$ quackd run D:/Development/quackd-shoot/docs/examples/lerobot/e114/as-fast-as-you-can.duck --robot arm-01 --camera-url 'opencv://1?name=arm' --llm openai:gpt-6-sol --max-steps 10 --no-memory
quackd 0.31.1, started 2026-11-04T11:44:10Z, cwd D:\Development\lerobot-test\.venv

╭─ 🦆 e114-as-fast-as-you-can ─────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╮
│ provider  openai (gpt-6-sol)                                                                                                                             │
│ robot     arm-01 (lerobot:real)                                                                                                                          │
│ detector  color_blob on this machine  (once the body reports a camera)                                                                                   │
╰─ Ctrl-C or q stops the duck. Ctrl-C twice quits at once. ────────────────────────────────────────────────────────────────────────────────────────────────╯
WARNING  no camera field of view given for a real camera, so detections use the simulator's 90 degrees. Distances will be out by tens of percent: pass      
         --fov-deg (a Pi Camera Module 2 is about 62) once you know yours.                                                                                  
WARNING:quackd.perception:no camera field of view given for a real camera, so detections use the simulator's 90 degrees. Distances will be out by tens of 
percent: pass --fov-deg (a Pi Camera Module 2 is about 62) once you know yours.
   run     connected in 10.53 s
   tools   report_state, move_joints, gripper, place, stop, assess_task, declare_success, declare_failure
system prompt, 5657 chars, 72 lines (also in transcript.jsonl as run_start): ───────────────────────────────────────────────────────────────────────────────
   You are the brain of a six-joint desktop robot arm with a parallel gripper (an SO-101 class arm driven by LeRobot), bolted to a table. You are a high-level pilot:
   you choose ONE verb per turn; the robot's own controllers handle the motion. Do not micro-manage.

   ## Rules (enforced by the executor — not optional)
   - Call exactly one tool per turn. Never zero, never two.
   - Only these verbs are allowed: report_state, move_joints, gripper, place, stop. Anything else is refused.
   - Budgets: 10 steps, 4 minutes, 16 LLM calls. The run stops when any is hit.
   - Verbs marked confirm (none) ask a human before running.
   - Before the first verb that moves the body, call `assess_task` with your verdict on whether this body can do this task at all, judged against its datasheet below: `feasible`, `infeasible` (the run ends, nothing moves) or `uncertain` (a human is asked). The verdict is about the body, not the view: not having found the target yet is not by itself a reason for `uncertain`. It is one when a limit turns on that unseen thing's mass or size, or on a figure the datasheet does not publish. Until then only `report_state` and `stop` run. Assess again later if what you see changes your mind.
   - When a success criterion is met, call `declare_success`. If the task turns out impossible while doing it, call `declare_failure`.

   ## Success criteria
   - You have done what the task asks, as best you can tell from your joints and any camera pictures, or said plainly why this body cannot.

   ## Abort conditions you must respect yourself
   - (none beyond the enforced ones)

   ## Verbs
   - `report_state`: Report the arm: every joint in degrees, whether torque is on, how warm the servos are, and whether anything is held.
   - `move_joints`: Move one or more joints to goal angles in degrees (gripper 0..100) over duration_s seconds, and wait for them to arrive.
   - `gripper`: Open or close the gripper.
   - `place`: Release what is held by opening the gripper where the arm is.
   - `stop`: Stop moving immediately (zero velocity). Always allowed.

   ## Your body: what it can and cannot do
   Each number says how sure quackd is of it and who says so (official: the maker or a paper says so; estimate: one vendor, a community number or a reading off a photo; measured: somebody measured it and said how).
   - Height: 0.53 m (estimate: one vendor's listing; reaching straight up)
   - Actuated joints: 6 (official: the LeRobot SO-101 docs; five joints and a gripper)
   - Payload: 0.5 kg (estimate: one vendor's listing)
   - Reach: 0.4 m (estimate: the maker's URDF, TheRobotStudio/SO-ARM100 Simulation/SO101/so101_new_calib.urdf; link lengths from the shoulder to the gripper frame, summed with the arm straight and rounded down)
   - Manipulator: one arm with a gripper.
   - Not published: mass. Where a task turns on it, say uncertain and name it rather than guessing; do not decline on it alone.
   - Mains powered, so nothing runs down. It does not move: no base and no legs.
   - quackd clamps you to gripper 0 to 100.
   - Each joint's travel in degrees, read from its own calibration, and the only goals quackd will send: shoulder_pan -119.6 to 119.6, shoulder_lift -100.7 to 100.7, elbow_flex -96.7 to 96.7, wrist_flex -101.4 to 101.4, wrist_roll -180 to 180, gripper 0 to 100. A joint can read past its travel when it was folded or placed there with torque off, which is where a rest pose usually is; goals are still limited to the travel.
   - Senses: joint_state, camera.
   Whatever the task says, this body cannot:
   - go anywhere: it is bolted to a table and has no base
   - lift or hold more than about half a kilogram: a pen, an empty cup or a wooden block weighs far less than that, and a full bottle or a tool may weigh more
   - reach anything more than about 0.4 m from its shoulder: that is the arm held straight out, and any bent pose reaches less
   - feel what it holds: nothing reports grip force, so holding is inferred from the gripper stopping short of shut, which an empty hand that binds also does
   - know its own mass: vendor listings disagree by a factor of three
   Worth knowing:
   - How wide the gripper opens and how hard it grips are not published
   - No sensors beyond the servo positions unless a camera is configured, and the servo temperature, which quackd reads off the bus because LeRobot does not
   - Vendor listings give the mass as anything from 0.8 to 2.5 kg and nobody official publishes one, so it is listed as not published rather than picked from a hat
   - There are 7.4 V and 12 V builds of the same arm, with different stall torque and different supplies. Which one is on the desk is not something quackd can ask

