tokens_details": { "thinking_tokens": 818 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezmg8Ge8gmthw9vvcY9J", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XnZQK5P3gyKLk5ewqz4Qmm", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.9 }, "note": "Opening gripper and descending to table level for a trial grasp/contact test near the bowl." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1438, "cache_read_input_tokens": 22329, "cache_creation": { "ephemeral_5m_input_tokens": 1438, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1135, "output_tokens_details": { "thinking_tokens": 1023 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezmhZYCaDCqkuBWRPi2B", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012yDwgfohA4zbi7jGBReDUx", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Trial close at table height to see whether the bowl is between the fingers or gets nudged." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1630, "cache_read_input_tokens": 23767, "cache_creation": { "ephemeral_5m_input_tokens": 1630, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 381, "output_tokens_details": { "thinking_tokens": 278 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezmiD8dyfG9TV8s9u8tW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GZqLeNJ5cpAyM9t8uFzi9G", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.2, "y": -0.135, "z": 0.93 }, "note": "Closed-gripper test showed fingers closing to the right of the bowl in image; shifting to -y (and slightly back) to align, 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": 875, "cache_read_input_tokens": 25397, "cache_creation": { "ephemeral_5m_input_tokens": 875, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 613, "output_tokens_details": { "thinking_tokens": 465 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezmj1gqYfHNoBoKzbvbo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JxoSmteQ3zvrnHjhe59izd", "name": "move_to", "input": { "targets": { "x": 0.185, "z": 0.91 }, "note": "Bowl now nearly aligned with the finger gap; nudging back and down to enclose it 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": 1108, "cache_read_input_tokens": 26272, "cache_creation": { "ephemeral_5m_input_tokens": 1108, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 437, "output_tokens_details": { "thinking_tokens": 321 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezmjqPFBWizeTFYxHDFF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BC2gBqN5jc6XBqk1hQiM9N", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Object appears between the fingers; closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 932, "cache_read_input_tokens": 27380, "cache_creation": { "ephemeral_5m_input_tokens": 932, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 145, "output_tokens_details": { "thinking_tokens": 53 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezmk7ZqJZGDRr63odEqN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TnB51zGN219C916zfRtC7F", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.98 }, "note": "Grasp failed (fingers fully closed). Reopening and lifting to re-localize the bowl relative to 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": 639, "cache_read_input_tokens": 28312, "cache_creation": { "ephemeral_5m_input_tokens": 639, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 266, "output_tokens_details": { "thinking_tokens": 143 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezmkWmb2ioKTY7ucZ3QH", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013gJKXjSN4zGJYFPSt497tQ", "name": "move_to", "input": { "targets": { "x": 0.16, "y": -0.165 }, "note": "Shifting right and back to center the bowl in the finger gap before descending again." }, "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": 28951, "cache_creation": { "ephemeral_5m_input_tokens": 761, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 618, "output_tokens_details": { "thinking_tokens": 511 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezmmhLMtFz4oJnmaHxmg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018bpx2YxrBfbohXxCCxUr5w", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Descending with the bowl laterally centered 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": 1118, "cache_read_input_tokens": 29712, "cache_creation": { "ephemeral_5m_input_tokens": 1118, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 212, "output_tokens_details": { "thinking_tokens": 119 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezmn9LYdnr8FmGhLefGW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PJ7U1Ab5c8xNXLoRXjNDxn", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempting grasp with the bowl in 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": 707, "cache_read_input_tokens": 30830, "cache_creation": { "ephemeral_5m_input_tokens": 707, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 128, "output_tokens_details": { "thinking_tokens": 34 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezmnWhw11wRZD1v5n5Uy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018Fi1JTR3BFrFbMbdr2Zr73", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 0.87 }, "note": "Missed again; the bowl may be shorter than expected. Reopening and descending 5 cm lower." }, "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": 31537, "cache_creation": { "ephemeral_5m_input_tokens": 622, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 364, "output_tokens_details": { "thinking_tokens": 248 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezmoA3jairb2gZMQBsKZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019L8KUudJB9CdiS2w9FR3Hb", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing at lower height to catch the bowl body." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 32159, "cache_creation": { "ephemeral_5m_input_tokens": 859, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 129, "output_tokens_details": { "thinking_tokens": 38 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezmoSEpyi4dPsf3EvwdU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CAhno8vYVSftP8caHsbxMz", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.55, "y": 0.1, "z": 1.0 }, "note": "Analysis suggests the objects are far forward (parallax small), so reaching much further out to approach the bowl." }, "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": 33018, "cache_creation": { "ephemeral_5m_input_tokens": 623, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 3896, "output_tokens_details": { "thinking_tokens": 3762 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CezmswkhKUHGeChdXsPgx", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SkcwytNbpHnnj1ySZvM2Aw", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.23, "z": 0.96 }, "note": "Bowl now clearly visible to the left in wrist view; moving left/back and down to place fingers over its rim." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 4389, "cache_read_input_tokens": 33641, "cache_creation": { "ephemeral_5m_input_tokens": 4389, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 550, "output_tokens_details": { "thinking_tokens": 423 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CezmtkJecREMXxATbGH6q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017HZMuiKasH4RssaZ9XaLNu", "name": "move_to", "input": { "targets": { "y": 0.05 }, "note": "Correcting sign: moving -y to bring the bowl back toward the gripper center with the little motion budget left." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1044, "cache_read_input_tokens": 38030, "cache_creation": { "ephemeral_5m_input_tokens": 1044, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 671, "output_tokens_details": { "thinking_tokens": 561 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.02286, -0.74263, -0.03529, -2.34682, 0.04205, 1.5674, 0.01435 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.31203, -0.00645, 1.00653 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99735, -0.06447, -0.03381 ], [ -0.06208, -0.99578, 0.06758 ], [ -0.03802, -0.0653, -0.99714 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 13.410654991865158, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Test move left to calibrate wrist view mapping toward the bowl." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.02051, -0.73959, 0.07232, -2.34539, 0.11857, 1.57811, 0.13391 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.31203, 0.05872, 1.00653 ], "tcp_roll_pitch_yaw": [ -8e-05, -1e-05, 0.00019 ], "tcp_rotation_matrix": [ [ 0.99736, -0.06428, -0.03381 ], [ -0.06189, -0.9958, 0.06749 ], [ -0.038, -0.06522, -0.99715 ] ], "simulated_seconds_remaining": 29.304, "calls_remaining_including_this": 56 }, "api_seconds": 38.62918440345675, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.37 }, "note": "Test forward move to calibrate vertical image axis." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.01113, -0.56275, 0.07343, -2.22604, 0.10922, 1.63502, 0.12733 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.36866, 0.05871, 1.00648 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00014, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99735, -0.06433, -0.03396 ], [ -0.06193, -0.9958, 0.0675 ], [ -0.03816, -0.06522, -0.99714 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 55 }, "api_seconds": 15.012746571563184, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.15 }, "note": "Moving toward estimated bowl position (left and back) to center it in wrist view." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.08887, -0.7186, 0.21544, -2.32069, 0.21509, 1.5967, 0.30663 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30079, 0.149, 1.00652 ], "tcp_roll_pitch_yaw": [ -0.00012, 4e-05, 0.00036 ], "tcp_rotation_matrix": [ [ 0.99737, -0.06411, -0.03387 ], [ -0.06172, -0.99581, 0.06744 ], [ -0.03805, -0.06517, -0.99715 ] ], "simulated_seconds_remaining": 27.588, "calls_remaining_including_this": 54 }, "api_seconds": 45.235344814136624, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.05, "z": 1.15 }, "note": "Raising to get a wider overhead wrist view to localize the bowl properly." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.02109, -0.49078, 0.04173, -1.79051, 0.09321, 1.2714, 0.147 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34967, 0.05069, 1.14897 ], "tcp_roll_pitch_yaw": [ -6e-05, -7e-05, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99736, -0.06422, -0.03376 ], [ -0.06184, -0.9958, 0.06751 ], [ -0.03795, -0.06524, -0.99715 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 53 }, "api_seconds": 12.01040262170136, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.13 }, "note": "Calibration move +0.08 in y at height 1.15 to measure pixel shift of the gray bowl." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.05692, -0.45691, 0.15788, -1.75945, 0.14809, 1.29042, 0.30092 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34967, 0.12884, 1.14896 ], "tcp_roll_pitch_yaw": [ -0.00011, -6e-05, 0.00047 ], "tcp_rotation_matrix": [ [ 0.99738, -0.064, -0.03378 ], [ -0.06162, -0.99582, 0.06745 ], [ -0.03795, -0.06519, -0.99715 ] ], "simulated_seconds_remaining": 25.212, "calls_remaining_including_this": 52 }, "api_seconds": 21.617751197889447, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Large lateral calibration move (-0.18 m in y) to get reliable pixel-to-meter mapping." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.02483, -0.47897, -0.10525, -1.77504, 0.01545, 1.25685, -0.04965 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34967, -0.04876, 1.14896 ], "tcp_roll_pitch_yaw": [ -6e-05, -5e-05, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99736, -0.06425, -0.03377 ], [ -0.06186, -0.9958, 0.06751 ], [ -0.03797, -0.06524, -0.99715 ] ], "simulated_seconds_remaining": 23.694, "calls_remaining_including_this": 51 }, "api_seconds": 22.217335026711226, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.06 }, "note": "Descending to check how the gray bowl shifts, refining its direction relative to TCP." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.03195, -0.57794, -0.10428, -2.09017, 0.00622, 1.47287, -0.05453 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34966, -0.04876, 1.06132 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00021, 0.00022 ], "tcp_rotation_matrix": [ [ 0.99735, -0.06427, -0.03404 ], [ -0.06186, -0.9958, 0.06753 ], [ -0.03823, -0.06524, -0.99714 ] ], "simulated_seconds_remaining": 22.836, "calls_remaining_including_this": 50 }, "api_seconds": 128.4956175647676, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.41 }, "note": "Forward calibration move at this height to measure pixel scale for x." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.02009, -0.40318, -0.1061, -1.95129, 0.0216, 1.50823, -0.05279 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.40881, -0.04875, 1.06126 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00038, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99735, -0.06425, -0.03421 ], [ -0.06184, -0.9958, 0.06753 ], [ -0.0384, -0.06524, -0.99713 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 49 }, "api_seconds": 22.61705883871764, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 0.98 }, "note": "Descending closer to the table to identify the objects clearly in the wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.03802, -0.6163, -0.10816, -2.32518, 0.00035, 1.66908, -0.0619 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35072, -0.04876, 0.98102 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00049, 0.00023 ], "tcp_rotation_matrix": [ [ 0.99734, -0.06428, -0.03431 ], [ -0.06185, -0.9958, 0.06755 ], [ -0.03851, -0.06525, -0.99713 ] ], "simulated_seconds_remaining": 21.12, "calls_remaining_including_this": 48 }, "api_seconds": 23.416257075965405, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Lowering further to near table height to see finger/bowl relationship." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.0406, -0.6172, -0.113, -2.4528, -0.00288, 1.79539, -0.06757 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.35068, -0.04876, 0.93111 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00075, 0.00024 ], "tcp_rotation_matrix": [ [ 0.99733, -0.06428, -0.03457 ], [ -0.06184, -0.9958, 0.06757 ], [ -0.03877, -0.06525, -0.99712 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 47 }, "api_seconds": 28.421405577100813, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.27, "z": 0.96 }, "note": "Moving backward so the bowl shifts down in wrist image toward the finger gap." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.06892, -0.88293, -0.11216, -2.53999, -0.02439, 1.61669, -0.07356 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.27128, -0.04877, 0.95964 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00049, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99734, -0.06429, -0.03431 ], [ -0.06187, -0.99579, 0.06756 ], [ -0.03851, -0.06526, -0.99712 ] ], "simulated_seconds_remaining": 19.602, "calls_remaining_including_this": 46 }, "api_seconds": 12.009302786551416, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.23 }, "note": "Continue moving backward to bring bowl to finger level in wrist view." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.08635, -1.02164, -0.11581, -2.60296, -0.03679, 1.5406, -0.08192 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.23114, -0.04878, 0.95968 ], "tcp_roll_pitch_yaw": [ -1e-05, 0.00034, 0.00019 ], "tcp_rotation_matrix": [ [ 0.99735, -0.06431, -0.03416 ], [ -0.06189, -0.99579, 0.06756 ], [ -0.03836, -0.06526, -0.99713 ] ], "simulated_seconds_remaining": 19.008, "calls_remaining_including_this": 45 }, "api_seconds": 48.035769041627645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Descending toward the table to reach bowl grasp height; watching for contact." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.09543, -1.05, -0.12859, -2.76462, -0.05033, 1.67332, -0.08768 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.23111, -0.04877, 0.90113 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00056, 0.0002 ], "tcp_rotation_matrix": [ [ 0.99734, -0.06431, -0.03438 ], [ -0.06188, -0.99579, 0.06758 ], [ -0.03858, -0.06528, -0.99712 ] ], "simulated_seconds_remaining": 18.282, "calls_remaining_including_this": 44 }, "api_seconds": 38.02733220718801, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "z": 0.95 }, "note": "Exterior suggests gripper is right of the bowl; testing a +0.1 m y move while lifting slightly." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.0116, -1.04974, 0.07485, -2.64672, 0.13403, 1.567, 0.10947 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.23114, 0.04885, 0.94946 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00045, 0.00028 ], "tcp_rotation_matrix": [ [ 0.99735, -0.06422, -0.03428 ], [ -0.0618, -0.9958, 0.06751 ], [ -0.03847, -0.06521, -0.99713 ] ], "simulated_seconds_remaining": 17.226, "calls_remaining_including_this": 43 }, "api_seconds": 14.41104534175247, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper to identify finger positions in the wrist image for alignment." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.0116, -1.04974, 0.07485, -2.64672, 0.13403, 1.567, 0.10947 ], "gripper_open": 0.0, "tcp_xyz": [ 0.23113, 0.04886, 0.94947 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00045, 0.00028 ], "tcp_rotation_matrix": [ [ 0.99735, -0.06422, -0.03428 ], [ -0.0618, -0.9958, 0.06751 ], [ -0.03847, -0.06521, -0.99713 ] ], "simulated_seconds_remaining": 16.302, "calls_remaining_including_this": 42 }, "api_seconds": 15.211598066613078, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.23, "y": -0.05, "z": 0.95 }, "note": "Returning to previous pose with gripper closed to compare the bowl position against the finger mass (grasp point projection)." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.07731, -1.03312, -0.12447, -2.63214, -0.04458, 1.55897, -0.07526 ], "gripper_open": 0.0, "tcp_xyz": [ 0.23004, -0.04862, 0.95 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.00043, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99734, -0.06436, -0.03425 ], [ -0.06193, -0.99579, 0.06762 ], [ -0.03846, -0.06532, -0.99712 ] ], "simulated_seconds_remaining": 15.378, "calls_remaining_including_this": 41 }, "api_seconds": 19.21466986928135, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.9 }, "note": "Opening gripper and descending to table level for a trial grasp/contact test near the bowl." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.0855, -1.05569, -0.13618, -2.76655, -0.05694, 1.67035, -0.08009 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.23002, -0.04862, 0.90105 ], "tcp_roll_pitch_yaw": [ 7e-05, 0.00055, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99734, -0.06436, -0.03437 ], [ -0.06193, -0.99579, 0.06764 ], [ -0.03857, -0.06533, -0.99712 ] ], "simulated_seconds_remaining": 14.454, "calls_remaining_including_this": 40 }, "api_seconds": 8.606887445785105, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Trial close at table height to see whether the bowl is between the fingers or gets nudged." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.0855, -1.05569, -0.13618, -2.76655, -0.05694, 1.67035, -0.08009 ], "gripper_open": 0.0, "tcp_xyz": [ 0.23002, -0.04862, 0.90104 ], "tcp_roll_pitch_yaw": [ 6e-05, 0.00055, 0.00015 ], "tcp_rotation_matrix": [ [ 0.99734, -0.06436, -0.03437 ], [ -0.06193, -0.99579, 0.06764 ], [ -0.03857, -0.06533, -0.99712 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 39 }, "api_seconds": 10.40791021194309, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.2, "y": -0.135, "z": 0.93 }, "note": "Closed-gripper test showed fingers closing to the right of the bowl in image; shifting to -y (and slightly back) to align, gripper reopened." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.17714, -1.05173, -0.30506, -2.66127, -0.2106, 1.57437, -0.25485 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.20045, -0.13381, 0.92963 ], "tcp_roll_pitch_yaw": [ 0.00011, 0.00043, 4e-05 ], "tcp_rotation_matrix": [ [ 0.99733, -0.06446, -0.03423 ], [ -0.06204, -0.99578, 0.06768 ], [ -0.03845, -0.06538, -0.99712 ] ], "simulated_seconds_remaining": 12.606, "calls_remaining_including_this": 38 }, "api_seconds": 11.208598918281496, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.185, "z": 0.91 }, "note": "Bowl now nearly aligned with the finger gap; nudging back and down to enclose it before closing." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.2024, -1.11086, -0.32037, -2.72992, -0.23368, 1.58291, -0.26771 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.18565, -0.13381, 0.91084 ], "tcp_roll_pitch_yaw": [ 0.00015, 0.00046, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99733, -0.06449, -0.03426 ], [ -0.06206, -0.99577, 0.06773 ], [ -0.03849, -0.06542, -0.99712 ] ], "simulated_seconds_remaining": 12.144, "calls_remaining_including_this": 37 }, "api_seconds": 3.602697449736297, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Object appears between the fingers; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.2024, -1.11086, -0.32037, -2.72992, -0.23368, 1.58291, -0.26771 ], "gripper_open": 0.0, "tcp_xyz": [ 0.18564, -0.1338, 0.91083 ], "tcp_roll_pitch_yaw": [ 0.00015, 0.00046, 1e-05 ], "tcp_rotation_matrix": [ [ 0.99733, -0.06449, -0.03426 ], [ -0.06206, -0.99577, 0.06773 ], [ -0.03849, -0.06542, -0.99712 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 36 }, "api_seconds": 5.203811130486429, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.98 }, "note": "Grasp failed (fingers fully closed). Reopening and lifting to re-localize the bowl relative to the gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.17794, -1.06328, -0.27957, -2.53955, -0.19113, 1.44113, -0.26645 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.18566, -0.13382, 0.97854 ], "tcp_roll_pitch_yaw": [ 9e-05, 0.00033, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99733, -0.0645, -0.03413 ], [ -0.06208, -0.99577, 0.06767 ], [ -0.03835, -0.06537, -0.99712 ] ], "simulated_seconds_remaining": 10.296, "calls_remaining_including_this": 35 }, "api_seconds": 15.824449836276472, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.16, "y": -0.165 }, "note": "Shifting right and back to center the bowl in the finger gap before descending again." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.20839, -1.09084, -0.34757, -2.52926, -0.25918, 1.41117, -0.33651 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.16071, -0.16416, 0.97856 ], "tcp_roll_pitch_yaw": [ 0.00014, 0.00024, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99733, -0.0646, -0.03404 ], [ -0.06219, -0.99576, 0.06771 ], [ -0.03827, -0.06542, -0.99712 ] ], "simulated_seconds_remaining": 9.702, "calls_remaining_including_this": 34 }, "api_seconds": 5.8046724339947104, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Descending with the bowl laterally centered between fingers." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.23286, -1.13627, -0.39067, -2.69032, -0.3035, 1.5259, -0.33541 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.16068, -0.16415, 0.9213 ], "tcp_roll_pitch_yaw": [ 0.00023, 0.00042, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99732, -0.06461, -0.03422 ], [ -0.06218, -0.99576, 0.06781 ], [ -0.03846, -0.0655, -0.99711 ] ], "simulated_seconds_remaining": 9.042, "calls_remaining_including_this": 33 }, "api_seconds": 4.803788187913597, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempting grasp with the bowl in the finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.23286, -1.13627, -0.39067, -2.69032, -0.3035, 1.5259, -0.33541 ], "gripper_open": 0.0, "tcp_xyz": [ 0.16068, -0.16415, 0.92129 ], "tcp_roll_pitch_yaw": [ 0.00023, 0.00042, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99732, -0.06461, -0.03422 ], [ -0.06218, -0.99576, 0.06781 ], [ -0.03845, -0.0655, -0.99711 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 32 }, "api_seconds": 8.406970717012882, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 0.87 }, "note": "Missed again; the bowl may be shorter than expected. Reopening and descending 5 cm lower." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.25934, -1.15428, -0.43991, -2.82011, -0.35369, 1.63552, -0.33646 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.16066, -0.16413, 0.87108 ], "tcp_roll_pitch_yaw": [ 0.00029, 0.00051, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99732, -0.0646, -0.03431 ], [ -0.06216, -0.99576, 0.06786 ], [ -0.03855, -0.06555, -0.9971 ] ], "simulated_seconds_remaining": 7.194, "calls_remaining_including_this": 31 }, "api_seconds": 3.6034143660217524, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing at lower height to catch the bowl body." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the bowl.", "joint_positions": [ -0.25934, -1.15428, -0.43991, -2.82011, -0.35369, 1.63552, -0.33646 ], "gripper_open": 0.0, "tcp_xyz": [ 0.16066, -0.16413, 0.87107 ], "tcp_roll_pitch_yaw": [ 0.00029, 0.00051, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99732, -0.0646, -0.03431 ], [ -0.06216, -0.99576, 0.06786 ], [ -0.03855, -0.06555, -0.9971 ] ], "simulated_seconds_remaining": 6.27, "calls_remaining_including_this": 30 }, "api_seconds": 60.24452319834381, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.55, "y": 0.1, "z": 1.0 }, "note": "Analysis suggests the objects are far forward (parallax small), so reaching much further out to approach the bowl." } } } ] } } ] }, "execution": { "steps": 54, "motion_seconds": 3.564, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.175, 0.00683, -0.02887, -1.68742, 0.07274, 1.66978, 0.20146 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54892, 0.09931, 0.99959 ], "tcp_roll_pitch_yaw": [ 0.00027, 0.00058, 2e-05 ], "tcp_rotation_matrix": [ [ 0.99733, -0.06449, -0.03439 ], [ -0.06205, -0.99576, 0.06784 ], [ -0.03862, -0.06552, -0.9971 ] ], "simulated_seconds_remaining": 2.706, "calls_remaining_including_this": 29 }, "api_seconds": 10.608652940019965, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.23, "z": 0.96 }, "note": "Bowl now clearly visible to the left in wrist view; moving left/back and down to place fingers over its rim." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the bowl.", "joint_positions": [ 0.29585, -0.03694, 0.0981, -1.84364, 0.08169, 1.80029, 0.43812 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5004, 0.22891, 0.96034 ], "tcp_roll_pitch_yaw": [ 0.00024, 0.00066, 0.00033 ], "tcp_rotation_matrix": [ [ 0.99734, -0.06418, -0.03449 ], [ -0.06174, -0.99579, 0.06781 ], [ -0.0387, -0.0655, -0.9971 ] ], "simulated_seconds_remaining": 1.452, "calls_remaining_including_this": 28 }, "api_seconds": 11.80964966956526, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05 }, "note": "Correcting sign: moving -y to bring the bowl back toward the gripper center with the little motion budget left." } } } ] } } ] }, "execution": { "steps": 22, "motion_seconds": 1.452, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 045 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 45, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 26, "api_calls": 27, "wall_seconds": 293.0627248287201, "usage": { "input_tokens": 54, "cache_creation_input_tokens": 29394, "cache_read_input_tokens": 391174, "output_tokens": 14997 }, "estimated_cost_usd": 0.7544945 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezntHnLRKqNbgw9YBK5K", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XD6uMDQE4oEsrRomg9MZDc", "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": 1757, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 62, "output_tokens_details": { "thinking_tokens": 38 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezntWNcVu79GGA5Dmi51", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011Hk93jhtZowVAzNwbhdp33", "name": "move_to", "input": { "targets": { "z": 1.15 }, "note": "Lift to get a wider top-down view of the table to locate the tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 495, "cache_read_input_tokens": 1757, "cache_creation": { "ephemeral_5m_input_tokens": 495, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 253, "output_tokens_details": { "thinking_tokens": 155 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezntu95pKozFGFNfWn9K", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GHD9UegB1i2FjELKoKZTxW", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.1 }, "note": "Move forward and slightly left to look down over the tabletop objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 749, "cache_read_input_tokens": 2252, "cache_creation": { "ephemeral_5m_input_tokens": 749, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 337, "output_tokens_details": { "thinking_tokens": 233 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CeznuSFbRKCXHpH5eHXwa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0151B4AkSyGrmspKK1Lj1Ksv", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Descend for a closer top-down view to identify objects on the table." }, "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": 3001, "cache_creation": { "ephemeral_5m_input_tokens": 835, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 535, "output_tokens_details": { "thinking_tokens": 440 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CeznvDGHDnZitf554h7Qb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KRS7RNN156BknLCHMZUVGM", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Continue descending toward the colorful item that appears directly beneath 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": 1033, "cache_read_input_tokens": 3836, "cache_creation": { "ephemeral_5m_input_tokens": 1033, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 424, "output_tokens_details": { "thinking_tokens": 324 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CeznvwvKpQu3q9Dy8eCBe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014E9xRvug5XfHctbh27Z4Fy", "name": "move_to", "input": { "targets": { "z": 0.79 }, "note": "Lower closer to table height to bring the item into grasp range." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 917, "cache_read_input_tokens": 4869, "cache_creation": { "ephemeral_5m_input_tokens": 917, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 379, "output_tokens_details": { "thinking_tokens": 285 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CeznwaaiRaQjPmqhfnwbZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Qv5sHq8n9g1yAd2KkLWmfZ", "name": "move_to", "input": { "targets": { "y": 0.18 }, "note": "Probe motion: shift +y to learn image mapping and possibly center on the colorful item." }, "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": 5786, "cache_creation": { "ephemeral_5m_input_tokens": 872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 750, "output_tokens_details": { "thinking_tokens": 646 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CeznxeSf3Y2VZM3dB6eyP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01R9sHepY9up9PJ9ucxBKjrH", "name": "move_to", "input": { "targets": { "y": 0.26 }, "note": "Continue shifting +y since the colorful item appears image-left of the fingers and +y moves the gripper image-left." }, "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": 6658, "cache_creation": { "ephemeral_5m_input_tokens": 1246, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1132, "output_tokens_details": { "thinking_tokens": 1020 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CeznzEgUHVNKxEH7GxyFy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SnRk8k8h3NSJnFeVDQU1HM", "name": "move_to", "input": { "targets": { "x": 0.55 }, "note": "Probe +x to determine vertical image mapping for the item 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": 1628, "cache_read_input_tokens": 7904, "cache_creation": { "ephemeral_5m_input_tokens": 1628, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1122, "output_tokens_details": { "thinking_tokens": 1022 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezo1fzkR6qncUXymPwRD", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Vshx3s91RtnDyZn54TiNNT", "name": "move_to", "input": { "targets": { "z": 1.1 }, "note": "Raise for a wide overhead view of the tabletop to find the tissue (the CD is not it)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1615, "cache_read_input_tokens": 9532, "cache_creation": { "ephemeral_5m_input_tokens": 1615, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 869, "output_tokens_details": { "thinking_tokens": 763 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezo2wXvsNfanGEwNYXod", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011NtJMHfcN4DGDWgticeEoi", "name": "move_to", "input": { "targets": { "y": 0.1 }, "note": "Probe -y to move toward the beige item (possible tissue pack) seen left of 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": 1367, "cache_read_input_tokens": 11147, "cache_creation": { "ephemeral_5m_input_tokens": 1367, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 946, "output_tokens_details": { "thinking_tokens": 842 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezo4AdFAWmQE4QPKPXgG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BKqH6EwUwc1h1bNRqduec8", "name": "move_to", "input": { "targets": { "x": 0.51, "y": -0.04 }, "note": "Center the beige item (possible tissue) using measured image scale ~175 px/m." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1444, "cache_read_input_tokens": 12514, "cache_creation": { "ephemeral_5m_input_tokens": 1444, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1031, "output_tokens_details": { "thinking_tokens": 921 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezo5RqpirMm4w4N4MtKp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019QPFoWT99tcJhzPqPwX4hp", "name": "move_to", "input": { "targets": { "x": 0.53, "y": 0.03, "z": 0.95 }, "note": "Fine-center on the tissue box and descend for a closer look." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1525, "cache_read_input_tokens": 13958, "cache_creation": { "ephemeral_5m_input_tokens": 1525, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 466, "output_tokens_details": { "thinking_tokens": 355 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezo66r6BEqfC7E3BZ1iP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Lx19ryFzyPHwsZDYrVmnEv", "name": "move_to", "input": { "targets": { "x": 0.555, "y": 0.0, "z": 0.87 }, "note": "Refine centering over the tissue box and descend further." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 965, "cache_read_input_tokens": 15483, "cache_creation": { "ephemeral_5m_input_tokens": 965, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 362, "output_tokens_details": { "thinking_tokens": 255 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezo6fd5ZDCY7CCYpjZRF", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TyPsSSToaewgTAefdMt4p3", "name": "move_to", "input": { "targets": { "x": 0.585, "y": 0.04, "z": 0.83 }, "note": "Adjust toward tissue (appeared right/below center) and descend slightly." }, "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": 16448, "cache_creation": { "ephemeral_5m_input_tokens": 855, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 514, "output_tokens_details": { "thinking_tokens": 398 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezo7NpJqoXujacbA3cN9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019c6tLtoVo4SvBzDW4pDDXY", "name": "move_to", "input": { "targets": { "z": 0.78 }, "note": "Descend near table height to see object relative to fingertips." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1008, "cache_read_input_tokens": 17303, "cache_creation": { "ephemeral_5m_input_tokens": 1008, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 713, "output_tokens_details": { "thinking_tokens": 621 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezo8Lh65hTbddWycqYdm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K4XwXjNhn4qpupXRozWwbP", "name": "move_to", "input": { "targets": { "x": 0.605, "y": 0.015, "z": 0.7 }, "note": "Small xy correction toward the tissue puff and descend toward the box top." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1207, "cache_read_input_tokens": 18311, "cache_creation": { "ephemeral_5m_input_tokens": 1207, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 723, "output_tokens_details": { "thinking_tokens": 609 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezo9PcVME5tFAerFysRC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JUEAUWBfCMC2jY6XaRXeeF", "name": "move_to", "input": { "targets": { "z": 0.71 }, "note": "Retry descending; previous move stopped short, checking if blocked." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1221, "cache_read_input_tokens": 19518, "cache_creation": { "ephemeral_5m_input_tokens": 1221, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 356, "output_tokens_details": { "thinking_tokens": 260 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezo9xbcYRLjWdJqXDMMR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PM7G7WcUTDYUpshGY7N88k", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Fingers appear at the tissue; 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": 853, "cache_read_input_tokens": 20739, "cache_creation": { "ephemeral_5m_input_tokens": 853, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 420, "output_tokens_details": { "thinking_tokens": 321 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezoAbEWhuG4pQnwKsyaS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XQAv99tUDjDin2gHBaPUbX", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check whether the tissue 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": 914, "cache_read_input_tokens": 21592, "cache_creation": { "ephemeral_5m_input_tokens": 914, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 136, "output_tokens_details": { "thinking_tokens": 45 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezoAt3JZsNo7QfAq546k", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01N9BjR2Zo6iRKj5gLRBmaiL", "name": "move_to", "input": { "targets": { "x": 0.55, "y": -0.02, "z": 0.85, "gripper": 1 }, "note": "Reposition so the tissue puff lines up with the finger gap (it appeared up-left of the gap)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 635, "cache_read_input_tokens": 22506, "cache_creation": { "ephemeral_5m_input_tokens": 635, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1172, "output_tokens_details": { "thinking_tokens": 1040 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezoCKiuoDB73TNCXvTNW", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Mi8e4L71ajh6YVmLohCGoG", "name": "move_to", "input": { "targets": { "x": 0.6, "y": 0.018, "z": 0.762, "gripper": 1 }, "note": "Return to the pose where closing previously caught something (gripper stalled at 0.55)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1671, "cache_read_input_tokens": 23141, "cache_creation": { "ephemeral_5m_input_tokens": 1671, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 629, "output_tokens_details": { "thinking_tokens": 503 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezoDFb9dmXjdiVHf4QuU", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01YE1XTKrkin4xQkitkdzzwm", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on the tissue at the previously promising pose." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1123, "cache_read_input_tokens": 24812, "cache_creation": { "ephemeral_5m_input_tokens": 1123, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 93, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezoDXSeUBKayjM4pE7h3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0122hVMYK1RShYTHXj1bsnmb", "name": "move_to", "input": { "targets": { "z": 0.92, "gripper": 0 }, "note": "Lift while keeping gripper closed to check if the tissue is held." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 587, "cache_read_input_tokens": 25935, "cache_creation": { "ephemeral_5m_input_tokens": 587, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 140, "output_tokens_details": { "thinking_tokens": 35 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CezoDonu9ypC5ob79LU9b", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XdAwQhLWRFJPU2KyK2nHBw", "name": "move_to", "input": { "targets": { "x": 0.64, "y": -0.015, "z": 0.79, "gripper": 1 }, "note": "Reposition using image offset of the white tissue puff (down-left of center) and reopen gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 634, "cache_read_input_tokens": 26522, "cache_creation": { "ephemeral_5m_input_tokens": 634, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 840, "output_tokens_details": { "thinking_tokens": 710 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezoEt4u9C8vsRGd2cBAQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Dx4BvQboiW7xQXwsB6MYgd", "name": "move_to", "input": { "targets": { "z": 0.772, "gripper": 0 }, "note": "Tissue puff now large and between fingers; descend slightly and close to grasp it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1338, "cache_read_input_tokens": 27156, "cache_creation": { "ephemeral_5m_input_tokens": 1338, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 406, "output_tokens_details": { "thinking_tokens": 296 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezoFbyYqSuEfCnHr9hft", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Rj52bnZAYgE345MX5eYXm1", "name": "move_to", "input": { "targets": { "z": 0.9, "gripper": 0 }, "note": "Gripper stalled at 0.30, likely holding tissue; lift to verify." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 900, "cache_read_input_tokens": 28494, "cache_creation": { "ephemeral_5m_input_tokens": 900, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 187, "output_tokens_details": { "thinking_tokens": 77 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03394, -0.79441, 0.01296, -2.36702, -0.01052, 1.58497, -0.00333 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30754, 0.01143, 1.01422 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99884, 0.04635, 0.01316 ], [ 0.04659, -0.99873, -0.01922 ], [ 0.01225, 0.01981, -0.99973 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.40649432502687, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Lift to get a wider top-down view of the table to locate the tissue." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03158, -0.64695, 0.01321, -1.91076, -0.01232, 1.27642, -0.00797 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30757, 0.01143, 1.1487 ], "tcp_roll_pitch_yaw": [ 2e-05, -0.00021, 0.0 ], "tcp_rotation_matrix": [ [ 0.99884, 0.04634, 0.01337 ], [ 0.04659, -0.99873, -0.0192 ], [ 0.01246, 0.0198, -0.99973 ] ], "simulated_seconds_remaining": 28.842, "calls_remaining_including_this": 56 }, "api_seconds": 6.805990765802562, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.1 }, "note": "Move forward and slightly left to look down over the tabletop objects." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.06057, -0.2098, 0.1405, -1.54054, 0.00791, 1.34185, 0.15342 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44885, 0.09929, 1.1486 ], "tcp_roll_pitch_yaw": [ -4e-05, 2e-05, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99884, 0.04642, 0.01314 ], [ 0.04667, -0.99872, -0.01925 ], [ 0.01223, 0.01984, -0.99973 ] ], "simulated_seconds_remaining": 27.456, "calls_remaining_including_this": 55 }, "api_seconds": 10.207943090237677, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Descend for a closer top-down view to identify objects on the table." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.06742, -0.32755, 0.14164, -2.17354, 0.02496, 1.85766, 0.14828 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44882, 0.09928, 0.95122 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00035, 8e-05 ], "tcp_rotation_matrix": [ [ 0.99884, 0.04643, 0.01282 ], [ 0.04667, -0.99872, -0.01931 ], [ 0.0119, 0.01989, -0.99973 ] ], "simulated_seconds_remaining": 25.806, "calls_remaining_including_this": 54 }, "api_seconds": 9.607404145412147, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Continue descending toward the colorful item that appears directly beneath the gripper." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.06838, -0.26484, 0.15171, -2.37381, 0.02108, 2.11984, 0.15754 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44875, 0.09927, 0.85117 ], "tcp_roll_pitch_yaw": [ -0.00016, 0.00068, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99884, 0.04643, 0.01248 ], [ 0.04667, -0.99872, -0.01937 ], [ 0.01156, 0.01993, -0.99973 ] ], "simulated_seconds_remaining": 24.816, "calls_remaining_including_this": 53 }, "api_seconds": 8.406999249011278, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.79 }, "note": "Lower closer to table height to bring the item into grasp range." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.06622, -0.18476, 0.15884, -2.45915, 0.00982, 2.28422, 0.16955 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44868, 0.09925, 0.79111 ], "tcp_roll_pitch_yaw": [ -0.00022, 0.00101, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99885, 0.04643, 0.01216 ], [ 0.04666, -0.99872, -0.01943 ], [ 0.01124, 0.01998, -0.99974 ] ], "simulated_seconds_remaining": 24.09, "calls_remaining_including_this": 52 }, "api_seconds": 14.210271053016186, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.18 }, "note": "Probe motion: shift +y to learn image mapping and possibly center on the colorful item." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.13248, -0.11559, 0.25328, -2.38049, 0.00826, 2.27253, 0.33206 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44867, 0.17883, 0.79111 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.001, 0.00032 ], "tcp_rotation_matrix": [ [ 0.99884, 0.04669, 0.01217 ], [ 0.04692, -0.99871, -0.01945 ], [ 0.01125, 0.02, -0.99974 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 51 }, "api_seconds": 21.41703938692808, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.26 }, "note": "Continue shifting +y since the colorful item appears image-left of the fingers and +y moves the gripper image-left." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.19691, -0.01143, 0.33435, -2.26032, -0.02467, 2.25002, 0.49966 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44863, 0.25882, 0.7911 ], "tcp_roll_pitch_yaw": [ -0.00024, 0.001, 0.00057 ], "tcp_rotation_matrix": [ [ 0.99882, 0.04694, 0.01217 ], [ 0.04717, -0.9987, -0.01945 ], [ 0.01125, 0.02, -0.99974 ] ], "simulated_seconds_remaining": 22.374, "calls_remaining_including_this": 50 }, "api_seconds": 19.215150251984596, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55 }, "note": "Probe +x to determine vertical image mapping for the item in the wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.1738, 0.24648, 0.29209, -1.93126, -0.11261, 2.16704, 0.47384 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54875, 0.25876, 0.79107 ], "tcp_roll_pitch_yaw": [ -0.00023, 0.00105, 0.00043 ], "tcp_rotation_matrix": [ [ 0.99883, 0.04679, 0.01212 ], [ 0.04702, -0.9987, -0.01944 ], [ 0.0112, 0.01999, -0.99974 ] ], "simulated_seconds_remaining": 21.384, "calls_remaining_including_this": 49 }, "api_seconds": 16.613111491315067, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.1 }, "note": "Raise for a wide overhead view of the tabletop to find the tissue (the CD is not it)." } } } ] } } ] }, "execution": { "steps": 36, "motion_seconds": 2.3760000000000003, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.21093, 0.26942, 0.31474, -1.09384, -0.10798, 1.35314, 0.44453 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54879, 0.2588, 1.09875 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00075, 0.00046 ], "tcp_rotation_matrix": [ [ 0.99883, 0.04682, 0.01242 ], [ 0.04705, -0.99871, -0.01932 ], [ 0.0115, 0.01988, -0.99974 ] ], "simulated_seconds_remaining": 19.008, "calls_remaining_including_this": 48 }, "api_seconds": 16.212870188988745, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.1 }, "note": "Probe -y to move toward the beige item (possible tissue pack) seen left of image center." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.00977, 0.05447, 0.19186, -1.37578, -0.03212, 1.43765, 0.15024 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54882, 0.10117, 1.09877 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00072, 0.00016 ], "tcp_rotation_matrix": [ [ 0.99884, 0.04652, 0.01245 ], [ 0.04675, -0.99872, -0.01936 ], [ 0.01153, 0.01992, -0.99974 ] ], "simulated_seconds_remaining": 17.622, "calls_remaining_including_this": 47 }, "api_seconds": 16.82417644932866, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51, "y": -0.04 }, "note": "Center the beige item (possible tissue) using measured image scale ~175 px/m." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.12046, -0.11008, 0.0497, -1.57284, -0.01305, 1.47674, -0.11869 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51036, -0.03882, 1.0988 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00068, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99885, 0.04621, 0.01248 ], [ 0.04644, -0.99873, -0.01939 ], [ 0.01157, 0.01995, -0.99973 ] ], "simulated_seconds_remaining": 16.368, "calls_remaining_including_this": 46 }, "api_seconds": 8.607632811181247, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": 0.03, "z": 0.95 }, "note": "Fine-center on the tissue box and descend for a closer look." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.06434, -0.10957, 0.12269, -1.95234, -0.00697, 1.85459, 0.01314 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5298, 0.02948, 0.9511 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00101, -3e-05 ], "tcp_rotation_matrix": [ [ 0.99885, 0.04633, 0.01215 ], [ 0.04656, -0.99873, -0.0194 ], [ 0.01123, 0.01994, -0.99974 ] ], "simulated_seconds_remaining": 14.982, "calls_remaining_including_this": 45 }, "api_seconds": 7.405671295709908, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.555, "y": 0.0, "z": 0.87 }, "note": "Refine centering over the tissue box and descend further." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0888, 0.00139, 0.09711, -2.03052, -0.02204, 2.04347, -0.02814 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5546, 0.00036, 0.871 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00134, -0.00013 ], "tcp_rotation_matrix": [ [ 0.99886, 0.04624, 0.01181 ], [ 0.04646, -0.99873, -0.01939 ], [ 0.0109, 0.01992, -0.99974 ] ], "simulated_seconds_remaining": 14.058, "calls_remaining_including_this": 44 }, "api_seconds": 9.607077828608453, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.585, "y": 0.04, "z": 0.83 }, "note": "Adjust toward tissue (appeared right/below center) and descend slightly." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04982, 0.12971, 0.12884, -1.97495, -0.04304, 2.11324, 0.05337 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58435, 0.03928, 0.83071 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00158, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99886, 0.04641, 0.01158 ], [ 0.04663, -0.99872, -0.01939 ], [ 0.01067, 0.01991, -0.99974 ] ], "simulated_seconds_remaining": 13.332, "calls_remaining_including_this": 43 }, "api_seconds": 12.812136479653418, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.78 }, "note": "Descend near table height to see object relative to fingertips." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04814, 0.18646, 0.1266, -2.03444, -0.05513, 2.22846, 0.06315 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58428, 0.03927, 0.78104 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00191, 3e-05 ], "tcp_rotation_matrix": [ [ 0.99886, 0.04641, 0.01125 ], [ 0.04662, -0.99872, -0.01941 ], [ 0.01034, 0.01991, -0.99975 ] ], "simulated_seconds_remaining": 12.672, "calls_remaining_including_this": 42 }, "api_seconds": 14.010871775448322, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.605, "y": 0.015, "z": 0.7 }, "note": "Small xy correction toward the tissue puff and descend toward the box top." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0596, 0.24753, 0.11225, -2.00771, -0.07756, 2.25571, 0.04192 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59532, 0.02216, 0.75932 ], "tcp_roll_pitch_yaw": [ -0.01322, 0.00853, 0.0096 ], "tcp_rotation_matrix": [ [ 0.99841, 0.05621, 0.00495 ], [ 0.05634, -0.99789, -0.03238 ], [ 0.00312, 0.03261, -0.99946 ] ], "simulated_seconds_remaining": 11.814, "calls_remaining_including_this": 41 }, "api_seconds": 7.406209195964038, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.71 }, "note": "Retry descending; previous move stopped short, checking if blocked." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05207, 0.2374, 0.1114, -2.03126, -0.09323, 2.29016, 0.05753 ], "gripper_open": 1.0, "tcp_xyz": [ 0.59552, 0.02461, 0.75817 ], "tcp_roll_pitch_yaw": [ -0.0236, -0.01375, 0.01268 ], "tcp_rotation_matrix": [ [ 0.99792, 0.0584, 0.02743 ], [ 0.05953, -0.99732, -0.04246 ], [ 0.02488, 0.044, -0.99872 ] ], "simulated_seconds_remaining": 11.22, "calls_remaining_including_this": 40 }, "api_seconds": 8.207201760262251, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Fingers appear at the tissue; close gripper to attempt grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05637, 0.22226, 0.10586, -2.02357, -0.09656, 2.28688, 0.05813 ], "gripper_open": 0.5457, "tcp_xyz": [ 0.60054, 0.01802, 0.77027 ], "tcp_roll_pitch_yaw": [ -0.02837, -0.0334, 0.00426 ], "tcp_rotation_matrix": [ [ 0.99771, 0.04896, 0.04671 ], [ 0.05117, -0.99757, -0.04737 ], [ 0.04428, 0.04965, -0.99778 ] ], "simulated_seconds_remaining": 10.296, "calls_remaining_including_this": 39 }, "api_seconds": 3.603491040877998, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check whether the tissue was grasped." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05899, 0.10008, 0.11189, -1.84344, -0.06661, 1.9867, 0.02755 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.60062, 0.01802, 0.89886 ], "tcp_roll_pitch_yaw": [ -0.02836, -0.03377, 0.00426 ], "tcp_rotation_matrix": [ [ 0.99769, 0.04894, 0.04708 ], [ 0.05117, -0.99757, -0.04736 ], [ 0.04465, 0.04966, -0.99777 ] ], "simulated_seconds_remaining": 9.108, "calls_remaining_including_this": 38 }, "api_seconds": 19.41615713853389, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.55, "y": -0.02, "z": 0.85, "gripper": 1 }, "note": "Reposition so the tissue puff lines up with the finger gap (it appeared up-left of the gap)." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.09688, -0.01622, 0.0785, -2.11514, -0.05394, 2.14614, -0.04009 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55075, -0.01948, 0.85071 ], "tcp_roll_pitch_yaw": [ -0.02837, -0.0336, 0.00414 ], "tcp_rotation_matrix": [ [ 0.99771, 0.04883, 0.04691 ], [ 0.05105, -0.99757, -0.04738 ], [ 0.04448, 0.04966, -0.99778 ] ], "simulated_seconds_remaining": 8.25, "calls_remaining_including_this": 37 }, "api_seconds": 12.2102991361171, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.6, "y": 0.018, "z": 0.762, "gripper": 1 }, "note": "Return to the pose where closing previously caught something (gripper stalled at 0.55)." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05492, 0.22831, 0.10271, -2.03442, -0.09816, 2.30435, 0.05928 ], "gripper_open": 0.9993, "tcp_xyz": [ 0.59944, 0.01724, 0.76347 ], "tcp_roll_pitch_yaw": [ -0.02855, -0.03395, 0.00368 ], "tcp_rotation_matrix": [ [ 0.99771, 0.04835, 0.04723 ], [ 0.0506, -0.99759, -0.04757 ], [ 0.04481, 0.04985, -0.99775 ] ], "simulated_seconds_remaining": 7.26, "calls_remaining_including_this": 36 }, "api_seconds": 3.4031132580712438, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on the tissue at the previously promising pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05953, 0.21934, 0.09674, -2.02862, -0.10102, 2.30358, 0.05929 ], "gripper_open": 0.5727, "tcp_xyz": [ 0.60325, 0.01033, 0.77134 ], "tcp_roll_pitch_yaw": [ -0.03244, -0.04799, -0.00499 ], "tcp_rotation_matrix": [ [ 0.9974, 0.03881, 0.06079 ], [ 0.04199, -0.99777, -0.05194 ], [ 0.05864, 0.05435, -0.9968 ] ], "simulated_seconds_remaining": 6.336, "calls_remaining_including_this": 35 }, "api_seconds": 3.403375563211739, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92, "gripper": 0 }, "note": "Lift while keeping gripper closed to check if the tissue is held." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.06176, 0.08817, 0.10317, -1.8111, -0.06853, 1.95711, 0.02424 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.60333, 0.01034, 0.91885 ], "tcp_roll_pitch_yaw": [ -0.03243, -0.04837, -0.00498 ], "tcp_rotation_matrix": [ [ 0.99737, 0.03879, 0.06117 ], [ 0.04199, -0.99777, -0.05193 ], [ 0.05902, 0.05437, -0.99678 ] ], "simulated_seconds_remaining": 5.016, "calls_remaining_including_this": 34 }, "api_seconds": 13.811255550943315, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.64, "y": -0.015, "z": 0.79, "gripper": 1 }, "note": "Reposition using image offset of the white tissue puff (down-left of center) and reopen gripper." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.08162, 0.29512, 0.08091, -1.86424, -0.09402, 2.21775, 0.00876 ], "gripper_open": 0.9979, "tcp_xyz": [ 0.63961, -0.01447, 0.79122 ], "tcp_roll_pitch_yaw": [ -0.03227, -0.04818, -0.00466 ], "tcp_rotation_matrix": [ [ 0.99737, 0.03914, 0.061 ], [ 0.04232, -0.99776, -0.05175 ], [ 0.05884, 0.0542, -0.9968 ] ], "simulated_seconds_remaining": 3.828, "calls_remaining_including_this": 33 }, "api_seconds": 9.807979665696621, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.772, "gripper": 0 }, "note": "Tissue puff now large and between fingers; descend slightly and close to grasp it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.07986, 0.30349, 0.08074, -1.87375, -0.09883, 2.25737, 0.01372 ], "gripper_open": 0.2957, "tcp_xyz": [ 0.64489, -0.01323, 0.78559 ], "tcp_roll_pitch_yaw": [ -0.03315, -0.07015, -0.00281 ], "tcp_rotation_matrix": [ [ 0.99576, 0.03972, 0.08297 ], [ 0.04417, -0.99764, -0.05257 ], [ 0.08068, 0.05602, -0.99516 ] ], "simulated_seconds_remaining": 2.904, "calls_remaining_including_this": 32 }, "api_seconds": 4.203796217218041, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9, "gripper": 0 }, "note": "Gripper stalled at 0.30, likely holding tissue; lift to verify." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 046 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 46, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 29, "api_calls": 30, "wall_seconds": 307.6158215999603, "usage": { "input_tokens": 60, "cache_creation_input_tokens": 31535, "cache_read_input_tokens": 483217, "output_tokens": 15650 }, "estimated_cost_usd": 0.83025225 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezmRhP3MbkNe28JomXux", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014vzNcFMUSbF3rkp5jq7R8F", "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": 1760, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1760, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 67, "output_tokens_details": { "thinking_tokens": 43 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezmS1vWBLajtpYpdN1Xe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FJEHuYcV19QKZFrdDgxGEf", "name": "move_to", "input": { "targets": { "x": 0.35, "z": 1.15 }, "note": "Raise to get an overhead view of the counter to locate the spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 503, "cache_read_input_tokens": 1760, "cache_creation": { "ephemeral_5m_input_tokens": 503, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 286, "output_tokens_details": { "thinking_tokens": 181 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezmSby82rJykfkyQ2VDJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011Dma5kcsTU949Hrhm9SgMV", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.05, "z": 1.08 }, "note": "Moving forward over the counter to get closer look at the white elongated object (possible spatula)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 786, "cache_read_input_tokens": 2263, "cache_creation": { "ephemeral_5m_input_tokens": 786, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 359, "output_tokens_details": { "thinking_tokens": 240 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezmTAk7BazgFjpN5ts1o", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015Kq3wJuEh7XChyLbp4K6mS", "name": "move_to", "input": { "targets": { "y": 0.12 }, "note": "Small lateral test move to calibrate wrist-camera image directions relative to base frame." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 859, "cache_read_input_tokens": 3049, "cache_creation": { "ephemeral_5m_input_tokens": 859, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 342, "output_tokens_details": { "thinking_tokens": 239 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CezmTh6yemoHsZYZ6nf2o", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HJaywXbLaQA7vbX7dNTtef", "name": "move_to", "input": { "targets": { "x": 0.52 }, "note": "Test move forward in +x to calibrate wrist image vertical direction." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 836, "cache_read_input_tokens": 3908, "cache_creation": { "ephemeral_5m_input_tokens": 836, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 266, "output_tokens_details": { "thinking_tokens": 168 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezmUA6gaQEVpPqUhGdis", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01V5DMchWwTcWvLFixsDyMLs", "name": "move_to", "input": { "targets": { "z": 0.98 }, "note": "Descending to gauge counter height and see objects more closely 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": 761, "cache_read_input_tokens": 4744, "cache_creation": { "ephemeral_5m_input_tokens": 761, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1148, "output_tokens_details": { "thinking_tokens": 1050 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezmVcj6cUk4DuWEwe5R3", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CHUvM19D1i1ainAtgnoAqV", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Continue descending toward counter surface to find its height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1643, "cache_read_input_tokens": 5505, "cache_creation": { "ephemeral_5m_input_tokens": 1643, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 288, "output_tokens_details": { "thinking_tokens": 197 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezmWH4h4GRdbMEoDqsVN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011tzvQihvvZj85XDuxGpNhQ", "name": "move_to", "input": { "targets": { "y": 0.25, "z": 1.0 }, "note": "Larger lateral move to clearly calibrate wrist view mapping." }, "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": 7148, "cache_creation": { "ephemeral_5m_input_tokens": 788, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 862, "output_tokens_details": { "thinking_tokens": 756 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezmXjbQER2TshbRDkwEw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FsyZMwHNvPXgeispRs8hxL", "name": "move_to", "input": { "targets": { "x": 0.57, "y": 0.16, "z": 1.0 }, "note": "Using calibrated mapping to center the spatula under the wrist camera." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1362, "cache_read_input_tokens": 7936, "cache_creation": { "ephemeral_5m_input_tokens": 1362, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1407, "output_tokens_details": { "thinking_tokens": 1293 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezmZPC8XceNTKaoNagXY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JPxt6RnwMt2NCVLwSzMaiX", "name": "move_to", "input": { "targets": { "x": 0.587, "y": 0.101, "yaw": -1.27 }, "note": "Center over spatula handle and rotate yaw so fingers close perpendicular to the handle axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1901, "cache_read_input_tokens": 9298, "cache_creation": { "ephemeral_5m_input_tokens": 1901, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1003, "output_tokens_details": { "thinking_tokens": 878 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezmabWpabC6QfTKAJjJh", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CZW5fJjwM6iSLxakE8zKdD", "name": "move_to", "input": { "targets": { "yaw": 1.09 }, "note": "Rotating wrist so the finger closing axis becomes perpendicular to the handle direction seen 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": 1498, "cache_read_input_tokens": 11199, "cache_creation": { "ephemeral_5m_input_tokens": 1498, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1686, "output_tokens_details": { "thinking_tokens": 1572 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezmcdkZJXU8U1ijnpbow", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SQZ7ccEmYSVY2z5psJqjd8", "name": "move_to", "input": { "targets": { "x": 0.555, "y": 0.078, "z": 0.95 }, "note": "Centering over the spatula handle and lowering halfway." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2186, "cache_read_input_tokens": 12697, "cache_creation": { "ephemeral_5m_input_tokens": 2186, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 565, "output_tokens_details": { "thinking_tokens": 456 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CezmdP9WPAQ6wnGJEvtmQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018vGr6u7SpJBSz7gznprtTP", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lowering toward the counter surface over 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": 1059, "cache_read_input_tokens": 14883, "cache_creation": { "ephemeral_5m_input_tokens": 1059, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 318, "output_tokens_details": { "thinking_tokens": 227 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CezmduPBm6bi7aW4tLd52", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Qx8oxw7SfSZiLJNCp3t3Ma", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Continue descending carefully to reach 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": 812, "cache_read_input_tokens": 15942, "cache_creation": { "ephemeral_5m_input_tokens": 812, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 210, "output_tokens_details": { "thinking_tokens": 120 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CezmeKcxe1d7MbN73iGQU", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FVJJDZMB9k3LpHtrbvvTgU", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Descend further; object still appears below 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": 704, "cache_read_input_tokens": 16754, "cache_creation": { "ephemeral_5m_input_tokens": 704, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 225, "output_tokens_details": { "thinking_tokens": 135 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CezmeiVdDdyXzvHBpoU1z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018QnZtUt6Uu8BRVKD7UKiXs", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Descending more to approach counter surface." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 719, "cache_read_input_tokens": 17458, "cache_creation": { "ephemeral_5m_input_tokens": 719, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 290, "output_tokens_details": { "thinking_tokens": 203 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CezmfDRfYoij4vwZNUPdu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HGYLWkvCyyYnUhQu8fHrZw", "name": "move_to", "input": { "targets": { "z": 0.72 }, "note": "Descending to find the support surface height." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 789, "cache_read_input_tokens": 18177, "cache_creation": { "ephemeral_5m_input_tokens": 789, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 386, "output_tokens_details": { "thinking_tokens": 300 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CezmfpxLp6jcaYspw3h79", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ew7nNT1xesZAY8wcha7JcT", "name": "move_to", "input": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Surface found near z=0.745; lifting slightly and shifting toward the handle which appears up-left 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": 885, "cache_read_input_tokens": 18966, "cache_creation": { "ephemeral_5m_input_tokens": 885, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 697, "output_tokens_details": { "thinking_tokens": 576 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CezmgizgmzU2NYGtExBKu", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01JJeiw3j4VBb1eWTrH2mNF2", "name": "move_to", "input": { "targets": { "x": 0.58, "y": -0.02 }, "note": "Corrected image-to-base mapping sign; moving to bring handle under 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": 1192, "cache_read_input_tokens": 19851, "cache_creation": { "ephemeral_5m_input_tokens": 1192, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1523, "output_tokens_details": { "thinking_tokens": 1412 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CezmiNg8NjLXFmanqRtvp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LbMUZ138jKyFBJHh7DsBcK", "name": "move_to", "input": { "targets": { "z": 0.762 }, "note": "Lowering to just above the surface for grasping 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": 2018, "cache_read_input_tokens": 21043, "cache_creation": { "ephemeral_5m_input_tokens": 2018, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 208, "output_tokens_details": { "thinking_tokens": 115 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CezminwsJk58Q52VZ5T7Q", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WEjEbzxnGstCSjMbBJhWDZ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing gripper to attempt grasp of the spatula handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 702, "cache_read_input_tokens": 23061, "cache_creation": { "ephemeral_5m_input_tokens": 702, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 205, "output_tokens_details": { "thinking_tokens": 109 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CezmjAQD9bNL252MyKNw4", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KHf4RvAW9tXjXFKvduYysM", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Lifting to check whether the spatula 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": 700, "cache_read_input_tokens": 23763, "cache_creation": { "ephemeral_5m_input_tokens": 700, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 156, "output_tokens_details": { "thinking_tokens": 64 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CezmjVWfBDyHjcNqGGbPS", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VM94jrGWcnboVzGiUPrwba", "name": "move_to", "input": { "targets": { "x": 0.557, "y": -0.027, "gripper": 1 }, "note": "Reopening gripper and applying small correction toward the handle (right/up 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": 650, "cache_read_input_tokens": 24463, "cache_creation": { "ephemeral_5m_input_tokens": 650, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1691, "output_tokens_details": { "thinking_tokens": 1572 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CezmmbEknzKBLwTidFV4d", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015eC45qjqYue4jibsoHgCem", "name": "move_to", "input": { "targets": { "z": 0.768 }, "note": "Descending onto handle with corrected alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 2186, "cache_read_input_tokens": 25113, "cache_creation": { "ephemeral_5m_input_tokens": 2186, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 182, "output_tokens_details": { "thinking_tokens": 92 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezmmx77jbZBRx4RBVpzM", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_015kdVpwsdiWaaDrsKRD8o2G", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing 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": 677, "cache_read_input_tokens": 27299, "cache_creation": { "ephemeral_5m_input_tokens": 677, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 82, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CezmnFabJpC7dXTd1obBo", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SYFYQh3Y5ciuHNWfjimzTN", "name": "move_to", "input": { "targets": { "z": 0.86 }, "note": "Lifting to verify grasp." }, "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": 27976, "cache_creation": { "ephemeral_5m_input_tokens": 576, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 168, "output_tokens_details": { "thinking_tokens": 82 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezmnbg5HMRhTkZCUhnrd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017eHemYZqy86vCsdU9gqYZQ", "name": "move_to", "input": { "targets": { "z": 0.748, "gripper": 1 }, "note": "Previous closes were likely above the thin handle; opening and descending nearly to the surface." }, "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": 28552, "cache_creation": { "ephemeral_5m_input_tokens": 662, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 597, "output_tokens_details": { "thinking_tokens": 486 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezmoRgq3vComPpmWbQ9A", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01D9tyaLYViyb7T65DLdFXgQ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Closing at lower height to catch the thin handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1091, "cache_read_input_tokens": 29214, "cache_creation": { "ephemeral_5m_input_tokens": 1091, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 90, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezmohVqaXM8i5HnYtzoa", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CL5RSbo5E34uYqzQRqDxWK", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Gripper stopped at 0.037 indicating an object held; lifting the spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 585, "cache_read_input_tokens": 30305, "cache_creation": { "ephemeral_5m_input_tokens": 585, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 151, "output_tokens_details": { "thinking_tokens": 48 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011Cezmp2tQVzWMb1NnYFGke", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01TB3cBLUU33jyZ7yaAB9FCV", "name": "give_up", "input": { "note": "Ran out of simulated motion time. Located the spatula and made several grasp attempts on its thin handle; the gripper closed empty each time (last close briefly registered contact but slipped out on lift)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 30890, "cache_creation": { "ephemeral_5m_input_tokens": 645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 192, "output_tokens_details": { "thinking_tokens": 84 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04845, -0.81178, 0.02482, -2.40434, 0.02661, 1.52306, 0.03659 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.28296, -0.00029, 0.99688 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99525, -0.0684, -0.06929 ], [ -0.06781, -0.99764, 0.0108 ], [ -0.06986, -0.00605, -0.99754 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 12.213514411821961, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "z": 1.15 }, "note": "Raise to get an overhead view of the counter to locate the spatula." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.05204, -0.46331, 0.02783, -1.75886, 0.02266, 1.22625, 0.04759 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34948, -0.00029, 1.14876 ], "tcp_roll_pitch_yaw": [ 1e-05, -9e-05, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99526, -0.0684, -0.06919 ], [ -0.06781, -0.99764, 0.0108 ], [ -0.06977, -0.00606, -0.99754 ] ], "simulated_seconds_remaining": 28.644, "calls_remaining_including_this": 56 }, "api_seconds": 7.205695608630776, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.05, "z": 1.08 }, "note": "Moving forward over the counter to get closer look at the white elongated object (possible spatula)." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.02491, -0.24395, 0.10368, -1.74519, 0.04133, 1.43403, 0.14727 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.449, 0.04952, 1.08057 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00021, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99524, -0.06833, -0.06949 ], [ -0.06775, -0.99764, 0.01078 ], [ -0.07007, -0.00602, -0.99752 ] ], "simulated_seconds_remaining": 27.456, "calls_remaining_including_this": 55 }, "api_seconds": 6.805592128075659, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.12 }, "note": "Small lateral test move to calibrate wrist-camera image directions relative to base frame." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.02521, -0.21023, 0.18626, -1.7084, 0.06399, 1.43599, 0.28063 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44899, 0.11887, 1.08057 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00022, 0.00032 ], "tcp_rotation_matrix": [ [ 0.99526, -0.06807, -0.06951 ], [ -0.06749, -0.99766, 0.01074 ], [ -0.07008, -0.006, -0.99752 ] ], "simulated_seconds_remaining": 26.664, "calls_remaining_including_this": 54 }, "api_seconds": 6.005299348384142, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.52 }, "note": "Test move forward in +x to calibrate wrist image vertical direction." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.02265, 0.01668, 0.19203, -1.45557, 0.02246, 1.40608, 0.2857 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51879, 0.11883, 1.08047 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00043, 0.00026 ], "tcp_rotation_matrix": [ [ 0.99524, -0.06814, -0.06972 ], [ -0.06756, -0.99766, 0.01073 ], [ -0.07029, -0.00597, -0.99751 ] ], "simulated_seconds_remaining": 25.872, "calls_remaining_including_this": 53 }, "api_seconds": 19.41618467774242, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.98 }, "note": "Descending to gauge counter height and see objects more closely in wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.01977, -0.04244, 0.18892, -1.78288, 0.03308, 1.67474, 0.27172 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51876, 0.11882, 0.98117 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00075, 0.00026 ], "tcp_rotation_matrix": [ [ 0.99521, -0.06814, -0.07004 ], [ -0.06755, -0.99766, 0.01068 ], [ -0.0706, -0.00589, -0.99749 ] ], "simulated_seconds_remaining": 24.882, "calls_remaining_including_this": 52 }, "api_seconds": 8.606504798866808, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Continue descending toward counter surface to find its height." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.02123, -0.02724, 0.19077, -1.96961, 0.03182, 1.87608, 0.26916 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51871, 0.11881, 0.90114 ], "tcp_roll_pitch_yaw": [ -0.00015, 0.00109, 0.00027 ], "tcp_rotation_matrix": [ [ 0.99519, -0.06814, -0.07037 ], [ -0.06756, -0.99766, 0.01063 ], [ -0.07093, -0.00582, -0.99746 ] ], "simulated_seconds_remaining": 24.024, "calls_remaining_including_this": 51 }, "api_seconds": 19.215904349461198, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 1.0 }, "note": "Larger lateral move to clearly calibrate wrist view mapping." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.14395, 0.10233, 0.30557, -1.56624, 0.00939, 1.60514, 0.51607 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51869, 0.24904, 0.99924 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00095, 0.00051 ], "tcp_rotation_matrix": [ [ 0.99522, -0.0679, -0.07024 ], [ -0.06731, -0.99767, 0.01069 ], [ -0.0708, -0.00591, -0.99747 ] ], "simulated_seconds_remaining": 22.638, "calls_remaining_including_this": 50 }, "api_seconds": 22.01488353870809, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.57, "y": 0.16, "z": 1.0 }, "note": "Using calibrated mapping to center the spatula under the wrist camera." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.05441, 0.16491, 0.23322, -1.48021, -0.0079, 1.57623, 0.35416 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.56941, 0.16098, 0.99995 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.001, 0.00019 ], "tcp_rotation_matrix": [ [ 0.99519, -0.06821, -0.07028 ], [ -0.06763, -0.99765, 0.01067 ], [ -0.07085, -0.00586, -0.99747 ] ], "simulated_seconds_remaining": 21.648, "calls_remaining_including_this": 49 }, "api_seconds": 15.811257421970367, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.587, "y": 0.101, "yaw": -1.27 }, "note": "Center over spatula handle and rotate yaw so fingers close perpendicular to the handle axis." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.03068, 0.11254, 0.11807, -1.5595, 0.05818, 1.67065, 1.47593 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58695, 0.10117, 0.99995 ], "tcp_roll_pitch_yaw": [ -0.0001, 0.00097, -1.26541 ], "tcp_rotation_matrix": [ [ 0.23454, -0.97205, -0.01092 ], [ -0.96952, -0.23472, 0.07022 ], [ -0.07082, -0.00588, -0.99747 ] ], "simulated_seconds_remaining": 19.668, "calls_remaining_including_this": 48 }, "api_seconds": 26.621547778137028, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "yaw": 1.09 }, "note": "Rotating wrist so the finger closing axis becomes perpendicular to the handle direction seen in wrist view." } } } ] } } ] }, "execution": { "steps": 52, "motion_seconds": 3.4320000000000004, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04581, 0.1671, 0.26597, -1.48131, -0.09043, 1.58882, -0.79526 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.58695, 0.10118, 0.99996 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00095, 1.0853 ], "tcp_rotation_matrix": [ [ 0.52438, 0.85044, -0.04221 ], [ 0.84853, -0.52605, -0.05714 ], [ -0.07079, -0.00586, -0.99747 ] ], "simulated_seconds_remaining": 16.236, "calls_remaining_including_this": 47 }, "api_seconds": 9.808065004646778, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.555, "y": 0.078, "z": 0.95 }, "note": "Centering over the spatula handle and lowering halfway." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.07941, 0.03715, 0.24597, -1.76921, -0.05941, 1.75354, -0.83806 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55562, 0.07843, 0.95096 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00107, 1.08525 ], "tcp_rotation_matrix": [ [ 0.52441, 0.85041, -0.04239 ], [ 0.84851, -0.52609, -0.05718 ], [ -0.07093, -0.00599, -0.99746 ] ], "simulated_seconds_remaining": 15.51, "calls_remaining_including_this": 46 }, "api_seconds": 6.805833473801613, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lowering toward the counter surface over the handle." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.07953, 0.05098, 0.24555, -1.87992, -0.06479, 1.8771, -0.82981 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55558, 0.07841, 0.90106 ], "tcp_roll_pitch_yaw": [ 0.00027, 0.00124, 1.08524 ], "tcp_rotation_matrix": [ [ 0.5244, 0.8504, -0.0427 ], [ 0.8485, -0.52609, -0.05721 ], [ -0.07111, -0.00623, -0.99745 ] ], "simulated_seconds_remaining": 14.85, "calls_remaining_including_this": 45 }, "api_seconds": 5.4047227101400495, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Continue descending carefully to reach handle height." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.07864, 0.08382, 0.24497, -1.96942, -0.07655, 1.99764, -0.81741 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55552, 0.0784, 0.85106 ], "tcp_roll_pitch_yaw": [ 0.00053, 0.00141, 1.08523 ], "tcp_rotation_matrix": [ [ 0.52438, 0.8504, -0.04301 ], [ 0.84849, -0.5261, -0.05724 ], [ -0.0713, -0.00648, -0.99743 ] ], "simulated_seconds_remaining": 14.19, "calls_remaining_including_this": 44 }, "api_seconds": 5.004389563575387, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descend further; object still appears below the gripper." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.07661, 0.13468, 0.24284, -2.0388, -0.09554, 2.11525, -0.80031 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55546, 0.07838, 0.80106 ], "tcp_roll_pitch_yaw": [ 0.00079, 0.00159, 1.08522 ], "tcp_rotation_matrix": [ [ 0.52437, 0.85039, -0.04333 ], [ 0.84848, -0.52612, -0.05727 ], [ -0.0715, -0.00673, -0.99742 ] ], "simulated_seconds_remaining": 13.53, "calls_remaining_including_this": 43 }, "api_seconds": 6.605637853033841, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Descending more to approach counter surface." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.07363, 0.18769, 0.23874, -2.08016, -0.11653, 2.20688, -0.78287 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55538, 0.07836, 0.76101 ], "tcp_roll_pitch_yaw": [ 0.00104, 0.00176, 1.0852 ], "tcp_rotation_matrix": [ [ 0.52437, 0.85037, -0.04362 ], [ 0.84847, -0.52613, -0.0573 ], [ -0.07168, -0.00697, -0.9974 ] ], "simulated_seconds_remaining": 12.936, "calls_remaining_including_this": 42 }, "api_seconds": 8.007007939741015, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.72 }, "note": "Descending to find the support surface height." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.06749, 0.20803, 0.23424, -2.09826, -0.14071, 2.25652, -0.76385 ], "gripper_open": 1.0, "tcp_xyz": [ 0.55751, 0.07824, 0.74601 ], "tcp_roll_pitch_yaw": [ -0.01616, 0.00283, 1.08705 ], "tcp_rotation_matrix": [ [ 0.52382, 0.85134, -0.02882 ], [ 0.84882, -0.52451, -0.06631 ], [ -0.07157, 0.01027, -0.99738 ] ], "simulated_seconds_remaining": 12.342, "calls_remaining_including_this": 41 }, "api_seconds": 11.809662866406143, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "z": 0.8 }, "note": "Surface found near z=0.745; lifting slightly and shifting toward the handle which appears up-left of the fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.0709, -0.02756, 0.24864, -2.24797, -0.06525, 2.18034, -0.80235 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50106, 0.07828, 0.79918 ], "tcp_roll_pitch_yaw": [ -0.01639, 0.00272, 1.08712 ], "tcp_rotation_matrix": [ [ 0.52377, 0.85138, -0.02857 ], [ 0.84886, -0.52445, -0.06632 ], [ -0.07145, 0.01049, -0.99739 ] ], "simulated_seconds_remaining": 11.55, "calls_remaining_including_this": 40 }, "api_seconds": 22.01710683107376, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.58, "y": -0.02 }, "note": "Corrected image-to-base mapping sign; moving to bring handle under the fingers." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.16292, 0.17193, 0.16035, -1.99662, -0.11109, 2.13521, -0.96167 ], "gripper_open": 0.9967, "tcp_xyz": [ 0.57917, -0.01905, 0.79918 ], "tcp_roll_pitch_yaw": [ -0.01639, 0.00271, 1.08688 ], "tcp_rotation_matrix": [ [ 0.52398, 0.85125, -0.02857 ], [ 0.84873, -0.52465, -0.06631 ], [ -0.07143, 0.01049, -0.99739 ] ], "simulated_seconds_remaining": 10.428, "calls_remaining_including_this": 39 }, "api_seconds": 5.40493319183588, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.762 }, "note": "Lowering to just above the surface for grasping the handle." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.16048, 0.20994, 0.15783, -2.02932, -0.12594, 2.21639, -0.94741 ], "gripper_open": 1.0, "tcp_xyz": [ 0.58204, -0.01848, 0.76955 ], "tcp_roll_pitch_yaw": [ -0.02733, -0.00161, 1.08767 ], "tcp_rotation_matrix": [ [ 0.52411, 0.85148, -0.01686 ], [ 0.84906, -0.52395, -0.06758 ], [ -0.06638, 0.0211, -0.99757 ] ], "simulated_seconds_remaining": 9.9, "calls_remaining_including_this": 38 }, "api_seconds": 4.604386204853654, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing gripper to attempt grasp of the spatula handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.16047, 0.2099, 0.15783, -2.0293, -0.12594, 2.21638, -0.9474 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.58206, -0.01847, 0.76958 ], "tcp_roll_pitch_yaw": [ -0.0274, -0.00164, 1.08768 ], "tcp_rotation_matrix": [ [ 0.52411, 0.85149, -0.01679 ], [ 0.84906, -0.52395, -0.06759 ], [ -0.06635, 0.02117, -0.99757 ] ], "simulated_seconds_remaining": 8.976, "calls_remaining_including_this": 37 }, "api_seconds": 4.003848802298307, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Lifting to check whether the spatula was grasped." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.16367, 0.10071, 0.16437, -1.88126, -0.09104, 1.96268, -0.9829 ], "gripper_open": 0.0, "tcp_xyz": [ 0.58214, -0.01847, 0.87886 ], "tcp_roll_pitch_yaw": [ -0.02774, -0.00179, 1.08769 ], "tcp_rotation_matrix": [ [ 0.52413, 0.85148, -0.01642 ], [ 0.84907, -0.52394, -0.06762 ], [ -0.06618, 0.0215, -0.99758 ] ], "simulated_seconds_remaining": 7.92, "calls_remaining_including_this": 36 }, "api_seconds": 28.222395557910204, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.557, "y": -0.027, "gripper": 1 }, "note": "Reopening gripper and applying small correction toward the handle (right/up in wrist view)." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17522, 0.02722, 0.15613, -1.97344, -0.07886, 1.98404, -1.00529 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.55802, -0.02666, 0.87887 ], "tcp_roll_pitch_yaw": [ -0.02776, -0.00179, 1.08766 ], "tcp_rotation_matrix": [ [ 0.52415, 0.85147, -0.0164 ], [ 0.84905, -0.52396, -0.06762 ], [ -0.06617, 0.02152, -0.99758 ] ], "simulated_seconds_remaining": 6.996, "calls_remaining_including_this": 35 }, "api_seconds": 4.407271517440677, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.768 }, "note": "Descending onto handle with corrected alignment." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17324, 0.14395, 0.15219, -2.12136, -0.11502, 2.24514, -0.96818 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55794, -0.02667, 0.76915 ], "tcp_roll_pitch_yaw": [ -0.02743, -0.00163, 1.08764 ], "tcp_rotation_matrix": [ [ 0.52414, 0.85147, -0.01677 ], [ 0.84904, -0.52398, -0.06761 ], [ -0.06635, 0.0212, -0.99757 ] ], "simulated_seconds_remaining": 5.94, "calls_remaining_including_this": 34 }, "api_seconds": 3.803310427814722, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing on the handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17324, 0.14395, 0.15219, -2.12136, -0.11502, 2.24514, -0.96818 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55794, -0.02667, 0.76914 ], "tcp_roll_pitch_yaw": [ -0.02743, -0.00163, 1.08764 ], "tcp_rotation_matrix": [ [ 0.52414, 0.85147, -0.01676 ], [ 0.84904, -0.52398, -0.06761 ], [ -0.06635, 0.0212, -0.99757 ] ], "simulated_seconds_remaining": 5.016, "calls_remaining_including_this": 33 }, "api_seconds": 4.203982207924128, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Lifting to verify grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17525, 0.04216, 0.15609, -2.00742, -0.08329, 2.03254, -0.99995 ], "gripper_open": 0.0, "tcp_xyz": [ 0.55803, -0.02667, 0.85887 ], "tcp_roll_pitch_yaw": [ -0.02776, -0.00177, 1.08765 ], "tcp_rotation_matrix": [ [ 0.52416, 0.85146, -0.0164 ], [ 0.84905, -0.52397, -0.06764 ], [ -0.06619, 0.02153, -0.99758 ] ], "simulated_seconds_remaining": 4.092, "calls_remaining_including_this": 32 }, "api_seconds": 11.008329624310136, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.748, "gripper": 1 }, "note": "Previous closes were likely above the thin handle; opening and descending nearly to the surface." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17248, 0.17125, 0.1499, -2.13523, -0.1255, 2.29267, -0.95896 ], "gripper_open": 1.0, "tcp_xyz": [ 0.5601, -0.02711, 0.75207 ], "tcp_roll_pitch_yaw": [ -0.03408, -0.00427, 1.08734 ], "tcp_rotation_matrix": [ [ 0.52487, 0.85113, -0.00969 ], [ 0.84883, -0.52423, -0.06836 ], [ -0.06326, 0.02766, -0.99761 ] ], "simulated_seconds_remaining": 3.036, "calls_remaining_including_this": 31 }, "api_seconds": 3.202866794541478, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Closing at lower height to catch the thin handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17398, 0.15993, 0.14824, -2.12281, -0.12644, 2.33718, -0.95883 ], "gripper_open": 0.0373, "tcp_xyz": [ 0.57889, -0.02869, 0.76804 ], "tcp_roll_pitch_yaw": [ -0.09462, -0.0352, 1.0887 ], "tcp_rotation_matrix": [ [ 0.52784, 0.84736, 0.0581 ], [ 0.84888, -0.52405, -0.06906 ], [ -0.02808, 0.08577, -0.99592 ] ], "simulated_seconds_remaining": 2.112, "calls_remaining_including_this": 30 }, "api_seconds": 4.203888099640608, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Gripper stopped at 0.037 indicating an object held; lifting the spatula." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17683, 0.03672, 0.15409, -1.98013, -0.08388, 2.07515, -1.00031 ], "gripper_open": 0.0, "tcp_xyz": [ 0.57898, -0.02869, 0.87884 ], "tcp_roll_pitch_yaw": [ -0.09497, -0.03535, 1.08872 ], "tcp_rotation_matrix": [ [ 0.52784, 0.84733, 0.05847 ], [ 0.84888, -0.52405, -0.0691 ], [ -0.02791, 0.08611, -0.99589 ] ], "simulated_seconds_remaining": 1.056, "calls_remaining_including_this": 29 }, "api_seconds": 4.8040944784879684, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Ran out of simulated motion time. Located the spatula and made several grasp attempts on its thin handle; the gripper closed empty each time (last close briefly registered contact but slipped out on lift)." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 047 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 47, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 31, "api_calls": 32, "wall_seconds": 268.3767168521881, "usage": { "input_tokens": 64, "cache_creation_input_tokens": 30292, "cache_read_input_tokens": 482213, "output_tokens": 13378 }, "estimated_cost_usd": 0.7652015 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezmrE88x7Cg1gnm5SrA1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HtSk34y48KNZ5UzBW3rPpD", "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": 1759, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1759, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 102, "output_tokens_details": { "thinking_tokens": 78 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezmrSPqBFLoN1stQLCds", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CUvA1Mgg32zb5K3K7icyfr", "name": "move_to", "input": { "targets": { "x": 0.3, "y": 0.0, "z": 1.15 }, "note": "Raise to get a wider wrist view of the table to locate the spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 537, "cache_read_input_tokens": 1759, "cache_creation": { "ephemeral_5m_input_tokens": 537, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 261, "output_tokens_details": { "thinking_tokens": 147 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CezmrtkM6Yx2NcW2czV2W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011BtNgCbvoyXTLSgumxdwe6", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.0, "z": 1.15 }, "note": "Move forward over the table to see objects below 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": 753, "cache_read_input_tokens": 2296, "cache_creation": { "ephemeral_5m_input_tokens": 753, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 375, "output_tokens_details": { "thinking_tokens": 267 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CezmsUX6geVDnkFwVSQzt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01PdnFn4TaG6dWmocJXZn1M9", "name": "move_to", "input": { "targets": { "z": 1.05 }, "note": "Descend to get closer wrist view of the spatula-looking object." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 869, "cache_read_input_tokens": 3049, "cache_creation": { "ephemeral_5m_input_tokens": 869, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 300, "output_tokens_details": { "thinking_tokens": 204 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezmsy8oQEVUwELE6UDaJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HcUTUTDE7MK88CbZcdpFcK", "name": "move_to", "input": { "targets": { "x": 0.5 }, "note": "Small forward probe to learn wrist-image mapping relative to x." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 792, "cache_read_input_tokens": 3918, "cache_creation": { "ephemeral_5m_input_tokens": 792, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 394, "output_tokens_details": { "thinking_tokens": 297 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezmtYHLsFodXHrNbbbEQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01LNNdAWSvvTqRhdMze1a6Jg", "name": "move_to", "input": { "targets": { "y": 0.06 }, "note": "Probe left motion to learn y mapping in wrist image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 888, "cache_read_input_tokens": 4710, "cache_creation": { "ephemeral_5m_input_tokens": 888, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 212, "output_tokens_details": { "thinking_tokens": 118 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezmtwBG8Th39PfSDPs5U", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01CW6Xndy7Dmca2ERTncyi8E", "name": "move_to", "input": { "targets": { "x": 0.54, "y": -0.05 }, "note": "Based on probes, image-left = -y and image-up = +x; move toward estimated spatula position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 704, "cache_read_input_tokens": 5598, "cache_creation": { "ephemeral_5m_input_tokens": 704, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 755, "output_tokens_details": { "thinking_tokens": 641 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011Cezmuy8rmBahYBPahjiqk", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014TKHmKmsbd6Wdw21Fg6imU", "name": "move_to", "input": { "targets": { "x": 0.56, "y": -0.075, "z": 1.0 }, "note": "Center on spatula and descend for a closer look at handle orientation." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1249, "cache_read_input_tokens": 6302, "cache_creation": { "ephemeral_5m_input_tokens": 1249, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 580, "output_tokens_details": { "thinking_tokens": 468 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CezmviuNzYwnefnTfhhRi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ErDRQH3mfkdg4xzz2bAUXU", "name": "move_to", "input": { "targets": { "x": 0.62 }, "note": "Spatula still appears above image center (=further forward); move forward." }, "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": 7551, "cache_creation": { "ephemeral_5m_input_tokens": 1074, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 347, "output_tokens_details": { "thinking_tokens": 252 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CezmwDByv9mUuhiyuzpUy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016UmWHMsoszxpBFQThrCjEG", "name": "move_to", "input": { "targets": { "x": 0.54 }, "note": "Re-probing x direction: moving back to check whether spatula descends in wrist image." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 841, "cache_read_input_tokens": 8625, "cache_creation": { "ephemeral_5m_input_tokens": 841, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 958, "output_tokens_details": { "thinking_tokens": 856 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CezmxSQ1HWVqkG3uQhshC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UeA2xq9gWqoTgeeSVh4dz5", "name": "move_to", "input": { "targets": { "z": 0.92 }, "note": "Descend closer to table to judge finger-vs-spatula offsets clearly." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1452, "cache_read_input_tokens": 9466, "cache_creation": { "ephemeral_5m_input_tokens": 1452, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 877, "output_tokens_details": { "thinking_tokens": 776 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CezmyUmuKLwAgNHc85JGP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XQEvPca9QC28xm7LXty8mt", "name": "move_to", "input": { "targets": { "z": 0.86 }, "note": "Continue descending to gauge table height and spatula offset." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1376, "cache_read_input_tokens": 10918, "cache_creation": { "ephemeral_5m_input_tokens": 1376, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 304, "output_tokens_details": { "thinking_tokens": 211 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezmz14oiAJb9qbnsaA42", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_013Uq8FvQhAxABy7WKGZd9Yn", "name": "move_to", "input": { "targets": { "x": 0.49 }, "note": "Spatula appears above the finger region (i.e., behind the grasp point); step back 5 cm." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 798, "cache_read_input_tokens": 12294, "cache_creation": { "ephemeral_5m_input_tokens": 798, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 424, "output_tokens_details": { "thinking_tokens": 317 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezmzhi3a5xRVnncn6xLe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01RfzD79UPfgKPtXVCZivL1g", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Descend further toward the table; handle appears near gripper region." }, "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": 13092, "cache_creation": { "ephemeral_5m_input_tokens": 918, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 495, "output_tokens_details": { "thinking_tokens": 401 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezn1RMaBX8QfEjggLAK5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018j8w5qSh6HQgLSvBLtFk6K", "name": "move_to", "input": { "targets": { "z": 0.76 }, "note": "Lower further to see where the table surface and spatula parts are relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 989, "cache_read_input_tokens": 14010, "cache_creation": { "ephemeral_5m_input_tokens": 989, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 475, "output_tokens_details": { "thinking_tokens": 375 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezn243wRo5YWy5bgcd1D", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01ThiHEwCGwMyQ5rhbgJU6s4", "name": "move_to", "input": { "targets": { "z": 0.73 }, "note": "Small descent to approach table level for grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 974, "cache_read_input_tokens": 14999, "cache_creation": { "ephemeral_5m_input_tokens": 974, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 299, "output_tokens_details": { "thinking_tokens": 210 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezn2ZPYTtVG99R9cDsMc", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Q73r5uKZh3zkSToMGWtfZC", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on spatula, which appears in the finger gap at table level." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 790, "cache_read_input_tokens": 15973, "cache_creation": { "ephemeral_5m_input_tokens": 790, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 358, "output_tokens_details": { "thinking_tokens": 260 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezn3836F9DY1KPUwyChs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01K3VSP8KkxcvRxWSxMJ2hTu", "name": "move_to", "input": { "targets": { "z": 0.9 }, "note": "Lift to check whether the spatula 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": 854, "cache_read_input_tokens": 16763, "cache_creation": { "ephemeral_5m_input_tokens": 854, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 151, "output_tokens_details": { "thinking_tokens": 60 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezn3QuLrUf5KRPxNHGKY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0147UqC8Nmyc46UFEEadRs4B", "name": "move_to", "input": { "targets": { "x": 0.53, "y": -0.11, "z": 0.79 }, "note": "Shift toward where the handle extends (forward-right of the blade) and descend to check alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 647, "cache_read_input_tokens": 17617, "cache_creation": { "ephemeral_5m_input_tokens": 647, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 553, "output_tokens_details": { "thinking_tokens": 432 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezn4BRWEZp1TFQZ383uM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FkjBD2K35pL3DMa2uZqX87", "name": "move_to", "input": { "targets": { "z": 0.762 }, "note": "Descend to just above table with handle apparently in 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": 1049, "cache_read_input_tokens": 18264, "cache_creation": { "ephemeral_5m_input_tokens": 1049, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 556, "output_tokens_details": { "thinking_tokens": 461 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezn4yFoBcvcwxKQPYzeq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01GVjaTcEiGBeHML1GuFpvSN", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper to grasp the spatula handle." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1052, "cache_read_input_tokens": 19313, "cache_creation": { "ephemeral_5m_input_tokens": 1052, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 137, "output_tokens_details": { "thinking_tokens": 46 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezn5GVPDFdWwX4nkz1BG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ux1Va9qTc47RgqKNUkWFek", "name": "move_to", "input": { "targets": { "x": 0.512, "y": -0.093, "z": 0.755, "gripper": 1 }, "note": "Missed (fully closed). Reposition midway between the blade-contact pose and current pose, reopen gripper." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 633, "cache_read_input_tokens": 20365, "cache_creation": { "ephemeral_5m_input_tokens": 633, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 638, "output_tokens_details": { "thinking_tokens": 503 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezn65LCQEpRj373JtY9W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AThcYFY3FthaqpcdxiprZ8", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close at intermediate position to catch the spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1134, "cache_read_input_tokens": 20998, "cache_creation": { "ephemeral_5m_input_tokens": 1134, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 114, "output_tokens_details": { "thinking_tokens": 23 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011Cezn6M5VeL1bsVDCWx2Ck", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012L8f6eCFJENBjxGRTb1YZA", "name": "move_to", "input": { "targets": { "x": 0.45, "y": -0.06, "z": 0.95, "gripper": 1 }, "note": "Back off and up to re-localize the spatula after possible disturbance." }, "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": 22132, "cache_creation": { "ephemeral_5m_input_tokens": 608, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 602, "output_tokens_details": { "thinking_tokens": 481 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011Cezn7D8nHMdSCg5e9sFHQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VWr8bUfsQzmvhzqsQrxMtD", "name": "move_to", "input": { "targets": { "x": 0.505, "y": -0.085, "z": 0.8, "yaw": -0.785 }, "note": "Align fingers perpendicular to the diagonal handle (yaw -45°) above the estimated spatula position." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1101, "cache_read_input_tokens": 22740, "cache_creation": { "ephemeral_5m_input_tokens": 1101, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 832, "output_tokens_details": { "thinking_tokens": 695 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011Cezn8FsGVy2onZ1jZ4eM9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01MXwvmbaUXCpN1totMsqfko", "name": "move_to", "input": { "targets": { "x": 0.4945, "y": -0.083, "z": 0.752, "yaw": 0 }, "note": "Return to the pose where closing previously contacted the spatula blade (gripper stalled at 0.75)." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1332, "cache_read_input_tokens": 23841, "cache_creation": { "ephemeral_5m_input_tokens": 1332, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 942, "output_tokens_details": { "thinking_tokens": 809 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011Cezn9RKZh9PL4o8GxmtH1", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_017EB9BoJuGAC3HxXPRvj11T", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper at the pose that previously made contact with the spatula." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1436, "cache_read_input_tokens": 25173, "cache_creation": { "ephemeral_5m_input_tokens": 1436, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 95, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011Cezn9fqSCB4MEyq946SCs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Cfp2p3TtbPakwhU9yK2pHv", "name": "move_to", "input": { "targets": { "z": 0.88, "gripper": 0 }, "note": "Lift while keeping gripper closed to see if the spatula is held." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 590, "cache_read_input_tokens": 26609, "cache_creation": { "ephemeral_5m_input_tokens": 590, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 195, "output_tokens_details": { "thinking_tokens": 90 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CeznA35dM4iLXaVWhSCSm", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VTRQ8F9EwsA2awjTUQWh7Z", "name": "move_to", "input": { "targets": { "x": 0.512, "y": -0.062, "z": 0.754, "gripper": 1 }, "note": "Last attempt: shift left (+y) where the blade appears, drop to table level with gripper open." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 689, "cache_read_input_tokens": 27199, "cache_creation": { "ephemeral_5m_input_tokens": 689, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 694, "output_tokens_details": { "thinking_tokens": 564 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CeznAxnC6x55fW7GGGTYv", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01MvzriVNtSKY32ncB2UM7wH", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Close gripper on the spatula visible in 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": 1194, "cache_read_input_tokens": 27888, "cache_creation": { "ephemeral_5m_input_tokens": 1194, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 93, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CeznBCLGimU3tccB9TS8c", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VvMRsuuL6rePJHnh26HcDw", "name": "move_to", "input": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Final lift attempt with gripper closed." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 587, "cache_read_input_tokens": 29082, "cache_creation": { "ephemeral_5m_input_tokens": 587, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 130, "output_tokens_details": { "thinking_tokens": 33 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 32, "response": { "model": "claude-opus-5", "id": "msg_011CeznBmWZcvE6vnHhmL8k8", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01F5kBotDCYvrDKtbfgufbeS", "name": "give_up", "input": { "note": "Repeated grasp attempts closed on empty air; the thin spatula lying flat was never captured, and simulated motion 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": 623, "cache_read_input_tokens": 29669, "cache_creation": { "ephemeral_5m_input_tokens": 623, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 130, "output_tokens_details": { "thinking_tokens": 37 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.04178, -0.77676, 0.00727, -2.40322, 0.03265, 1.60687, -0.04283 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3083, -0.00243, 0.99362 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99982, 0.00442, -0.01856 ], [ 0.00494, -0.99959, 0.02823 ], [ -0.01842, -0.02832, -0.99943 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 9.00786301586777, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.3, "y": 0.0, "z": 1.15 }, "note": "Raise to get a wider wrist view of the table to locate the spatula." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.03988, -0.64143, 0.00698, -1.89938, 0.0336, 1.23883, -0.02837 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.3001, -2e-05, 1.14869 ], "tcp_roll_pitch_yaw": [ 0.0, -0.00023, -0.0 ], "tcp_rotation_matrix": [ [ 0.99982, 0.00443, -0.01833 ], [ 0.00494, -0.99959, 0.02823 ], [ -0.0182, -0.02832, -0.99943 ] ], "simulated_seconds_remaining": 28.71, "calls_remaining_including_this": 56 }, "api_seconds": 7.606732873246074, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.0, "z": 1.15 }, "note": "Move forward over the table to see objects below the gripper." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.03825, -0.21373, 0.01674, -1.53687, 0.03253, 1.3041, -0.01832 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44872, -1e-05, 1.14989 ], "tcp_roll_pitch_yaw": [ 1e-05, 2e-05, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99982, 0.00441, -0.01858 ], [ 0.00493, -0.99959, 0.02824 ], [ -0.01844, -0.02832, -0.99943 ] ], "simulated_seconds_remaining": 27.39, "calls_remaining_including_this": 55 }, "api_seconds": 6.205159708857536, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.05 }, "note": "Descend to get closer wrist view of the spatula-looking object." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.03807, -0.31569, 0.01775, -1.904, 0.03335, 1.56889, -0.02618 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44871, -1e-05, 1.05119 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.0003, -0.0 ], "tcp_rotation_matrix": [ [ 0.99981, 0.00441, -0.01886 ], [ 0.00494, -0.99959, 0.02824 ], [ -0.01873, -0.02833, -0.99942 ] ], "simulated_seconds_remaining": 26.4, "calls_remaining_including_this": 54 }, "api_seconds": 7.406590303406119, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5 }, "note": "Small forward probe to learn wrist-image mapping relative to x." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.03739, -0.1614, 0.02033, -1.74768, 0.03118, 1.56679, -0.0222 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49882, -1e-05, 1.05111 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00047, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99981, 0.0044, -0.01903 ], [ 0.00493, -0.99959, 0.02824 ], [ -0.0189, -0.02833, -0.99942 ] ], "simulated_seconds_remaining": 25.74, "calls_remaining_including_this": 53 }, "api_seconds": 5.204788769595325, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.06 }, "note": "Probe left motion to learn y mapping in wrist image." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the spatula.", "joint_positions": [ 0.00875, -0.15412, 0.084, -1.73989, 0.04274, 1.56992, 0.08641 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49882, 0.05892, 1.05111 ], "tcp_roll_pitch_yaw": [ 1e-05, 0.00047, 0.00025 ], "tcp_rotation_matrix": [ [ 0.99981, 0.00466, -0.01904 ], [ 0.0052, -0.99959, 0.02823 ], [ -0.0189, -0.02833, -0.99942 ] ], "simulated_seconds_remaining": 25.014, "calls_remaining_including_this": 52 }, "api_seconds": 13.610885447822511, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54, "y": -0.05 }, "note": "Based on probes, image-left = -y and image-up = +x; move toward estimated spatula position." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.07978, -0.02108, -0.02295, -1.58752, 0.02566, 1.54453, -0.10697 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53953, -0.04886, 1.05106 ], "tcp_roll_pitch_yaw": [ 2e-05, 0.00056, -4e-05 ], "tcp_rotation_matrix": [ [ 0.99981, 0.00436, -0.01912 ], [ 0.0049, -0.99959, 0.02825 ], [ -0.01899, -0.02833, -0.99942 ] ], "simulated_seconds_remaining": 23.958, "calls_remaining_including_this": 51 }, "api_seconds": 10.008362064138055, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.56, "y": -0.075, "z": 1.0 }, "note": "Center on spatula and descend for a closer look at handle orientation." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10071, 0.0293, -0.04384, -1.65541, 0.02658, 1.66135, -0.15178 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.55957, -0.07453, 1.00088 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00087, -0.00014 ], "tcp_rotation_matrix": [ [ 0.9998, 0.00425, -0.01943 ], [ 0.0048, -0.99959, 0.02828 ], [ -0.0193, -0.02836, -0.99941 ] ], "simulated_seconds_remaining": 23.232, "calls_remaining_including_this": 50 }, "api_seconds": 6.2053090231493115, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.62 }, "note": "Spatula still appears above image center (=further forward); move forward." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.09739, 0.23493, -0.03919, -1.38515, 0.03452, 1.59663, -0.14145 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.61881, -0.07452, 1.00078 ], "tcp_roll_pitch_yaw": [ 6e-05, 0.00105, -0.00012 ], "tcp_rotation_matrix": [ [ 0.9998, 0.00427, -0.01961 ], [ 0.00483, -0.99959, 0.0283 ], [ -0.01948, -0.02838, -0.99941 ] ], "simulated_seconds_remaining": 22.506, "calls_remaining_including_this": 49 }, "api_seconds": 16.412957845255733, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.54 }, "note": "Re-probing x direction: moving back to check whether spatula descends in wrist image." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10219, -0.02914, -0.04546, -1.72599, 0.02391, 1.67347, -0.15485 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54138, -0.07454, 1.00091 ], "tcp_roll_pitch_yaw": [ 4e-05, 0.00088, -0.00016 ], "tcp_rotation_matrix": [ [ 0.9998, 0.00424, -0.01943 ], [ 0.00478, -0.99959, 0.02827 ], [ -0.0193, -0.02836, -0.99941 ] ], "simulated_seconds_remaining": 21.714, "calls_remaining_including_this": 48 }, "api_seconds": 13.81074979249388, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.92 }, "note": "Descend closer to table to judge finger-vs-spatula offsets clearly." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10193, -0.02499, -0.04517, -1.92452, 0.02514, 1.87575, -0.15942 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54134, -0.07454, 0.92113 ], "tcp_roll_pitch_yaw": [ 8e-05, 0.00122, -0.00015 ], "tcp_rotation_matrix": [ [ 0.9998, 0.00423, -0.01977 ], [ 0.00479, -0.99959, 0.02831 ], [ -0.01964, -0.0284, -0.9994 ] ], "simulated_seconds_remaining": 20.856, "calls_remaining_including_this": 47 }, "api_seconds": 6.805966142565012, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.86 }, "note": "Continue descending to gauge table height and spatula offset." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10188, 0.01014, -0.04516, -2.03786, 0.02843, 2.02379, -0.1643 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.54128, -0.07453, 0.86109 ], "tcp_roll_pitch_yaw": [ 0.00012, 0.00155, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99979, 0.00423, -0.0201 ], [ 0.0048, -0.99959, 0.02835 ], [ -0.01997, -0.02844, -0.9994 ] ], "simulated_seconds_remaining": 20.13, "calls_remaining_including_this": 46 }, "api_seconds": 9.00687554385513, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.49 }, "note": "Spatula appears above the finger region (i.e., behind the grasp point); step back 5 cm." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10844, -0.13659, -0.05116, -2.20838, 0.02009, 2.0476, -0.17296 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49119, -0.07455, 0.86114 ], "tcp_roll_pitch_yaw": [ 0.00011, 0.00149, -0.00018 ], "tcp_rotation_matrix": [ [ 0.99979, 0.0042, -0.02004 ], [ 0.00476, -0.99959, 0.02834 ], [ -0.01992, -0.02843, -0.9994 ] ], "simulated_seconds_remaining": 19.47, "calls_remaining_including_this": 45 }, "api_seconds": 9.607931044884026, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Descend further toward the table; handle appears near gripper region." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10794, -0.06893, -0.05204, -2.2955, 0.02626, 2.20185, -0.18006 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49112, -0.07453, 0.8011 ], "tcp_roll_pitch_yaw": [ 0.00016, 0.00182, -0.00017 ], "tcp_rotation_matrix": [ [ 0.99978, 0.00419, -0.02037 ], [ 0.00477, -0.99959, 0.02839 ], [ -0.02025, -0.02848, -0.99939 ] ], "simulated_seconds_remaining": 18.744, "calls_remaining_including_this": 44 }, "api_seconds": 8.406714143231511, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.76 }, "note": "Lower further to see where the table surface and spatula parts are relative to fingers." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10751, -0.00811, -0.05219, -2.33834, 0.03282, 2.30505, -0.18648 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49104, -0.07452, 0.76103 ], "tcp_roll_pitch_yaw": [ 0.0002, 0.00212, -0.00017 ], "tcp_rotation_matrix": [ [ 0.99978, 0.00419, -0.02067 ], [ 0.00478, -0.99958, 0.02843 ], [ -0.02054, -0.02852, -0.99938 ] ], "simulated_seconds_remaining": 18.15, "calls_remaining_including_this": 43 }, "api_seconds": 6.6048289919272065, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.73 }, "note": "Small descent to approach table level for grasp." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10788, 0.01704, -0.05252, -2.354, 0.0386, 2.35425, -0.18971 ], "gripper_open": 1.0, "tcp_xyz": [ 0.49254, -0.07501, 0.74611 ], "tcp_roll_pitch_yaw": [ 0.00046, -0.00652, -0.00295 ], "tcp_rotation_matrix": [ [ 0.99993, 0.00166, -0.01196 ], [ 0.002, -0.99959, 0.02873 ], [ -0.0119, -0.02875, -0.99952 ] ], "simulated_seconds_remaining": 17.622, "calls_remaining_including_this": 42 }, "api_seconds": 7.205922735854983, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on spatula, which appears in the finger gap at table level." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.1142, 0.00716, -0.06067, -2.34912, 0.0347, 2.35145, -0.18837 ], "gripper_open": 0.7507, "tcp_xyz": [ 0.49449, -0.08306, 0.75282 ], "tcp_roll_pitch_yaw": [ -0.00361, -0.01794, -0.01585 ], "tcp_rotation_matrix": [ [ 0.99994, -0.01098, -0.00023 ], [ -0.01097, -0.99964, 0.02463 ], [ -0.0005, -0.02462, -0.9997 ] ], "simulated_seconds_remaining": 16.698, "calls_remaining_including_this": 41 }, "api_seconds": 3.6033396273851395, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.9 }, "note": "Lift to check whether the spatula was grasped." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.11527, -0.16531, -0.05874, -2.14525, 0.01586, 1.97609, -0.1685 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49458, -0.08307, 0.89876 ], "tcp_roll_pitch_yaw": [ -0.00365, -0.01832, -0.01585 ], "tcp_rotation_matrix": [ [ 0.99994, -0.01098, 0.00015 ], [ -0.01098, -0.99964, 0.02458 ], [ -0.00012, -0.02458, -0.9997 ] ], "simulated_seconds_remaining": 15.444, "calls_remaining_including_this": 40 }, "api_seconds": 9.807838053442538, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.53, "y": -0.11, "z": 0.79 }, "note": "Shift toward where the handle extends (forward-right of the blade) and descend to check alignment." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.13277, 0.05677, -0.0809, -2.17423, 0.03608, 2.22507, -0.22456 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52951, -0.10969, 0.79113 ], "tcp_roll_pitch_yaw": [ -0.00359, -0.01796, -0.0159 ], "tcp_rotation_matrix": [ [ 0.99994, -0.01103, -0.00021 ], [ -0.01102, -0.99964, 0.02465 ], [ -0.00048, -0.02464, -0.9997 ] ], "simulated_seconds_remaining": 14.388, "calls_remaining_including_this": 39 }, "api_seconds": 10.608944272622466, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.762 }, "note": "Descend to just above table with handle apparently in the finger gap." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.13313, 0.09707, -0.08021, -2.20208, 0.04238, 2.29267, -0.23007 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.52943, -0.10967, 0.76314 ], "tcp_roll_pitch_yaw": [ -0.00354, -0.01766, -0.01589 ], "tcp_rotation_matrix": [ [ 0.99994, -0.01103, -0.00051 ], [ -0.01101, -0.99963, 0.0247 ], [ -0.00079, -0.0247, -0.99969 ] ], "simulated_seconds_remaining": 13.926, "calls_remaining_including_this": 38 }, "api_seconds": 3.8034834805876017, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper to grasp the spatula handle." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.13317, 0.09694, -0.08027, -2.20198, 0.04236, 2.29269, -0.23007 ], "gripper_open": 0.0001, "tcp_xyz": [ 0.52949, -0.10974, 0.76325 ], "tcp_roll_pitch_yaw": [ -0.0036, -0.0179, -0.01597 ], "tcp_rotation_matrix": [ [ 0.99994, -0.0111, -0.00027 ], [ -0.01109, -0.99963, 0.02464 ], [ -0.00054, -0.02463, -0.9997 ] ], "simulated_seconds_remaining": 13.002, "calls_remaining_including_this": 37 }, "api_seconds": 10.609066183678806, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.512, "y": -0.093, "z": 0.755, "gripper": 1 }, "note": "Missed (fully closed). Reposition midway between the blade-contact pose and current pose, reopen gripper." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.11967, 0.05645, -0.06956, -2.27856, 0.03869, 2.3296, -0.20476 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.51271, -0.09367, 0.75534 ], "tcp_roll_pitch_yaw": [ -0.0036, -0.0179, -0.01594 ], "tcp_rotation_matrix": [ [ 0.99994, -0.01107, -0.00027 ], [ -0.01106, -0.99964, 0.02464 ], [ -0.00054, -0.02463, -0.9997 ] ], "simulated_seconds_remaining": 12.078, "calls_remaining_including_this": 36 }, "api_seconds": 3.4035191275179386, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close at intermediate position to catch the spatula." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.123, 0.05223, -0.07394, -2.27373, 0.03651, 2.33173, -0.20489 ], "gripper_open": 0.0103, "tcp_xyz": [ 0.51531, -0.09856, 0.75977 ], "tcp_roll_pitch_yaw": [ -0.00708, -0.02864, -0.02196 ], "tcp_rotation_matrix": [ [ 0.9998, -0.01693, 0.01054 ], [ -0.01714, -0.99963, 0.02092 ], [ 0.01018, -0.0211, -0.99973 ] ], "simulated_seconds_remaining": 11.154, "calls_remaining_including_this": 35 }, "api_seconds": 11.209497447125614, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": -0.06, "z": 0.95, "gripper": 1 }, "note": "Back off and up to re-localize the spatula after possible disturbance." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.10196, -0.33931, -0.0372, -2.19366, 0.01023, 1.86251, -0.123 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.45051, -0.06025, 0.94887 ], "tcp_roll_pitch_yaw": [ -0.00712, -0.02901, -0.02192 ], "tcp_rotation_matrix": [ [ 0.9998, -0.01688, 0.01091 ], [ -0.01711, -0.99964, 0.02088 ], [ 0.01055, -0.02106, -0.99972 ] ], "simulated_seconds_remaining": 9.504, "calls_remaining_including_this": 34 }, "api_seconds": 13.622639144770801, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.505, "y": -0.085, "z": 0.8, "yaw": -0.785 }, "note": "Align fingers perpendicular to the diagonal handle (yaw -45°) above the estimated spatula position." } } } ] } } ] }, "execution": { "steps": 21, "motion_seconds": 1.3860000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.18146, -0.05369, 0.01057, -2.2899, 0.01535, 2.25646, 0.59538 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50465, -0.08487, 0.80065 ], "tcp_roll_pitch_yaw": [ -0.00733, -0.02873, -0.78072 ], "tcp_rotation_matrix": [ [ 0.71375, -0.70006, 0.02193 ], [ -0.70033, -0.71378, 0.0077 ], [ 0.01026, -0.02085, -0.99973 ] ], "simulated_seconds_remaining": 8.118, "calls_remaining_including_this": 33 }, "api_seconds": 15.412160413339734, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4945, "y": -0.083, "z": 0.752, "yaw": 0 }, "note": "Return to the pose where closing previously contacted the spatula blade (gripper stalled at 0.75)." } } } ] } } ] }, "execution": { "steps": 20, "motion_seconds": 1.32, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17169, 0.00224, -0.00225, -2.35997, 0.03195, 2.36834, -0.19702 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49453, -0.08301, 0.75223 ], "tcp_roll_pitch_yaw": [ -0.00732, -0.02861, -0.00472 ], "tcp_rotation_matrix": [ [ 0.99995, 0.0003, 0.01015 ], [ 9e-05, -0.99978, 0.02087 ], [ 0.01015, -0.02087, -0.99973 ] ], "simulated_seconds_remaining": 6.798, "calls_remaining_including_this": 32 }, "api_seconds": 3.0029303850606084, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper at the pose that previously made contact with the spatula." