adhoc

completed
2026-09-22T16:31:09.259638+00:00 inspect-robots 0.58.0git unknown
policy
agent
embodiment
yam_arms
action_horizon
1
api_key_env
null
base_url
https://api.openai.com/v1
depth
render
effort
medium
image_horizon
2
images
always
max_llm_calls
40
max_output_tokens
null
max_speed_frac
0.25
model
gpt-6-astra
pre_check
null
prior_learnings
null
prior_learnings_sha256
null
replan_interval
null
speed
null
temperature
null
transcript_echo
false
wire
responses
wire_capture
true
seed
0
max steps
900
duration
95.83 s
total steps
86
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Pick up the pen and the pen cap, then put the cap on the pen.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
Raw transcript
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: Pick up the pen and the pen cap, then put the cap on the pen.
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe short cap is left of centre and the pen lies diagonally to its right. I will bring each open gripper above its respective part, keeping the hands separated.
move_to
left_x0.4000left_y-0.1600left_z0.1500right_x0.3900right_y0.2400right_z0.1500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.0204, 0.7929, 0.6029, -0.3794, -0.0216, -0.0246, 0.9998, -0.02, 0.791, 0.6106, -0.371, -0.0223, -0.0147, 0.9994] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2965 right_y=0.0016 right_z=0.1857 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.6496, -1.4564, 10.441, 1.7607, -0.0024, 0.0904, -0.0366, -0.5538, -1.1692, 9.6615, 1.6923, -0.0562, -0.0464, -0.0757] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.4,"left_y":-0.16,"left_z":0.15,"right_x":0.39,"right_y":0.24,"right_z":0.15},"note":"The short cap is left of centre and the pen lies diagonally to its right. I will bring each open gripper above its respective part, keeping the hands separated."})
tool
executing move_to over 20 steps (2.0s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteBoth parts are visible near the jaw columns. I am lowering toward them and rotating the jaws to grip across each part rather than along its length.
move_to
left_x0.4150left_y-0.1500left_z0.0450left_yaw-0.6500right_x0.4000right_y0.2250right_z0.0450right_yaw0.6500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.5739, 1.5085, 0.8745, -0.0971, -0.4648, -0.3511, 0.9997, 0.7639, 1.6615, 1.0473, -0.1329, 0.5961, 0.4358, 0.9994] state[eef_state]: left_x=0.3862 left_y=-0.1511 left_z=0.1266 left_yaw=-0.009 left_pitch=-0.0709 left_roll=0.0334 left_gripper=0.9997 right_x=0.382 right_y=0.2336 right_z=0.1359 right_yaw=0.0338 right_pitch=-0.0461 right_roll=-0.0356 right_gripper=0.9994 state[joint_eff]: [-0.4308, -6.7077, 9.7573, 1.873, -0.3736, 0.0073, -0.0171, 0.4718, -7.9385, 8.5265, 1.6288, 0.5885, 0.1587, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.415,"left_y":-0.15,"left_z":0.045,"left_yaw":-0.65,"right_x":0.4,"right_y":0.225,"right_z":0.045,"right_yaw":0.65},"note":"Both parts are visible near the jaw columns. I am lowering toward them and rotating the jaws to grip across each part rather than along its length."})
tool
executing move_to over 6 steps (0.6s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe cap is slightly left of the left jaw centre, and the pen shaft is slightly right of the right jaw centre. I will make small alignment corrections and lower the fingertips to table level.
move_to
left_x0.4300left_y-0.1400left_z-0.0080left_yaw-0.8500right_x0.4100right_y0.2050right_z-0.0050right_yaw0.8500
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.255, 1.7485, 0.7265, 0.2543, 0.1406, 0.1303, 0.9997, 0.4698, 1.7905, 0.7635, 0.3393, 0.0044, -0.0364, 0.9993] state[eef_state]: left_x=0.403 left_y=-0.1269 left_z=0.0241 left_yaw=-0.4581 left_pitch=-0.1891 left_roll=0.0039 left_gripper=0.9997 right_x=0.3968 right_y=0.2046 right_z=0.0346 right_yaw=0.4785 right_pitch=-0.1365 right_roll=-0.0313 right_gripper=0.9993 state[joint_eff]: [0.294, -8.0342, 8.1026, 1.9805, 0.2662, 0.2271, -0.0122, -0.6632, -7.6103, 5.0393, 1.8974, -0.1734, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.43,"left_y":-0.14,"left_z":-0.008,"left_yaw":-0.85,"right_x":0.41,"right_y":0.205,"right_z":-0.005,"right_yaw":0.85},"note":"The cap is slightly left of the left jaw centre, and the pen shaft is slightly right of the right jaw centre. I will make small alignment corrections and lower the fingertips to table level."})
tool
executing move_to over 3 steps (0.3s)
step 29
top_cam
camera top_cam step 29
left_cam
camera left_cam step 29
right_cam
camera right_cam step 29
assistant
agent noteThe pen shaft and cap lie between the open jaws at table height. I will close both grippers, then check whether each part is actually retained.