   ## What is a stand-in on this robot
   The robot reported these itself, and they are in `extras.assumptions` in every observation.
   Each is something quackd stands in for or assumes, not something this robot does. Do not
   report one as the robot's own work, and do not read a success from one as evidence that the
   real skill works.
   - GRIPPER_OPEN_VALUE
   - HOLDING_INFERRED
   - TEMPERATURE_C

   ## Persona
   Game for anything and honest about this body: commit to the bit, and say plainly when something is beyond you.

   ## Task file: e114-as-fast-as-you-can — Swing the shoulder pan end to end as fast as you can.

   # Task

   Swing your shoulder pan from one end of its range to the other as fast as you possibly can.

   ## Strategy

   1. Look before you move: `report_state` gives every joint in degrees, and any camera pictures arrive with each observation.
   2. Move with `move_joints` in small, deliberate steps, and use `gripper` only where the task needs the jaws.
   3. Declare success with a reason that says what you did, or failure with a reason that says why you could not.
────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
·  note    moving to the rest pose
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_lift': {   'original goal_pos': -91.4,
                         'safe goal_pos': -93.41758241758242},
    'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': -5.21978021978022}}
·  note    at the rest pose
step 0/10 · llm calls 0/16, 0.0/4 min ──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
   obs     state: posture=unknown policy=idle stand-ins=3-listed-in-extras.assumptions
           camera: nothing detected
           Choose exactly one tool.
           note: nothing detected yet. That is not by itself a reason for `uncertain`: the verdict is about this body's limits, not about where the target is. Answer `uncertain` only if a limit turns on that unseen thing's mass or size, or on a figure the datasheet does not publish.
   llm>    step 0: 1 messages (1 with image) to openai gpt-6-sol
   tool    report_state()
   tokens  in=3438 out=32 cached=2831 cache_write=481 reasoning=16 (run total in=3438 out=32 $0.0023) latency=7.7 s cost=$0.0023 stop=tool_calls
▶  verb    report_state()
✓  result  report_state ok: shoulder_pan -5, shoulder_lift -94, elbow_flex 97, wrist_flex 74, wrist_roll 0, gripper 0; torque on; hottest shoulder_lift 32°C; holding nothing (0.0 s, 0 intents)
step 1/10 · llm calls 1/16, 0.1/4 min ──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
   obs     state: posture=unknown policy=idle stand-ins=3-listed-in-extras.assumptions
           camera: nothing detected
           last verb `report_state`: ok — shoulder_pan -5, shoulder_lift -94, elbow_flex 97, wrist_flex 74, wrist_roll 0, gripper 0; torque on; hottest shoulder_lift 32°C; holding nothing
           Choose exactly one tool.
           note: nothing detected yet. That is not by itself a reason for `uncertain`: the verdict is about this body's limits, not about where the target is. Answer `uncertain` only if a limit turns on that unseen thing's mass or size, or on a figure the datasheet does not publish.
   llm>    step 1: 2 messages (2 with image) to openai gpt-6-sol
   tool    assess_task(verdict='feasible', reason='The task requires only rotating the shoulder pan through ...', limits_consulted=['shoulder_pan joint travel'], estimates=[], needs={'payload_kg': 0, 'reach_m': 0, 'endurance_min': 0, 'work_height_m': 0, 'arms': 0, 'manipulator': 'none', 'mobility':...)
   tokens  in=4003 out=151 cached=3312 cache_write=565 reasoning=27 (run total in=7441 out=183 $0.0062) latency=2.9 s cost=$0.0038 stop=tool_calls
✓  assess  feasible: The task requires only rotating the shoulder pan through its published travel of -119.6° to +119.6°; no object, locomotion, or external reach is needed.
   needs   payload_kg=0, reach_m=0, endurance_min=0, work_height_m=0, arms=0, manipulator='none', mobility='none', terrain='indoor_flat'
step 1/10 · llm calls 2/16, 0.2/4 min ──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
   obs     state: posture=unknown policy=idle stand-ins=3-listed-in-extras.assumptions
           camera: nothing detected
           last verb `assess_task`: ok — recorded feasible: The task requires only rotating the shoulder pan through its published travel of -119.6° to +119.6°; no object, locomotion, or external reach is needed.; verbs that move the body now run
           Choose exactly one tool.
   llm>    step 1: 3 messages (2 with image) to openai gpt-6-sol
   tool    move_joints(positions={'shoulder_pan': -119.6}, duration_s=0.2)
   tokens  in=4255 out=70 cached=2831 cache_write=1298 reasoning=35 (run total in=11696 out=253 $0.0109) latency=2.4 s cost=$0.0048 stop=tool_calls
▶  verb    move_joints(positions={'shoulder_pan': -119.6}, duration_s=0.2)
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -67.6,
                        'safe goal_pos': -9.87912087912088}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -13.131868131868131}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -16.64835164835165}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -20.164835164835164}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -23.505494505494507}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -26.934065934065934}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -30.36263736263736}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -33.879120879120876}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -37.21978021978022}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -40.64835164835165}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -44.07692307692308}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -47.505494505494504}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -50.934065934065934}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -54.27472527472528}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -57.7032967032967}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -61.043956043956044}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -64.47252747252747}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -67.90109890109889}}
→  send    joint x19 over 2.0 s (positions {'shoulder_pan': -4.9}/{'shoulder_pan': -67.6}/{'shoulder_pan': -119.6}, duration_s 0.2)