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.17774, -0.00535, -0.01001, -2.35129, 0.02809, 2.37213, -0.19725 ], "gripper_open": 0.0314, "tcp_xyz": [ 0.49941, -0.09148, 0.76007 ], "tcp_roll_pitch_yaw": [ -0.01346, -0.04792, -0.01535 ], "tcp_rotation_matrix": [ [ 0.99951, -0.01022, 0.02957 ], [ -0.01065, -0.99984, 0.01432 ], [ 0.02942, -0.01463, -0.99946 ] ], "simulated_seconds_remaining": 5.874, "calls_remaining_including_this": 31 }, "api_seconds": 4.403900170698762, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88, "gripper": 0 }, "note": "Lift while keeping gripper closed to see if the spatula is held." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.1788, -0.1545, -0.01022, -2.1932, 0.02052, 2.06534, -0.18798 ], "gripper_open": 0.0, "tcp_xyz": [ 0.4995, -0.09149, 0.87884 ], "tcp_roll_pitch_yaw": [ -0.01351, -0.04827, -0.01535 ], "tcp_rotation_matrix": [ [ 0.9995, -0.01022, 0.02993 ], [ -0.01065, -0.99984, 0.01426 ], [ 0.02978, -0.01458, -0.99945 ] ], "simulated_seconds_remaining": 4.752, "calls_remaining_including_this": 30 }, "api_seconds": 12.40925819054246, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.512, "y": -0.062, "z": 0.754, "gripper": 1 }, "note": "Last attempt: shift left (+y) where the blade appears, drop to table level with gripper open." } } } ] } } ] }, "execution": { "steps": 18, "motion_seconds": 1.1880000000000002, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.14978, 0.02382, 0.02286, -2.3299, 0.02524, 2.38109, -0.13461 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.51179, -0.06226, 0.75512 ], "tcp_roll_pitch_yaw": [ -0.01348, -0.04792, -0.01528 ], "tcp_rotation_matrix": [ [ 0.99951, -0.01016, 0.02957 ], [ -0.01058, -0.99984, 0.01431 ], [ 0.02942, -0.01461, -0.99946 ] ], "simulated_seconds_remaining": 3.564, "calls_remaining_including_this": 29 }, "api_seconds": 2.8029306568205357, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Close gripper on the spatula visible in the finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.15333, 0.01899, 0.01826, -2.32464, 0.02307, 2.38327, -0.13475 ], "gripper_open": 0.0128, "tcp_xyz": [ 0.51498, -0.06723, 0.76006 ], "tcp_roll_pitch_yaw": [ -0.01663, -0.05992, -0.02165 ], "tcp_rotation_matrix": [ [ 0.999, -0.01653, 0.04158 ], [ -0.01699, -0.9998, 0.01071 ], [ 0.0414, -0.0114, -0.99908 ] ], "simulated_seconds_remaining": 2.64, "calls_remaining_including_this": 28 }, "api_seconds": 7.406689632683992, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "gripper": 0 }, "note": "Final lift attempt with gripper closed." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 31, "state": { "instruction": "pick up the spatula.", "joint_positions": [ -0.15403, -0.102, 0.01745, -2.21807, 0.02166, 2.15608, -0.13147 ], "gripper_open": 0.0, "tcp_xyz": [ 0.51507, -0.06724, 0.84887 ], "tcp_roll_pitch_yaw": [ -0.01667, -0.06027, -0.02165 ], "tcp_rotation_matrix": [ [ 0.99898, -0.01653, 0.04194 ], [ -0.01699, -0.9998, 0.01066 ], [ 0.04175, -0.01136, -0.99906 ] ], "simulated_seconds_remaining": 1.716, "calls_remaining_including_this": 27 }, "api_seconds": 3.603029658086598, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Repeated grasp attempts closed on empty air; the thin spatula lying flat was never captured, and simulated motion time is nearly exhausted." } } } ] } } ] } } ======================================================================== Opus 5 / Pick / Episode 048 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 48, "status": "completed", "success": true, "oracle_success": true, "action_decisions": 25, "api_calls": 26, "wall_seconds": 199.98123025894165, "usage": { "input_tokens": 52, "cache_creation_input_tokens": 23903, "cache_read_input_tokens": 291981, "output_tokens": 10024 }, "estimated_cost_usd": 0.54624425 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CezmwU4BcPJxmWxVch5Rv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Gb5hbFvfRk8yMrgZRc1HMM", "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": 1756, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1756, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 98, "output_tokens_details": { "thinking_tokens": 74 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 2, "response": { "model": "claude-opus-5", "id": "msg_011CezmwgqtFnJRgC1D5J4T1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_011taxaCDkpaz1WnVWj2rNds", "name": "move_to", "input": { "targets": { "x": 0.35, "y": 0.05, "z": 1.15, "pitch": 0.6 }, "note": "Raise and pitch down to survey the table for the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 530, "cache_read_input_tokens": 1756, "cache_creation": { "ephemeral_5m_input_tokens": 530, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 265, "output_tokens_details": { "thinking_tokens": 146 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011Cezmx8HL6JYB5W19AcY6o", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VjVonQKRUPrYYK9nVq79KN", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.05, "z": 1.2, "pitch": 1.2 }, "note": "Pitch camera further down to view tabletop objects from above." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 757, "cache_read_input_tokens": 2286, "cache_creation": { "ephemeral_5m_input_tokens": 757, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 377, "output_tokens_details": { "thinking_tokens": 257 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011Cezmxg3n7u2QwUpEUzW1r", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0146XLv63N3bGGK7CURcJjdF", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.1, "z": 1.1, "pitch": 0.8 }, "note": "Move forward over the table to get a closer top-down-ish view of the objects." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 869, "cache_read_input_tokens": 3043, "cache_creation": { "ephemeral_5m_input_tokens": 869, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 305, "output_tokens_details": { "thinking_tokens": 180 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011Cezmy7xG9a2n8eYdzgQLY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SxFHiRXPJK4vSSXbN5pzfL", "name": "move_to", "input": { "targets": { "x": 0.45, "y": 0.08, "z": 1.12 }, "note": "Small forward step keeping current orientation to test reachability." }, "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": 3912, "cache_creation": { "ephemeral_5m_input_tokens": 797, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 165, "output_tokens_details": { "thinking_tokens": 56 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CezmyP288KkBNw4gmTWEn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014deD8DHS8wJDj1iC6xiduT", "name": "move_to", "input": { "targets": { "pitch": 1.1 }, "note": "Tilt wrist camera downward for a top view of nearby tabletop." }, "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": 4709, "cache_creation": { "ephemeral_5m_input_tokens": 657, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 320, "output_tokens_details": { "thinking_tokens": 219 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CezmyvHZkA9uMfUzTZ3CY", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01SiqWdBY2Nenm5VvLX6Lz8y", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.2, "z": 1.1 }, "note": "Move forward-left toward the tabletop objects to bring the cup into 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": 812, "cache_read_input_tokens": 5366, "cache_creation": { "ephemeral_5m_input_tokens": 812, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 353, "output_tokens_details": { "thinking_tokens": 235 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CezmzTAhAWa3asj8oFk8m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XrsMxu67MbNaXuFFuBtfQ8", "name": "move_to", "input": { "targets": { "x": 0.5, "y": 0.15, "z": 1.0 }, "note": "Lower and move forward-left; lower z likely more reachable." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 845, "cache_read_input_tokens": 6178, "cache_creation": { "ephemeral_5m_input_tokens": 845, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 165, "output_tokens_details": { "thinking_tokens": 54 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011Cezmzj7e5TSvZjS3ms82N", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Nz6WR2ye3tMYuNFpQE2ZuU", "name": "move_to", "input": { "targets": { "y": 0.25, "z": 0.98 }, "note": "Shift left toward the white cup-like object seen at lower-left of 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": 654, "cache_read_input_tokens": 7023, "cache_creation": { "ephemeral_5m_input_tokens": 654, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 311, "output_tokens_details": { "thinking_tokens": 202 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011Cezn1KfGfVduC7uDmrW9m", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019arDRnaZb6nCD4R4S1g9ho", "name": "move_to", "input": { "targets": { "y": 0.05, "z": 0.96 }, "note": "Shift back right and lower to look for the cup 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": 802, "cache_read_input_tokens": 7677, "cache_creation": { "ephemeral_5m_input_tokens": 802, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 610, "output_tokens_details": { "thinking_tokens": 507 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011Cezn26rcKzivHspds5Dzs", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016uxDBs7mKMZVwMZ5fWtUxA", "name": "move_to", "input": { "targets": { "pitch": 0.0, "z": 1.05 }, "note": "Return to straight-down orientation (pitch 0) for a top-down view of the table." }, "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": 8479, "cache_creation": { "ephemeral_5m_input_tokens": 1108, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 533, "output_tokens_details": { "thinking_tokens": 421 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011Cezn2sWTn3bBX7ouFeomt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015vPeJES5G8E2QNV27HAbjL", "name": "move_to", "input": { "targets": { "y": 0.13 }, "note": "Test move +y to calibrate image direction relative to base frame while tracking the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1025, "cache_read_input_tokens": 9587, "cache_creation": { "ephemeral_5m_input_tokens": 1025, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 352, "output_tokens_details": { "thinking_tokens": 250 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011Cezn3SteqNiq9Pm2HgzUj", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YJQeon6gZZ7etjJ4H3Yssg", "name": "move_to", "input": { "targets": { "y": -0.05 }, "note": "Cup appears at negative y relative to TCP; move right toward it." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 844, "cache_read_input_tokens": 10612, "cache_creation": { "ephemeral_5m_input_tokens": 844, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 637, "output_tokens_details": { "thinking_tokens": 540 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011Cezn4Fnh6jMWoyi265Tih", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016ft11mF5R2Xuvzq5pDFbMN", "name": "move_to", "input": { "targets": { "x": 0.535, "y": -0.07, "z": 1.0 }, "note": "Center over the cup and descend partway." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1129, "cache_read_input_tokens": 11456, "cache_creation": { "ephemeral_5m_input_tokens": 1129, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 380, "output_tokens_details": { "thinking_tokens": 277 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011Cezn4kScSiacsPq9NFh6Z", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VQzcXoehZuyL84Hdq8MsTe", "name": "move_to", "input": { "targets": { "x": 0.495 }, "note": "Pure -x test move to calibrate image vertical axis direction." }, "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": 12585, "cache_creation": { "ephemeral_5m_input_tokens": 872, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 354, "output_tokens_details": { "thinking_tokens": 258 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011Cezn5JrWcqcFYxJyZt1Le", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UCNYRDHWrbt3VEx8iuLnsN", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Descend toward table to gauge cup position relative to fingers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 847, "cache_read_input_tokens": 13457, "cache_creation": { "ephemeral_5m_input_tokens": 847, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 464, "output_tokens_details": { "thinking_tokens": 369 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011Cezn5vTeauSxjG8jcY3JQ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01AWTMf7p9P4xbBDg5gAtE5m", "name": "move_to", "input": { "targets": { "z": 0.87 }, "note": "Continue descending slowly toward cup to judge alignment near 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": 957, "cache_read_input_tokens": 14304, "cache_creation": { "ephemeral_5m_input_tokens": 957, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 424, "output_tokens_details": { "thinking_tokens": 325 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011Cezn6aW8M6AjuzQaqWGuM", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01Ptq9D2Hun6L7TdvGYJF8HW", "name": "move_to", "input": { "targets": { "z": 0.83 }, "note": "Descend further; checking if fingers straddle the cup." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 914, "cache_read_input_tokens": 15261, "cache_creation": { "ephemeral_5m_input_tokens": 914, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 357, "output_tokens_details": { "thinking_tokens": 264 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011Cezn77cQHCDrN1198pAcd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01HbX5F3BV443e48nPmw7k5K", "name": "move_to", "input": { "targets": { "z": 0.8 }, "note": "Final small descent to grasp height around cup body." }, "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": 16175, "cache_creation": { "ephemeral_5m_input_tokens": 853, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 303, "output_tokens_details": { "thinking_tokens": 213 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011Cezn7cjMnn7FaL3evQtxA", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_018WXjfiuCtgDtzwMkRjhuw5", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Close gripper to attempt grasp on cup." }, "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": 17028, "cache_creation": { "ephemeral_5m_input_tokens": 795, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 174, "output_tokens_details": { "thinking_tokens": 81 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011Cezn7ydT7N4GsmJK1CArP", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01NMEb61oRgRzRWWfwquPKgh", "name": "move_to", "input": { "targets": { "gripper": 1.0, "z": 0.95 }, "note": "Reopen and lift to re-evaluate cup alignment after failed close." }, "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": 17823, "cache_creation": { "ephemeral_5m_input_tokens": 667, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 277, "output_tokens_details": { "thinking_tokens": 168 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011Cezn8SunaXZPYvchwYgEf", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01S7KsnoytCdCnutGbNyP84g", "name": "move_to", "input": { "targets": { "y": -0.035, "z": 0.86 }, "note": "Shift left (+y) since cup appeared left of fingers, and descend near 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": 770, "cache_read_input_tokens": 18490, "cache_creation": { "ephemeral_5m_input_tokens": 770, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 387, "output_tokens_details": { "thinking_tokens": 275 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011Cezn96K5ERDtnSjZeoKVG", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01X1nr8hEZ3jofxbEvjKRRWx", "name": "move_to", "input": { "targets": { "x": 0.51, "y": -0.085 }, "note": "Calibrated: cup is at y≈-0.08; move right to align above cup." }, "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": 19260, "cache_creation": { "ephemeral_5m_input_tokens": 879, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1426, "output_tokens_details": { "thinking_tokens": 1317 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CeznAhMVV5re8wndGKKqN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019DVgro5tp9PJsPqSFVTWQH", "name": "move_to", "input": { "targets": { "z": 0.825 }, "note": "Descend to grasp height at the new y alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1919, "cache_read_input_tokens": 20139, "cache_creation": { "ephemeral_5m_input_tokens": 1919, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 766, "output_tokens_details": { "thinking_tokens": 675 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CeznBjYVihG7uJ56C6gv7", "type": "message", "role": "assistant", "content": [ { "type": "tool_use", "id": "toolu_01LE3rh1gek9wY2MHQXJABYx", "name": "move_to", "input": { "targets": { "gripper": 0.0 }, "note": "Close gripper on cup at adjusted alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1259, "cache_read_input_tokens": 22058, "cache_creation": { "ephemeral_5m_input_tokens": 1259, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 93, "output_tokens_details": { "thinking_tokens": 0 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CeznByBH8SkA1TuWJ3jRr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015CzJcHLrVmLJUijsevkbX7", "name": "move_to", "input": { "targets": { "z": 0.95 }, "note": "Lift to check whether the cup is grasped." }, "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": 23317, "cache_creation": { "ephemeral_5m_input_tokens": 586, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 128, "output_tokens_details": { "thinking_tokens": 38 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.04177, -0.76239, 0.00674, -2.34101, 0.00156, 1.59216, 0.03157 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.3172, 0.0157, 1.01721 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.99979, 0.01506, 0.01366 ], [ 0.0151, -0.99988, -0.00246 ], [ 0.01362, 0.00266, -0.9999 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 8.607870310544968, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.35, "y": 0.05, "z": 1.15, "pitch": 0.6 }, "note": "Raise and pitch down to survey the table for the cup." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.05736, -0.01766, 0.03391, -1.3081, 0.07413, 0.71088, 0.11709 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34997, 0.04984, 1.14913 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.59624, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83493, 0.01386, -0.55018 ], [ 0.01506, -0.99988, -0.00233 ], [ -0.55015, -0.00634, -0.83504 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 56 }, "api_seconds": 7.406517470255494, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.05, "z": 1.2, "pitch": 1.2 }, "note": "Pitch camera further down to view tabletop objects from above." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 3, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.05736, -0.01766, 0.03391, -1.3081, 0.07413, 0.71088, 0.11709 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34997, 0.04984, 1.14913 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.59624, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83493, 0.01386, -0.55018 ], [ 0.01506, -0.99988, -0.00233 ], [ -0.55015, -0.00634, -0.83504 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 55 }, "api_seconds": 5.80505954194814, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.1, "z": 1.1, "pitch": 0.8 }, "note": "Move forward over the table to get a closer top-down-ish view of the objects." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 4, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.05736, -0.01766, 0.03391, -1.3081, 0.07413, 0.71088, 0.11709 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.34997, 0.04984, 1.14913 ], "tcp_roll_pitch_yaw": [ 0.0001, 0.59624, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83493, 0.01386, -0.55018 ], [ 0.01506, -0.99988, -0.00233 ], [ -0.55015, -0.00634, -0.83504 ] ], "simulated_seconds_remaining": 28.776, "calls_remaining_including_this": 54 }, "api_seconds": 3.203058050945401, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.45, "y": 0.08, "z": 1.12 }, "note": "Small forward step keeping current orientation to test reachability." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.08746, 0.3766, 0.05377, -0.84234, 0.09455, 0.64242, 0.18652 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44879, 0.07963, 1.12025 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.59662, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83472, 0.01388, -0.55049 ], [ 0.01506, -0.99988, -0.00238 ], [ -0.55046, -0.0063, -0.83484 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 53 }, "api_seconds": 7.206377471797168, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 1.1 }, "note": "Tilt wrist camera downward for a top view of nearby tabletop." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 6, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.08746, 0.3766, 0.05377, -0.84234, 0.09455, 0.64242, 0.18652 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44879, 0.07963, 1.12025 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.59662, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83472, 0.01388, -0.55049 ], [ 0.01506, -0.99988, -0.00238 ], [ -0.55046, -0.0063, -0.83484 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 52 }, "api_seconds": 7.006291537545621, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.2, "z": 1.1 }, "note": "Move forward-left toward the tabletop objects to bring the cup into wrist view." } } } ] } } ] }, "execution": { "error": "IK could not reach this pose; choose a nearer target or adjust orientation.", "movement_executed": false } } { "call": 7, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.08746, 0.3766, 0.05377, -0.84234, 0.09455, 0.64242, 0.18652 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44879, 0.07963, 1.12025 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.59662, -5e-05 ], "tcp_rotation_matrix": [ [ 0.83472, 0.01388, -0.55049 ], [ 0.01506, -0.99988, -0.00238 ], [ -0.55046, -0.0063, -0.83484 ] ], "simulated_seconds_remaining": 27.786, "calls_remaining_including_this": 51 }, "api_seconds": 3.202903459779918, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.5, "y": 0.15, "z": 1.0 }, "note": "Lower and move forward-left; lower z likely more reachable." } } } ] } } ] }, "execution": { "steps": 19, "motion_seconds": 1.254, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.16232, 0.43319, 0.08055, -1.09041, 0.11996, 0.95683, 0.2701 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.4995, 0.14938, 1.001 ], "tcp_roll_pitch_yaw": [ 0.0, 0.59696, 4e-05 ], "tcp_rotation_matrix": [ [ 0.83453, 0.014, -0.55078 ], [ 0.01513, -0.99988, -0.00248 ], [ -0.55075, -0.00626, -0.83465 ] ], "simulated_seconds_remaining": 26.532, "calls_remaining_including_this": 50 }, "api_seconds": 7.606286508962512, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.25, "z": 0.98 }, "note": "Shift left toward the white cup-like object seen at lower-left of wrist view." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.27584, 0.5566, 0.12853, -0.96024, 0.179, 0.97707, 0.44733 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49946, 0.24883, 0.98021 ], "tcp_roll_pitch_yaw": [ 5e-05, 0.5971, 0.00035 ], "tcp_rotation_matrix": [ [ 0.83445, 0.01427, -0.5509 ], [ 0.01539, -0.99988, -0.0026 ], [ -0.55087, -0.00631, -0.83457 ] ], "simulated_seconds_remaining": 25.542, "calls_remaining_including_this": 49 }, "api_seconds": 9.807886806316674, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.05, "z": 0.96 }, "note": "Shift back right and lower to look for the cup in wrist view." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.06249, 0.3356, 0.01886, -1.33748, 0.04116, 1.09138, 0.0744 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49948, 0.05119, 0.96013 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.5971, -4e-05 ], "tcp_rotation_matrix": [ [ 0.83445, 0.01395, -0.5509 ], [ 0.01507, -0.99988, -0.00251 ], [ -0.55087, -0.00621, -0.83457 ] ], "simulated_seconds_remaining": 23.892, "calls_remaining_including_this": 48 }, "api_seconds": 10.008238171227276, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "pitch": 0.0, "z": 1.05 }, "note": "Return to straight-down orientation (pitch 0) for a top-down view of the table." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.0738, -0.17728, 0.02686, -1.77497, 0.00125, 1.60726, 0.08514 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49945, 0.05121, 1.04955 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00392, -1e-05 ], "tcp_rotation_matrix": [ [ 0.99984, 0.01507, 0.00974 ], [ 0.01509, -0.99988, -0.00252 ], [ 0.0097, 0.00266, -0.99995 ] ], "simulated_seconds_remaining": 22.77, "calls_remaining_including_this": 47 }, "api_seconds": 7.406137829646468, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.13 }, "note": "Test move +y to calibrate image direction relative to base frame while tracking the cup." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.13354, -0.13452, 0.11081, -1.7276, 0.01004, 1.60271, 0.22776 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49944, 0.12875, 1.04953 ], "tcp_roll_pitch_yaw": [ -7e-05, 0.00395, 0.0003 ], "tcp_rotation_matrix": [ [ 0.99983, 0.01537, 0.00971 ], [ 0.0154, -0.99988, -0.00253 ], [ 0.00967, 0.00268, -0.99995 ] ], "simulated_seconds_remaining": 21.978, "calls_remaining_including_this": 46 }, "api_seconds": 10.412286815233529, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.05 }, "note": "Cup appears at negative y relative to TCP; move right toward it." } } } ] } } ] }, "execution": { "steps": 23, "motion_seconds": 1.518, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.00263, -0.17906, -0.08356, -1.77635, -0.01657, 1.60778, -0.0995 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49944, -0.04881, 1.04953 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00396, -0.0 ], "tcp_rotation_matrix": [ [ 0.99984, 0.01507, 0.0097 ], [ 0.0151, -0.99988, -0.00252 ], [ 0.00967, 0.00267, -0.99995 ] ], "simulated_seconds_remaining": 20.46, "calls_remaining_including_this": 45 }, "api_seconds": 6.405426542274654, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.535, "y": -0.07, "z": 1.0 }, "note": "Center over the cup and descend partway." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.0176, -0.08209, -0.10627, -1.79445, -0.01014, 1.72242, -0.13709 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.53427, -0.06961, 1.00085 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00428, -7e-05 ], "tcp_rotation_matrix": [ [ 0.99984, 0.015, 0.00937 ], [ 0.01503, -0.99988, -0.0025 ], [ 0.00934, 0.00264, -0.99995 ] ], "simulated_seconds_remaining": 19.734, "calls_remaining_including_this": 44 }, "api_seconds": 7.006036316044629, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.495 }, "note": "Pure -x test move to calibrate image vertical axis direction." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.0207, -0.19985, -0.10606, -1.9224, -0.02261, 1.73335, -0.1362 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49632, -0.06963, 1.00094 ], "tcp_roll_pitch_yaw": [ -4e-05, 0.00414, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99984, 0.01497, 0.00952 ], [ 0.01499, -0.99988, -0.0025 ], [ 0.00948, 0.00264, -0.99995 ] ], "simulated_seconds_remaining": 19.206, "calls_remaining_including_this": 43 }, "api_seconds": 8.206534465774894, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Descend toward table to gauge cup position relative to fingers." } } } ] } } ] }, "execution": { "steps": 12, "motion_seconds": 0.792, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.02202, -0.1932, -0.10845, -2.09346, -0.0234, 1.91073, -0.13584 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49628, -0.06962, 0.93112 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00446, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99985, 0.01497, 0.0092 ], [ 0.01499, -0.99988, -0.00248 ], [ 0.00916, 0.00262, -0.99995 ] ], "simulated_seconds_remaining": 18.414, "calls_remaining_including_this": 42 }, "api_seconds": 8.40678533166647, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.87 }, "note": "Continue descending slowly toward cup to judge alignment near grasp height." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.02277, -0.15693, -0.11144, -2.2108, -0.02116, 2.06386, -0.13798 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49622, -0.06962, 0.8711 ], "tcp_roll_pitch_yaw": [ 0.0, 0.00479, -0.0001 ], "tcp_rotation_matrix": [ [ 0.99985, 0.01498, 0.00887 ], [ 0.015, -0.99988, -0.00245 ], [ 0.00884, 0.00259, -0.99996 ] ], "simulated_seconds_remaining": 17.688, "calls_remaining_including_this": 41 }, "api_seconds": 7.005465063266456, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.83 }, "note": "Descend further; checking if fingers straddle the cup." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.02294, -0.11674, -0.11354, -2.27431, -0.01746, 2.16708, -0.14102 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.49616, -0.06961, 0.83102 ], "tcp_roll_pitch_yaw": [ 3e-05, 0.00508, -9e-05 ], "tcp_rotation_matrix": [ [ 0.99985, 0.01498, 0.00858 ], [ 0.015, -0.99988, -0.00243 ], [ 0.00854, 0.00256, -0.99996 ] ], "simulated_seconds_remaining": 17.094, "calls_remaining_including_this": 40 }, "api_seconds": 6.605948900803924, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.8 }, "note": "Final small descent to grasp height around cup body." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.02346, -0.10254, -0.1151, -2.30268, -0.01463, 2.22555, -0.14182 ], "gripper_open": 1.0, "tcp_xyz": [ 0.49835, -0.07032, 0.81643 ], "tcp_roll_pitch_yaw": [ -0.00074, -0.01092, -0.00259 ], "tcp_rotation_matrix": [ [ 0.99962, 0.01244, 0.02456 ], [ 0.01252, -0.99992, -0.00326 ], [ 0.02452, 0.00357, -0.99969 ] ], "simulated_seconds_remaining": 16.566, "calls_remaining_including_this": 39 }, "api_seconds": 4.403685842640698, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Close gripper to attempt grasp on cup." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.02273, -0.12578, -0.11378, -2.28767, -0.01429, 2.22337, -0.14146 ], "gripper_open": 0.0011, "tcp_xyz": [ 0.50606, -0.07018, 0.83484 ], "tcp_roll_pitch_yaw": [ -0.00284, -0.04689, -0.00127 ], "tcp_rotation_matrix": [ [ 0.99808, 0.01352, 0.06051 ], [ 0.01387, -0.99989, -0.00538 ], [ 0.06043, 0.0062, -0.99815 ] ], "simulated_seconds_remaining": 15.642, "calls_remaining_including_this": 38 }, "api_seconds": 6.0046014208346605, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1.0, "z": 0.95 }, "note": "Reopen and lift to re-evaluate cup alignment after failed close." } } } ] } } ] }, "execution": { "steps": 16, "motion_seconds": 1.056, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.02183, -0.20801, -0.10785, -2.07644, -0.02117, 1.93064, -0.13491 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50613, -0.07019, 0.94879 ], "tcp_roll_pitch_yaw": [ -0.00287, -0.04725, -0.00127 ], "tcp_rotation_matrix": [ [ 0.99805, 0.01352, 0.06087 ], [ 0.01387, -0.99989, -0.0054 ], [ 0.06079, 0.00623, -0.99813 ] ], "simulated_seconds_remaining": 14.586, "calls_remaining_including_this": 37 }, "api_seconds": 8.407032860442996, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": -0.035, "z": 0.86 }, "note": "Shift left (+y) since cup appeared left of fingers, and descend near grasp height." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the cup.", "joint_positions": [ 0.00484, -0.16417, -0.07166, -2.25917, -0.0157, 2.15615, -0.07175 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50608, -0.03545, 0.86112 ], "tcp_roll_pitch_yaw": [ -0.00287, -0.04691, -0.00116 ], "tcp_rotation_matrix": [ [ 0.99807, 0.01362, 0.06053 ], [ 0.01398, -0.99989, -0.0054 ], [ 0.06045, 0.00623, -0.99815 ] ], "simulated_seconds_remaining": 13.662, "calls_remaining_including_this": 36 }, "api_seconds": 21.41634819097817, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.51, "y": -0.085 }, "note": "Calibrated: cup is at y≈-0.08; move right to align above cup." } } } ] } } ] }, "execution": { "steps": 10, "motion_seconds": 0.66, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.03476, -0.1366, -0.12626, -2.22825, -0.01533, 2.15332, -0.16591 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.5099, -0.08395, 0.86111 ], "tcp_roll_pitch_yaw": [ -0.00285, -0.04691, -0.00141 ], "tcp_rotation_matrix": [ [ 0.99808, 0.01338, 0.06052 ], [ 0.01373, -0.99989, -0.00539 ], [ 0.06044, 0.00621, -0.99815 ] ], "simulated_seconds_remaining": 13.002, "calls_remaining_including_this": 35 }, "api_seconds": 13.812227657064795, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.825 }, "note": "Descend to grasp height at the new y alignment." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.03472, -0.09808, -0.12818, -2.28041, -0.0103, 2.24343, -0.17007 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.50984, -0.08394, 0.8261 ], "tcp_roll_pitch_yaw": [ -0.00282, -0.0466, -0.0014 ], "tcp_rotation_matrix": [ [ 0.9981, 0.01339, 0.06021 ], [ 0.01374, -0.99989, -0.00536 ], [ 0.06014, 0.00617, -0.99817 ] ], "simulated_seconds_remaining": 12.474, "calls_remaining_including_this": 34 }, "api_seconds": 2.8026317385956645, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0.0 }, "note": "Close gripper on cup at adjusted alignment." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the cup.", "joint_positions": [ -0.0347, -0.09854, -0.12815, -2.27991, -0.01035, 2.24359, -0.17007 ], "gripper_open": 0.0878, "tcp_xyz": [ 0.51012, -0.08396, 0.82657 ], "tcp_roll_pitch_yaw": [ -0.00298, -0.0477, -0.00132 ], "tcp_rotation_matrix": [ [ 0.99803, 0.01346, 0.06132 ], [ 0.01382, -0.99989, -0.00552 ], [ 0.06124, 0.00636, -0.9981 ] ], "simulated_seconds_remaining": 11.55, "calls_remaining_including_this": 33 }, "api_seconds": 3.4030809178948402, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95 }, "note": "Lift to check whether the cup is grasped." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } ======================================================================== Opus 5 / Pick / Episode 049 Completed scored attempt. Images are available in the paired videos. Opaque provider signatures, image payloads, and local paths are omitted. RESULT { "benchmark_index": 49, "status": "completed", "success": false, "oracle_success": false, "action_decisions": 30, "api_calls": 31, "wall_seconds": 340.9126191139221, "usage": { "input_tokens": 62, "cache_creation_input_tokens": 34302, "cache_read_input_tokens": 490976, "output_tokens": 17955 }, "estimated_cost_usd": 0.9090605 } CONTROLLER SYSTEM INSTRUCTIONS You control a simulated Franka robot with a parallel-jaw gripper to perform the user's pick 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 and grasp the requested object, then lift it clear of its support. 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_011CeznDsDQV779mj7VupnMJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017SdVgmE8YiSXpp4EZLTbJc", "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": 1758, "cache_read_input_tokens": 0, "cache_creation": { "ephemeral_5m_input_tokens": 1758, "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_011CeznE6k17KAxP5HefKVTn", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KXzFdd9JJTHtro8kQMPNnd", "name": "move_to", "input": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the table to locate the tissue." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 504, "cache_read_input_tokens": 1758, "cache_creation": { "ephemeral_5m_input_tokens": 504, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 430, "output_tokens_details": { "thinking_tokens": 332 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 3, "response": { "model": "claude-opus-5", "id": "msg_011CeznEhDgCQoZxnj1EobhC", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01M6cVwmi1Y4Utj6dbmZohNE", "name": "move_to", "input": { "targets": { "y": 0.11 }, "note": "Test move left to learn camera-image mapping and approach the greenish object seen left 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": 923, "cache_read_input_tokens": 2262, "cache_creation": { "ephemeral_5m_input_tokens": 923, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 405, "output_tokens_details": { "thinking_tokens": 299 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 4, "response": { "model": "claude-opus-5", "id": "msg_011CeznFQSQQyYQ51NpyGnzJ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01J6jhi9oZwEghGXC8ouki5Z", "name": "move_to", "input": { "targets": { "x": 0.4 }, "note": "Test forward move to learn image mapping for the vertical axis." }, "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": 3185, "cache_creation": { "ephemeral_5m_input_tokens": 898, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 266, "output_tokens_details": { "thinking_tokens": 171 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 5, "response": { "model": "claude-opus-5", "id": "msg_011CeznFs8FZFSexvDjnxgEt", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017bCw9MDGuFzpfFNsP2LdNA", "name": "move_to", "input": { "targets": { "y": 0.03, "z": 1.05 }, "note": "Center over the candidate object based on pixel-shift calibration and descend for a closer look." }, "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": 4083, "cache_creation": { "ephemeral_5m_input_tokens": 761, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 776, "output_tokens_details": { "thinking_tokens": 665 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 6, "response": { "model": "claude-opus-5", "id": "msg_011CeznGsXbxwGjeHeowVomw", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0141FZArcNDZeWHZxqUmFdcs", "name": "move_to", "input": { "targets": { "z": 0.96 }, "note": "Descending toward the small box with white tissue visible 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": 1270, "cache_read_input_tokens": 4844, "cache_creation": { "ephemeral_5m_input_tokens": 1270, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 219, "output_tokens_details": { "thinking_tokens": 124 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 7, "response": { "model": "claude-opus-5", "id": "msg_011CeznHHHLpGT5XY25o9HzN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KyvKrWA6UXRG6U2SJuGFFc", "name": "move_to", "input": { "targets": { "x": 0.375, "y": -0.005 }, "note": "Object appears right-below image center; adjust x,y to center it before final descent." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 714, "cache_read_input_tokens": 6114, "cache_creation": { "ephemeral_5m_input_tokens": 714, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 601, "output_tokens_details": { "thinking_tokens": 494 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 8, "response": { "model": "claude-opus-5", "id": "msg_011CeznJ7z2Q2efmAhBAyNAr", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0122YnBsyokEM5WtVfGFEAT7", "name": "move_to", "input": { "targets": { "y": 0.018, "z": 0.93 }, "note": "Shift slightly +y to align box with finger gap and descend closer." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1100, "cache_read_input_tokens": 6828, "cache_creation": { "ephemeral_5m_input_tokens": 1100, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 765, "output_tokens_details": { "thinking_tokens": 660 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 9, "response": { "model": "claude-opus-5", "id": "msg_011CeznKBtDSuSuY5tjr7qGp", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FNh9RaVT6sUTge2U5nruPw", "name": "move_to", "input": { "targets": { "y": 0.006, "z": 0.9 }, "note": "Fine lateral correction and continue descending toward the tissue box." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1260, "cache_read_input_tokens": 7928, "cache_creation": { "ephemeral_5m_input_tokens": 1260, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 461, "output_tokens_details": { "thinking_tokens": 357 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 10, "response": { "model": "claude-opus-5", "id": "msg_011CeznL6traA3remZ9P3Rd9", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01KEkXe8Vfy7PtJbnBiV6e42", "name": "move_to", "input": { "targets": { "z": 0.88 }, "note": "Descend a bit more to reach box grasp height; watching for table contact." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 956, "cache_read_input_tokens": 9188, "cache_creation": { "ephemeral_5m_input_tokens": 956, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 514, "output_tokens_details": { "thinking_tokens": 416 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 11, "response": { "model": "claude-opus-5", "id": "msg_011CeznLpsDCMh5A8fXu5tEd", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_012AAT2ZtNTkYYTnMpkQZJCN", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Object appears centered in the finger gap; closing gripper to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1009, "cache_read_input_tokens": 10144, "cache_creation": { "ephemeral_5m_input_tokens": 1009, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 328, "output_tokens_details": { "thinking_tokens": 230 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 12, "response": { "model": "claude-opus-5", "id": "msg_011CeznMJg3n3b8KD4kL1cuR", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_016gaifBAtLfmhBGKSLam78F", "name": "move_to", "input": { "targets": { "gripper": 1, "z": 1.0, "y": 0.16 }, "note": "Empty close; reopen, lift and move +y 0.15 to calibrate exterior-view direction mapping." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 822, "cache_read_input_tokens": 11153, "cache_creation": { "ephemeral_5m_input_tokens": 822, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 504, "output_tokens_details": { "thinking_tokens": 377 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 13, "response": { "model": "claude-opus-5", "id": "msg_011CeznMzZQUX8yx4qcMErDq", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01FJCAJEhhFXNEh8CJ7fhLqM", "name": "move_to", "input": { "targets": { "z": 1.2 }, "note": "Pure z change to measure object pixel drift and infer its lateral offset from the camera axis." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 998, "cache_read_input_tokens": 11975, "cache_creation": { "ephemeral_5m_input_tokens": 998, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1351, "output_tokens_details": { "thinking_tokens": 1246 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 14, "response": { "model": "claude-opus-5", "id": "msg_011CeznPrLMSuqJFFyLMak84", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_015GjeEAqhPwW9EbFZK83uag", "name": "move_to", "input": { "targets": { "z": 0.95, "y": 0.175 }, "note": "Object looked near image center at y~0.16; descend while slightly increasing y to test alignment." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1848, "cache_read_input_tokens": 12973, "cache_creation": { "ephemeral_5m_input_tokens": 1848, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1154, "output_tokens_details": { "thinking_tokens": 1041 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 15, "response": { "model": "claude-opus-5", "id": "msg_011CeznRDiWECRnJdXNipg8W", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01WdkyXQEyrijmpVtsKhSnBb", "name": "move_to", "input": { "targets": { "x": 0.4, "y": 0.105, "z": 1.0 }, "note": "Estimated object at x~0.40, y~0.10 from parallax; move above it at z=1.0." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1648, "cache_read_input_tokens": 14821, "cache_creation": { "ephemeral_5m_input_tokens": 1648, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 929, "output_tokens_details": { "thinking_tokens": 805 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 16, "response": { "model": "claude-opus-5", "id": "msg_011CeznSMNfRg7amphLt9owK", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014nEKXcCKVdDTN3CXbmgwUC", "name": "move_to", "input": { "targets": { "z": 0.93 }, "note": "Object near image center; descend and check drift." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1428, "cache_read_input_tokens": 16469, "cache_creation": { "ephemeral_5m_input_tokens": 1428, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 186, "output_tokens_details": { "thinking_tokens": 98 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 17, "response": { "model": "claude-opus-5", "id": "msg_011CeznSiG1XqfWtrfRZQAkg", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DRzpWDGqiSVr4QC2kKfY9Z", "name": "move_to", "input": { "targets": { "x": 0.412, "z": 0.895 }, "note": "Object drifting down in image as I descend, so nudge +x; continue descent." }, "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": 17897, "cache_creation": { "ephemeral_5m_input_tokens": 680, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 240, "output_tokens_details": { "thinking_tokens": 132 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 18, "response": { "model": "claude-opus-5", "id": "msg_011CeznT5eP9wxt5EBQ2qtWv", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01UkHhYREu73hoCYstnGANHD", "name": "move_to", "input": { "targets": { "z": 0.872 }, "note": "Lowering to grasp height around the box." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 733, "cache_read_input_tokens": 18577, "cache_creation": { "ephemeral_5m_input_tokens": 733, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 180, "output_tokens_details": { "thinking_tokens": 92 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 19, "response": { "model": "claude-opus-5", "id": "msg_011CeznTQgNiFxYkLG3W1Lj1", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BMJTEfu2EbnXELoVCZUeit", "name": "move_to", "input": { "targets": { "z": 0.85 }, "note": "Continue lowering so fingers straddle the box." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 674, "cache_read_input_tokens": 19310, "cache_creation": { "ephemeral_5m_input_tokens": 674, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 178, "output_tokens_details": { "thinking_tokens": 87 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 20, "response": { "model": "claude-opus-5", "id": "msg_011CeznTiergFwFRNMdJWK4j", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01YZN7SohN6hj5PJxGLCKykb", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Attempt grasp at this aligned pose." }, "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": 19984, "cache_creation": { "ephemeral_5m_input_tokens": 671, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 153, "output_tokens_details": { "thinking_tokens": 63 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 21, "response": { "model": "claude-opus-5", "id": "msg_011CeznUERzsEvWTgnWbcwZe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VoyR3oJLVf2n6qRdADURwC", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.45 }, "note": "Empty grasp again; object appears in front of the fingers, so advance +x by 0.04." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 645, "cache_read_input_tokens": 20655, "cache_creation": { "ephemeral_5m_input_tokens": 645, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 315, "output_tokens_details": { "thinking_tokens": 202 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 22, "response": { "model": "claude-opus-5", "id": "msg_011CeznUjMJyPrFX7aaob3eN", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01VuWtRTQQshQsS4bqn7Kbxy", "name": "move_to", "input": { "targets": { "x": 0.48 }, "note": "Box looks closer and larger; advance further +x to bring it 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": 809, "cache_read_input_tokens": 21300, "cache_creation": { "ephemeral_5m_input_tokens": 809, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 185, "output_tokens_details": { "thinking_tokens": 85 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 23, "response": { "model": "claude-opus-5", "id": "msg_011CeznV6yZ6cxiAm5Y28o69", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0197VJA5n4nkvAxqhxMug5vJ", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Box appears much closer now; trying to close on it." }, "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": 22109, "cache_creation": { "ephemeral_5m_input_tokens": 680, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 207, "output_tokens_details": { "thinking_tokens": 116 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 24, "response": { "model": "claude-opus-5", "id": "msg_011CeznVVc6Skba5NfMfUHJX", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_017KMLRZJUGPTUa4SyQdRoAR", "name": "move_to", "input": { "targets": { "y": 0.15, "gripper": 1 }, "note": "Box appears left of fingers; test +y shift to see if it centers." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 701, "cache_read_input_tokens": 22789, "cache_creation": { "ephemeral_5m_input_tokens": 701, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1125, "output_tokens_details": { "thinking_tokens": 1020 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 25, "response": { "model": "claude-opus-5", "id": "msg_011CeznWo6av8i6NRRoN5Erb", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_0198vHaNyiZSwUrsbfuVev65", "name": "move_to", "input": { "targets": { "z": 1.08 }, "note": "Lift for a clearer overhead wrist view to localize the tissue box precisely." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1619, "cache_read_input_tokens": 23490, "cache_creation": { "ephemeral_5m_input_tokens": 1619, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 1273, "output_tokens_details": { "thinking_tokens": 1171 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 26, "response": { "model": "claude-opus-5", "id": "msg_011CeznYVmc2Wa12Xwr3KZKZ", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01W1s7BktvjRAeFjisUBRtXz", "name": "move_to", "input": { "targets": { "z": 0.85, "y": 0.06 }, "note": "Exterior suggests x~0.48 is aligned; sweep y toward lower values where wrist parallax indicates the box lies." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1766, "cache_read_input_tokens": 25109, "cache_creation": { "ephemeral_5m_input_tokens": 1766, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 3490, "output_tokens_details": { "thinking_tokens": 3365 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 27, "response": { "model": "claude-opus-5", "id": "msg_011CezncLmUKKeivvVuf3wUL", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_019JmbSFsrutZ4niyzzWEP9j", "name": "move_to", "input": { "targets": { "x": 0.445, "y": 0.105, "z": 0.83 }, "note": "Object appears centered around cam_y~0.105; try intermediate x and slightly lower z for 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": 3990, "cache_read_input_tokens": 26875, "cache_creation": { "ephemeral_5m_input_tokens": 3990, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 637, "output_tokens_details": { "thinking_tokens": 511 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 28, "response": { "model": "claude-opus-5", "id": "msg_011CezndCm37e7UT6zu75vr5", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01DHdsxmNy2chQHzmmxEcTFC", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Box centered just above finger gap; closing to grasp." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1132, "cache_read_input_tokens": 30865, "cache_creation": { "ephemeral_5m_input_tokens": 1132, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 116, "output_tokens_details": { "thinking_tokens": 23 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 29, "response": { "model": "claude-opus-5", "id": "msg_011CezndUGhF6bDy9ymjqyCi", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_014Mzk8LrpKw8fGD2TN4dvzo", "name": "move_to", "input": { "targets": { "gripper": 1, "x": 0.385, "z": 0.845 }, "note": "Empty again; object always appears above fingertips, so retract x to bring it 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": 610, "cache_read_input_tokens": 31997, "cache_creation": { "ephemeral_5m_input_tokens": 610, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 587, "output_tokens_details": { "thinking_tokens": 466 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 30, "response": { "model": "claude-opus-5", "id": "msg_011CeznePu3Ze68tUhteWrWy", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01BcaRQRifsXoyCMKjv7dvJL", "name": "move_to", "input": { "targets": { "gripper": 0 }, "note": "Box now appears down in the finger gap; closing." }, "caller": { "type": "direct" } } ], "container": null, "stop_reason": "tool_use", "stop_sequence": null, "stop_details": null, "usage": { "input_tokens": 2, "cache_creation_input_tokens": 1080, "cache_read_input_tokens": 32607, "cache_creation": { "ephemeral_5m_input_tokens": 1080, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 123, "output_tokens_details": { "thinking_tokens": 32 }, "service_tier": "standard", "inference_geo": "global" } } } { "api_call": 31, "response": { "model": "claude-opus-5", "id": "msg_011CeznefxCY2qnYTmiwpMTe", "type": "message", "role": "assistant", "content": [ { "type": "thinking", "thinking": "" }, { "type": "tool_use", "id": "toolu_01XigotiZDL3zSqrsG5hz1tV", "name": "give_up", "input": { "note": "Could not localize the tissue box accurately from the low-contrast views; repeated closes came up empty 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": 615, "cache_read_input_tokens": 33687, "cache_creation": { "ephemeral_5m_input_tokens": 615, "ephemeral_1h_input_tokens": 0 }, "output_tokens": 187, "output_tokens_details": { "thinking_tokens": 100 }, "service_tier": "standard", "inference_geo": "global" } } } OBSERVATIONS AND EXECUTED ACTIONS { "call": 1, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.00187, -0.81936, 0.02749, -2.30871, 0.01113, 1.53748, 0.03078 ], "gripper_open": 0.9964, "tcp_xyz": [ 0.30178, 0.01183, 1.04489 ], "tcp_roll_pitch_yaw": [ 0.0, 0.0, 0.0 ], "tcp_rotation_matrix": [ [ 0.9988, -0.0092, 0.0481 ], [ -0.00883, -0.99993, -0.00795 ], [ 0.04817, 0.00751, -0.99881 ] ], "simulated_seconds_remaining": 30.03, "calls_remaining_including_this": 57 }, "api_seconds": 11.009323290549219, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.15 }, "note": "Raise to get a wider wrist view of the table to locate the tissue." } } } ] } } ] }, "execution": { "steps": 15, "motion_seconds": 0.99, "status": "executing; next observation shows actual arrival" } } { "call": 2, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0008, -0.69224, 0.02583, -1.94817, 0.00789, 1.30425, 0.03077 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30181, 0.01183, 1.14872 ], "tcp_roll_pitch_yaw": [ 1e-05, -0.0002, 0.0 ], "tcp_rotation_matrix": [ [ 0.99879, -0.0092, 0.0483 ], [ -0.00883, -0.99993, -0.00793 ], [ 0.04837, 0.0075, -0.9988 ] ], "simulated_seconds_remaining": 29.04, "calls_remaining_including_this": 56 }, "api_seconds": 9.208129419013858, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.11 }, "note": "Test move left to learn camera-image mapping and approach the greenish object seen left in exterior view." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 3, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02689, -0.65619, 0.18608, -1.91129, 0.10007, 1.31115, 0.2144 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.30181, 0.10869, 1.14871 ], "tcp_roll_pitch_yaw": [ -7e-05, -0.0002, 0.00021 ], "tcp_rotation_matrix": [ [ 0.99879, -0.00899, 0.0483 ], [ -0.00861, -0.99993, -0.008 ], [ 0.04837, 0.00758, -0.9988 ] ], "simulated_seconds_remaining": 28.116, "calls_remaining_including_this": 55 }, "api_seconds": 6.004745836369693, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4 }, "note": "Test forward move to learn image mapping for the vertical axis." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 4, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00176, -0.39065, 0.19946, -1.71616, 0.05992, 1.37874, 0.20644 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39866, 0.10866, 1.14862 ], "tcp_roll_pitch_yaw": [ -7e-05, 4e-05, 0.00013 ], "tcp_rotation_matrix": [ [ 0.9988, -0.00907, 0.04805 ], [ -0.00869, -0.99993, -0.00801 ], [ 0.04812, 0.00759, -0.99881 ] ], "simulated_seconds_remaining": 27.192, "calls_remaining_including_this": 54 }, "api_seconds": 13.209276409819722, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.03, "z": 1.05 }, "note": "Center over the candidate object based on pixel-shift calibration and descend for a closer look." } } } ] } } ] }, "execution": { "steps": 17, "motion_seconds": 1.122, "status": "executing; next observation shows actual arrival" } } { "call": 5, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0357, -0.52087, 0.08764, -2.09498, 0.03363, 1.62326, 0.04947 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39866, 0.03079, 1.051 ], "tcp_roll_pitch_yaw": [ -6e-05, 0.00026, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99881, -0.00922, 0.04784 ], [ -0.00885, -0.99993, -0.00801 ], [ 0.04791, 0.00757, -0.99882 ] ], "simulated_seconds_remaining": 26.07, "calls_remaining_including_this": 53 }, "api_seconds": 5.207524126395583, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.96 }, "note": "Descending toward the small box with white tissue visible between fingers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 6, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03174, -0.54703, 0.09379, -2.34508, 0.03988, 1.84696, 0.04864 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39862, 0.03079, 0.96118 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00055, -2e-05 ], "tcp_rotation_matrix": [ [ 0.99883, -0.00922, 0.04754 ], [ -0.00884, -0.99993, -0.00802 ], [ 0.04761, 0.00759, -0.99884 ] ], "simulated_seconds_remaining": 25.146, "calls_remaining_including_this": 52 }, "api_seconds": 11.012881628237665, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.375, "y": -0.005 }, "note": "Object appears right-below image center; adjust x,y to center it before final descent." } } } ] } } ] }, "execution": { "steps": 9, "motion_seconds": 0.5940000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 7, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.055, -0.62389, 0.03857, -2.40323, 0.01616, 1.82747, -0.0177 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37565, -0.00407, 0.96121 ], "tcp_roll_pitch_yaw": [ -5e-05, 0.00049, -0.00017 ], "tcp_rotation_matrix": [ [ 0.99882, -0.00937, 0.0476 ], [ -0.00899, -0.99993, -0.00801 ], [ 0.04767, 0.00757, -0.99883 ] ], "simulated_seconds_remaining": 24.552, "calls_remaining_including_this": 51 }, "api_seconds": 14.011161149479449, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.018, "z": 0.93 }, "note": "Shift slightly +y to align box with finger gap and descend closer." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 8, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.03701, -0.61975, 0.07391, -2.47615, 0.03569, 1.90473, 0.02237 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37562, 0.01729, 0.93099 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00071, -6e-05 ], "tcp_rotation_matrix": [ [ 0.99883, -0.00926, 0.04739 ], [ -0.00888, -0.99993, -0.00804 ], [ 0.04746, 0.00761, -0.99884 ] ], "simulated_seconds_remaining": 24.024, "calls_remaining_including_this": 50 }, "api_seconds": 10.208259485661983, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.006, "z": 0.9 }, "note": "Fine lateral correction and continue descending toward the tissue box." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 9, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04585, -0.6084, 0.05922, -2.54567, 0.02801, 1.98513, 0.00202 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37558, 0.00636, 0.90097 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00093, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99884, -0.0093, 0.04716 ], [ -0.00893, -0.99993, -0.00803 ], [ 0.04724, 0.0076, -0.99885 ] ], "simulated_seconds_remaining": 23.496, "calls_remaining_including_this": 49 }, "api_seconds": 11.809229937382042, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.88 }, "note": "Descend a bit more to reach box grasp height; watching for table contact." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 10, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04549, -0.59573, 0.0608, -2.58733, 0.02892, 2.03927, 0.00233 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37554, 0.00636, 0.88138 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00111, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99885, -0.0093, 0.04698 ], [ -0.00893, -0.99993, -0.00803 ], [ 0.04706, 0.0076, -0.99886 ] ], "simulated_seconds_remaining": 23.034, "calls_remaining_including_this": 48 }, "api_seconds": 6.204824297688901, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Object appears centered in the finger gap; closing gripper to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 11, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.04549, -0.59573, 0.0608, -2.58733, 0.02892, 2.03927, 0.00233 ], "gripper_open": 0.0, "tcp_xyz": [ 0.37554, 0.00636, 0.88137 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00111, -0.00011 ], "tcp_rotation_matrix": [ [ 0.99885, -0.0093, 0.04699 ], [ -0.00893, -0.99993, -0.00803 ], [ 0.04706, 0.0076, -0.99886 ] ], "simulated_seconds_remaining": 22.11, "calls_remaining_including_this": 47 }, "api_seconds": 8.607022790238261, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "z": 1.0, "y": 0.16 }, "note": "Empty close; reopen, lift and move +y 0.15 to calibrate exterior-view direction mapping." } } } ] } } ] }, "execution": { "steps": 24, "motion_seconds": 1.584, "status": "executing; next observation shows actual arrival" } } { "call": 12, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.05652, -0.53532, 0.27857, -2.21857, 0.12088, 1.74214, 0.29156 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37556, 0.15898, 0.99922 ], "tcp_roll_pitch_yaw": [ -8e-05, 0.00094, 5e-05 ], "tcp_rotation_matrix": [ [ 0.99885, -0.00914, 0.04715 ], [ -0.00877, -0.99993, -0.00803 ], [ 0.04722, 0.0076, -0.99886 ] ], "simulated_seconds_remaining": 20.526, "calls_remaining_including_this": 46 }, "api_seconds": 24.620042307302356, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.2 }, "note": "Pure z change to measure object pixel drift and infer its lateral offset from the camera axis." } } } ] } } ] }, "execution": { "steps": 25, "motion_seconds": 1.6500000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 13, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.02924, -0.32594, 0.27593, -1.50306, 0.07, 1.23259, 0.32684 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37559, 0.159, 1.19872 ], "tcp_roll_pitch_yaw": [ -2e-05, 0.00074, 6e-05 ], "tcp_rotation_matrix": [ [ 0.99884, -0.00914, 0.04735 ], [ -0.00877, -0.99993, -0.00797 ], [ 0.04742, 0.00754, -0.99885 ] ], "simulated_seconds_remaining": 18.876, "calls_remaining_including_this": 45 }, "api_seconds": 17.813779208809137, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.95, "y": 0.175 }, "note": "Object looked near image center at y~0.16; descend while slightly increasing y to test alignment." } } } ] } } ] }, "execution": { "steps": 30, "motion_seconds": 1.98, "status": "executing; next observation shows actual arrival" } } { "call": 14, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.06958, -0.51978, 0.31599, -2.32444, 0.13724, 1.86554, 0.32089 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.37555, 0.17491, 0.95124 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00104, 7e-05 ], "tcp_rotation_matrix": [ [ 0.99885, -0.00912, 0.04706 ], [ -0.00875, -0.99993, -0.00806 ], [ 0.04713, 0.00764, -0.99886 ] ], "simulated_seconds_remaining": 16.896, "calls_remaining_including_this": 44 }, "api_seconds": 15.011935507878661, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.4, "y": 0.105, "z": 1.0 }, "note": "Estimated object at x~0.40, y~0.10 from parallax; move above it at z=1.0." } } } ] } } ] }, "execution": { "steps": 13, "motion_seconds": 0.8580000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 15, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.0135, -0.50784, 0.20199, -2.20832, 0.08221, 1.75352, 0.18874 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39967, 0.10603, 0.99928 ], "tcp_roll_pitch_yaw": [ -3e-05, 0.00093, -0.00012 ], "tcp_rotation_matrix": [ [ 0.99884, -0.00932, 0.04717 ], [ -0.00895, -0.99993, -0.00798 ], [ 0.04724, 0.00755, -0.99886 ] ], "simulated_seconds_remaining": 16.038, "calls_remaining_including_this": 43 }, "api_seconds": 4.604231637902558, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.93 }, "note": "Object near image center; descend and check drift." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 16, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01872, -0.5041, 0.21449, -2.37829, 0.09112, 1.92695, 0.18866 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.39963, 0.10602, 0.93128 ], "tcp_roll_pitch_yaw": [ -9e-05, 0.00125, -0.00012 ], "tcp_rotation_matrix": [ [ 0.99886, -0.00931, 0.04684 ], [ -0.00894, -0.99993, -0.00804 ], [ 0.04692, 0.00761, -0.99887 ] ], "simulated_seconds_remaining": 15.312, "calls_remaining_including_this": 42 }, "api_seconds": 4.8044305527582765, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.412, "z": 0.895 }, "note": "Object drifting down in image as I descend, so nudge +x; continue descent." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 17, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.0138, -0.4478, 0.22318, -2.42335, 0.08697, 2.02764, 0.19012 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41153, 0.106, 0.89612 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00157, -0.00014 ], "tcp_rotation_matrix": [ [ 0.99887, -0.00933, 0.04653 ], [ -0.00897, -0.99993, -0.00809 ], [ 0.0466, 0.00766, -0.99888 ] ], "simulated_seconds_remaining": 14.784, "calls_remaining_including_this": 41 }, "api_seconds": 4.203903573565185, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.872 }, "note": "Lowering to grasp height around the box." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 18, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01425, -0.42942, 0.22879, -2.46842, 0.08797, 2.09074, 0.19197 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41149, 0.10599, 0.87297 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00179, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99888, -0.00934, 0.04631 ], [ -0.00897, -0.99993, -0.00812 ], [ 0.04638, 0.0077, -0.99889 ] ], "simulated_seconds_remaining": 14.322, "calls_remaining_including_this": 40 }, "api_seconds": 4.003740359097719, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85 }, "note": "Continue lowering so fingers straddle the box." } } } ] } } ] }, "execution": { "steps": 7, "motion_seconds": 0.462, "status": "executing; next observation shows actual arrival" } } { "call": 19, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01414, -0.40696, 0.23452, -2.50788, 0.08806, 2.15228, 0.19439 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.41145, 0.10598, 0.85093 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.002, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99889, -0.00934, 0.04609 ], [ -0.00897, -0.99993, -0.00816 ], [ 0.04616, 0.00774, -0.9989 ] ], "simulated_seconds_remaining": 13.86, "calls_remaining_including_this": 39 }, "api_seconds": 6.604735544882715, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Attempt grasp at this aligned pose." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 20, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01414, -0.40696, 0.23452, -2.50788, 0.08806, 2.15228, 0.19439 ], "gripper_open": 0.0, "tcp_xyz": [ 0.41145, 0.10598, 0.85092 ], "tcp_roll_pitch_yaw": [ -0.00021, 0.002, -0.00015 ], "tcp_rotation_matrix": [ [ 0.99889, -0.00934, 0.0461 ], [ -0.00897, -0.99993, -0.00816 ], [ 0.04617, 0.00774, -0.9989 ] ], "simulated_seconds_remaining": 12.936, "calls_remaining_including_this": 38 }, "api_seconds": 6.204808176495135, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.45 }, "note": "Empty grasp again; object appears in front of the fingers, so advance +x by 0.04." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 21, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.00711, -0.28819, 0.23581, -2.40117, 0.05836, 2.16299, 0.19839 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.44917, 0.10597, 0.85091 ], "tcp_roll_pitch_yaw": [ -0.00019, 0.00203, -0.00018 ], "tcp_rotation_matrix": [ [ 0.99889, -0.00937, 0.04607 ], [ -0.009, -0.99993, -0.00815 ], [ 0.04614, 0.00772, -0.99891 ] ], "simulated_seconds_remaining": 12.012, "calls_remaining_including_this": 37 }, "api_seconds": 5.003736907616258, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.48 }, "note": "Box looks closer and larger; advance further +x to bring it between the fingers." } } } ] } } ] }, "execution": { "steps": 8, "motion_seconds": 0.528, "status": "executing; next observation shows actual arrival" } } { "call": 22, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02001, -0.19741, 0.23625, -2.31174, 0.03405, 2.16272, 0.20366 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47896, 0.10594, 0.85089 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00208, -0.00024 ], "tcp_rotation_matrix": [ [ 0.9989, -0.00943, 0.04602 ], [ -0.00906, -0.99993, -0.00813 ], [ 0.04609, 0.00771, -0.99891 ] ], "simulated_seconds_remaining": 11.484, "calls_remaining_including_this": 36 }, "api_seconds": 5.003956181928515, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Box appears much closer now; trying to close on it." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 23, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.02001, -0.19741, 0.23625, -2.31174, 0.03405, 2.16272, 0.20366 ], "gripper_open": 0.0, "tcp_xyz": [ 0.47897, 0.10594, 0.85089 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00208, -0.00024 ], "tcp_rotation_matrix": [ [ 0.9989, -0.00943, 0.04602 ], [ -0.00906, -0.99993, -0.00813 ], [ 0.04609, 0.00771, -0.99891 ] ], "simulated_seconds_remaining": 10.56, "calls_remaining_including_this": 35 }, "api_seconds": 17.213531255722046, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "y": 0.15, "gripper": 1 }, "note": "Box appears left of fingers; test +y shift to see if it centers." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 24, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.01294, -0.16449, 0.28806, -2.27468, 0.03032, 2.15828, 0.29113 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.47896, 0.14909, 0.85089 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.00208, -0.00012 ], "tcp_rotation_matrix": [ [ 0.9989, -0.00931, 0.04602 ], [ -0.00894, -0.99993, -0.00814 ], [ 0.04609, 0.00771, -0.99891 ] ], "simulated_seconds_remaining": 9.636, "calls_remaining_including_this": 34 }, "api_seconds": 22.416842269711196, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 1.08 }, "note": "Lift for a clearer overhead wrist view to localize the tissue box precisely." } } } ] } } ] }, "execution": { "steps": 28, "motion_seconds": 1.848, "status": "executing; next observation shows actual arrival" } } { "call": 25, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.00471, -0.1944, 0.26863, -1.71661, 0.03118, 1.57156, 0.27938 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.479, 0.14911, 1.07877 ], "tcp_roll_pitch_yaw": [ -0.00012, 0.00178, -0.00012 ], "tcp_rotation_matrix": [ [ 0.99888, -0.00931, 0.04632 ], [ -0.00894, -0.99993, -0.00807 ], [ 0.04639, 0.00764, -0.99889 ] ], "simulated_seconds_remaining": 7.788, "calls_remaining_including_this": 33 }, "api_seconds": 51.4423758899793, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "z": 0.85, "y": 0.06 }, "note": "Exterior suggests x~0.48 is aligned; sweep y toward lower values where wrist parallax indicates the box lies." } } } ] } } ] }, "execution": { "steps": 29, "motion_seconds": 1.9140000000000001, "status": "executing; next observation shows actual arrival" } } { "call": 26, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.05148, -0.22003, 0.17574, -2.33731, 0.02969, 2.16506, 0.11411 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.47895, 0.06045, 0.85116 ], "tcp_roll_pitch_yaw": [ -0.00013, 0.00213, -0.00022 ], "tcp_rotation_matrix": [ [ 0.9989, -0.00941, 0.04597 ], [ -0.00904, -0.99993, -0.00808 ], [ 0.04604, 0.00766, -0.99891 ] ], "simulated_seconds_remaining": 5.874, "calls_remaining_including_this": 32 }, "api_seconds": 11.408390378579497, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "x": 0.445, "y": 0.105, "z": 0.83 }, "note": "Object appears centered around cam_y~0.105; try intermediate x and slightly lower z for the grasp." } } } ] } } ] }, "execution": { "steps": 11, "motion_seconds": 0.726, "status": "executing; next observation shows actual arrival" } } { "call": 27, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0043, -0.27511, 0.23464, -2.44479, 0.05662, 2.21915, 0.19896 ], "gripper_open": 0.9966, "tcp_xyz": [ 0.44564, 0.10419, 0.8304 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00219, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9989, -0.0092, 0.04591 ], [ -0.00883, -0.99993, -0.00811 ], [ 0.04598, 0.0077, -0.99891 ] ], "simulated_seconds_remaining": 5.148, "calls_remaining_including_this": 31 }, "api_seconds": 3.2030549068003893, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Box centered just above finger gap; closing to grasp." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 28, "state": { "instruction": "pick up the tissue.", "joint_positions": [ -0.0043, -0.27511, 0.23464, -2.44479, 0.05662, 2.21915, 0.19896 ], "gripper_open": 0.0, "tcp_xyz": [ 0.44564, 0.1042, 0.8304 ], "tcp_roll_pitch_yaw": [ -0.00017, 0.00219, -1e-05 ], "tcp_rotation_matrix": [ [ 0.9989, -0.0092, 0.04591 ], [ -0.00884, -0.99993, -0.00811 ], [ 0.04598, 0.0077, -0.99891 ] ], "simulated_seconds_remaining": 4.224, "calls_remaining_including_this": 30 }, "api_seconds": 12.21072587557137, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 1, "x": 0.385, "z": 0.845 }, "note": "Empty again; object always appears above fingertips, so retract x to bring it into the finger gap." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 29, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03282, -0.48302, 0.22976, -2.58733, 0.10461, 2.15563, 0.19229 ], "gripper_open": 0.9965, "tcp_xyz": [ 0.38632, 0.10422, 0.84472 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.0021, 4e-05 ], "tcp_rotation_matrix": [ [ 0.9989, -0.00915, 0.046 ], [ -0.00879, -0.99993, -0.00813 ], [ 0.04607, 0.00772, -0.99891 ] ], "simulated_seconds_remaining": 3.3, "calls_remaining_including_this": 29 }, "api_seconds": 3.403742663562298, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "move_to", "args": { "targets": { "gripper": 0 }, "note": "Box now appears down in the finger gap; closing." } } } ] } } ] }, "execution": { "steps": 14, "motion_seconds": 0.924, "status": "executing; next observation shows actual arrival" } } { "call": 30, "state": { "instruction": "pick up the tissue.", "joint_positions": [ 0.03282, -0.48302, 0.22976, -2.58733, 0.10461, 2.15563, 0.19229 ], "gripper_open": 0.0, "tcp_xyz": [ 0.38631, 0.10422, 0.84472 ], "tcp_roll_pitch_yaw": [ -0.00018, 0.0021, 3e-05 ], "tcp_rotation_matrix": [ [ 0.9989, -0.00915, 0.046 ], [ -0.00879, -0.99993, -0.00813 ], [ 0.04607, 0.00771, -0.99891 ] ], "simulated_seconds_remaining": 2.376, "calls_remaining_including_this": 28 }, "api_seconds": 4.60371479857713, "response": { "candidates": [ { "content": { "role": "model", "parts": [ { "functionCall": { "name": "give_up", "args": { "note": "Could not localize the tissue box accurately from the low-contrast views; repeated closes came up empty and simulated time is exhausted." } } } ] } } ] } }