move_to
left_gripper0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.202, 1.8366, 0.7261, 0.3328, 0.2852, 0.2451, 0.9997, 0.3344, 1.9545, 0.8188, 0.4221, -0.2924, -0.2935, 0.9995] state[eef_state]: left_x=0.4049 left_y=-0.13 left_z=0.0059 left_yaw=-0.5897 left_pitch=-0.1694 left_roll=-0.0116 left_gripper=0.9997 right_x=0.4143 right_y=0.2016 right_z=0.0035 right_yaw=0.7324 right_pitch=-0.1263 right_roll=-0.0385 right_gripper=0.9995 state[joint_eff]: [-0.0615, -8.3077, 5.4496, 1.8388, 0.1099, -0.0415, -0.0122, -0.294, -9.0872, 6.9402, 0.2125, -0.1294, 0.7497, -0.0073] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 29): [image omitted: streamed camera frame] camera 'left_cam' (step 29): [image omitted: streamed camera frame] camera 'right_cam' (step 29): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":0,"right_gripper":0},"note":"The pen shaft and cap lie between the open jaws at table height. I will close both grippers, then check whether each part is actually retained."})
tool
executing move_to over 10 steps (1.0s)
step 39
top_cam
camera top_cam step 39
left_cam
camera left_cam step 39
right_cam
camera right_cam step 39
assistant
agent noteThe left gripper closed empty; the right reading suggests it may have the thin pen. I will lift to check the pen and reopen the left gripper for a better cap alignment.
move_to
left_z0.0800left_gripper0.6500right_z0.0800
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1989, 1.8393, 0.7265, 0.3439, 0.2859, 0.2428, 0.0094, 0.3016, 1.9759, 0.8429, 0.4046, -0.4099, -0.3981, 0.0485] state[eef_state]: left_x=0.4069 left_y=-0.1292 left_z=0.0069 left_yaw=-0.5855 left_pitch=-0.1611 left_roll=-0.0105 left_gripper=0.0094 right_x=0.413 right_y=0.2059 right_z=0.0038 right_yaw=0.8519 right_pitch=-0.1059 right_roll=-0.0449 right_gripper=0.0485 state[joint_eff]: [-0.6085, -8.3214, 5.5179, 1.37, 0.1148, 0.0464, 0.6227, -0.0889, -8.1573, 5.8188, 1.326, -0.0952, -0.0317, 1.0476] camera 'top_cam' (step 39): [image omitted: streamed camera frame] camera 'left_cam' (step 39): [image omitted: streamed camera frame] camera 'right_cam' (step 39): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.08,"left_gripper":0.65,"right_z":0.08},"note":"The left gripper closed empty; the right reading suggests it may have the thin pen. I will lift to check the pen and reopen the left gripper for a better cap alignment."})
tool
executing move_to over 7 steps (0.7s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe pen lifted with the right gripper, but the cap was knocked to the far rear-right of the table, beyond the normal table-contact reach. I will set the pen down safely and clear the left hand.