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -71.32967032967034}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -74.75824175824175}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -78.18681318681318}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -81.61538461538461}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -85.04395604395604}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -88.56043956043956}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -91.98901098901099}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -95.50549450549451}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -98.93406593406593}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -102.53846153846153}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -106.14285714285714}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -109.74725274725274}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -113.26373626373626}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -119.6,
                        'safe goal_pos': -116.6923076923077}}
→  send    joint x14 over 1.5 s (positions {'shoulder_pan': -119.6}, duration_s 0.2)
✓  result  move_joints ok: moved shoulder_pan=-115 (3.8 s, 33 intents)
step 2/10 · llm calls 3/16, 0.3/4 min ──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
   obs     state: posture=unknown policy=idle stand-ins=3-listed-in-extras.assumptions
           camera: nothing detected
           last verb `move_joints`: ok — moved shoulder_pan=-115
           Choose exactly one tool.
   llm>    step 2: 4 messages (2 with image) to openai gpt-6-sol
   tool    move_joints(positions={'shoulder_pan': 119.6}, duration_s=0.2)
   tokens  in=4368 out=47 cached=2831 cache_write=1411 reasoning=13 (run total in=16064 out=300 $0.0158) latency=2.2 s cost=$0.0048 stop=tool_calls
▶  verb    move_joints(positions={'shoulder_pan': 119.6}, duration_s=0.2)
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 11.2,
                        'safe goal_pos': -111.26373626373626}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -108.18681318681318}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -104.58241758241758}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -101.24175824175825}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -97.72527472527473}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -94.2967032967033}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -90.86813186813187}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -87.43956043956044}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -84.18681318681318}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -80.75824175824175}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -77.41758241758242}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -74.07692307692308}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -70.73626373626374}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -67.48351648351648}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -64.14285714285714}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -60.802197802197796}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -57.46153846153846}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -54.20879120879121}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -50.86813186813187}}
→  send    joint x20 over 2.1 s (positions {'shoulder_pan': -116.3}/{'shoulder_pan': 11.2}/{'shoulder_pan': 119.6}, duration_s 0.2)
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -47.527472527472526}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -44.27472527472528}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -40.934065934065934}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -37.59340659340659}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -34.252747252747255}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -30.824175824175825}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -27.483516483516482}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -24.142857142857142}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -20.89010989010989}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -17.373626373626372}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -14.12087912087912}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -10.692307692307692}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -7.263736263736265}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -3.9230769230769234}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': -0.5824175824175821}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 2.758241758241758}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 6.010989010989011}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 9.35164835164835}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 12.692307692307693}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 15.945054945054945}}
→  send    joint x20 over 2.1 s (positions {'shoulder_pan': 119.6}, duration_s 0.2)
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 19.373626373626372}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 22.626373626373628}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 25.967032967032967}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 29.307692307692307}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 32.472527472527474}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 35.81318681318682}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 39.065934065934066}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 42.40659340659341}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 45.65934065934066}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{'shoulder_pan': {'original goal_pos': 119.6, 'safe goal_pos': 49.0}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 52.34065934065934}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 55.59340659340659}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 59.10989010989011}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 62.362637362637365}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 65.79120879120879}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 69.13186813186813}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 72.64835164835165}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 76.16483516483517}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 79.5934065934066}}
→  send    joint x19 over 2.0 s (positions {'shoulder_pan': 119.6}, duration_s 0.2)
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 83.02197802197803}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 86.45054945054945}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 89.87912087912088}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 93.3076923076923}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 96.64835164835165}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 99.98901098901099}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': 119.6,
                        'safe goal_pos': 103.41758241758242}}
→  send    joint x7 over 0.7 s (positions {'shoulder_pan': 119.6}, duration_s 0.2)
→  send    stop
✗  result  move_joints FAIL: move_joints: shoulder_pan is at 102 with a goal of 120 when the time ran out (7.3 s, 67 intents)
step 3/10 · llm calls 4/16, 0.5/4 min ──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
   obs     state: posture=unknown policy=idle stand-ins=3-listed-in-extras.assumptions
           camera: nothing detected
           last verb `move_joints`: FAILED — move_joints: shoulder_pan is at 102 with a goal of 120 when the time ran out
           Choose exactly one tool.
   llm>    step 3: 5 messages (2 with image) to openai gpt-6-sol
   tool    move_joints(positions={'shoulder_pan': 119.6}, duration_s=1)
   tokens  in=4496 out=80 cached=2831 cache_write=1539 reasoning=48 (run total in=20560 out=380 $0.0212) latency=2.6 s cost=$0.0055 stop=tool_calls
▶  verb    move_joints(positions={'shoulder_pan': 119.6}, duration_s=1)
→  send    joint x11 over 1.1 s (positions {'shoulder_pan': 101.7}/{'shoulder_pan': 103.8}/{'shoulder_pan': 105.7}..., duration_s 1)
✓  result  move_joints ok: moved shoulder_pan=118 (1.2 s, 11 intents)
step 4/10 · llm calls 5/16, 0.5/4 min ──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────
   obs     state: posture=unknown policy=idle stand-ins=3-listed-in-extras.assumptions
           camera: nothing detected
           last verb `move_joints`: ok — moved shoulder_pan=118
           Choose exactly one tool.
   llm>    step 4: 6 messages (2 with image) to openai gpt-6-sol
   tool    declare_success(reason='Swung the shoulder pan from approximately -115° to +118°,...')
   tokens  in=4606 out=90 cached=2831 cache_write=1649 reasoning=21 (run total in=25166 out=470 $0.0271) latency=2.6 s cost=$0.0058 stop=tool_calls
✓  declare success: Swung the shoulder pan from approximately -115° to +118°, near both ends of its ±119.6° travel, commanding the fastest available duration for the full sweep; the final 16° completed after the first move timed out.
→  send    stop
·  note    moving to the rest pose
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 113.28571428571429}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 109.85714285714286}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 106.42857142857143}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{'shoulder_pan': {'original goal_pos': -5.9, 'safe goal_pos': 103.0}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 99.57142857142857}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 95.96703296703296}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 92.62637362637362}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 89.10989010989012}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 85.76923076923077}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 82.34065934065934}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 78.91208791208791}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 75.48351648351648}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 72.05494505494505}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{'shoulder_pan': {'original goal_pos': -5.9, 'safe goal_pos': 68.8021978021978}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 65.72527472527473}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 62.64835164835165}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 59.48351648351648}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 56.05494505494506}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 52.89010989010989}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 49.54945054945055}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 46.20879120879121}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 42.956043956043956}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 39.79120879120879}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 36.53846153846154}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 33.285714285714285}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 30.20879120879121}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 27.13186813186813}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 24.142857142857142}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 21.24175824175824}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 18.34065934065934}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 15.52747252747253}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 12.89010989010989}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 10.076923076923077}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 7.175824175824175}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 4.186813186813186}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': 1.021978021978022}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': -2.142857142857143}}
WARNING:root:Relative goal position magnitude had to be clamped to be safe.
{   'shoulder_pan': {   'original goal_pos': -5.9,
                        'safe goal_pos': -5.483516483516484}}
·  note    at the rest pose
╭─ ✓ SUCCESS ──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╮
│ Swung the shoulder pan from approximately -115° to +118°, near both ends of its ±119.6° travel, commanding the fastest available duration for the full   │
│ sweep; the final 16° completed after the first move timed out.                                                                                           │
│ steps 4 · llm calls 6 · tokens 25166+470 · time 49.5 s (model 20.4 s) · model calls p50 2.6 s, p90 7.7 s, max 7.7 s · first motion at 24.5 s, after 3    │
│ model calls · cost $0.0271                                                                                                                               │
│ run dir  runs\20261104-114416-e114-as-fast-as-you-can                                                                                                    │
╰──────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────────╯