move_to
right_z0.0150left_x0.3000left_y0.0000left_z0.1900
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [-0.1986, 1.6653, 0.8093, 0.0502, 0.2855, 0.2337, 0.6453, 0.3012, 1.8004, 0.9184, 0.136, -0.4122, -0.4011, 0.052] state[eef_state]: left_x=0.3995 left_y=-0.1275 left_z=0.0564 left_yaw=-0.5823 left_pitch=-0.1955 left_roll=-0.0312 left_gripper=0.6453 right_x=0.4101 right_y=0.2053 right_z=0.0608 right_yaw=0.856 right_pitch=-0.12 right_roll=-0.0367 right_gripper=0.052 state[joint_eff]: [-0.253, -9.347, 8.9641, 1.6239, 0.0366, 0.0122, -0.1343, -0.3487, -10.6598, 8.212, 1.5409, -0.1978, 0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.015,"left_x":0.3,"left_y":0,"left_z":0.19},"note":"The pen lifted with the right gripper, but the cap was knocked to the far rear-right of the table, beyond the normal table-contact reach. I will set the pen down safely and clear the left hand."})
tool
executing move_to over 12 steps (1.2s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe pen has been lowered back to the tabletop. I will release it before withdrawing the right arm.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3126, 1.1995, 0.9531, -0.741, 0.5629, 0.6186, 0.6458, 0.3012, 1.9156, 0.8581, 0.2893, -0.4122, -0.4011, 0.0576] state[eef_state]: left_x=0.3108 left_y=0.0052 left_z=0.1734 left_yaw=-0.5179 left_pitch=-0.2147 left_roll=-0.0378 left_gripper=0.6458 right_x=0.4065 right_y=0.2041 right_z=0.0155 right_yaw=0.8575 right_pitch=-0.1388 right_roll=-0.0249 right_gripper=0.0576 state[joint_eff]: [0.1573, -5.135, 9.265, 1.1795, 0.525, 0.2515, 0.0317, -0.3487, -7.6923, 5.053, 1.7509, -0.2613, -0.0415, 1.0281] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The pen has been lowered back to the tabletop. I will release it before withdrawing the right arm."})
tool
executing move_to over 10 steps (1.0s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe pen is released on the table. I am parking both hands to leave the workspace clear and verify the parts' final positions.
move_to
right_x0.3000right_y0.0000right_z0.2000right_yaw0.0000left_x0.3000left_y0.0000left_z0.2000left_yaw0.0000
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.3138, 1.2007, 0.9497, -0.77, 0.5541, 0.6182, 0.6458, 0.3012, 1.9182, 0.8539, 0.2871, -0.4122, -0.4015, 0.9954] state[eef_state]: left_x=0.3052 left_y=0.0051 left_z=0.1677 left_yaw=-0.5164 left_pitch=-0.2429 left_roll=-0.0584 left_gripper=0.6458 right_x=0.4045 right_y=0.2035 right_z=0.0126 right_yaw=0.8584 right_pitch=-0.1466 right_roll=-0.0203 right_gripper=0.9954 state[joint_eff]: [-0.2393, -3.9863, 6.9265, 1.4286, 0.3199, -0.0317, -0.0073, -0.212, -9.0735, 5.5726, 1.5116, -0.2369, -0.0122, -0.1538] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"right_yaw":0,"left_x":0.3,"left_y":0,"left_z":0.2,"left_yaw":0},"note":"The pen is released on the table. I am parking both hands to leave the workspace clear and verify the parts' final positions."})
tool
executing move_to over 17 steps (1.7s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteI picked up the pen and set it back down safely, but did not secure the cap. The cap is now at the far rear-right of the table, beyond the verified table-level reach. Both arms are parked; the cap needs to be moved closer before I can complete the assembly.
give_up
hindsightThe pen was retained at a settled gripper reading around 0.05 (about 5 mm). The cap grasp closed empty and the cap ended up at the far rear-right; align the small cap more precisely and close gradually to avoid ejecting it. Table-level reach is substantially shorter than elevated reach on this rig.
Raw transcript
user
Current observation. Instruction: Pick up the pen and the pen cap, then put the cap on the pen. state[joint_pos]: [0.0158, 1.0336, 0.918, -0.7418, 0.0769, -0.0113, 0.6459, -0.0017, 0.9474, 0.7849, -0.5358, -0.0357, -0.0643, 0.9963] state[eef_state]: left_x=0.2965 left_y=-0.0053 left_z=0.1841 left_yaw=-0.0568 left_pitch=-0.2859 left_roll=-0.0624 left_gripper=0.6459 right_x=0.3064 right_y=0.0094 right_z=0.1875 right_yaw=0.0563 right_pitch=-0.1466 right_roll=-0.0268 right_gripper=0.9963 state[joint_eff]: [-0.4718, -3.7128, 9.3197, 1.453, -0.1587, -0.0806, -0.0073, -0.4855, -2.947, 9.4564, 1.6044, 0.0855, 0.1734, 0.0806] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I picked up the pen and set it back down safely, but did not secure the cap. The cap is now at the far rear-right of the table, beyond the verified table-level reach. Both arms are parked; the cap needs to be moved closer before I can complete the assembly.","hindsight":"The pen was retained at a settled gripper reading around 0.05 (about 5 mm). The cap grasp closed empty and the cap ended up at the far rear-right; align the small cap more precisely and close gradually to avoid ejecting it. Table-level reach is substantially shorter than elevated reach on this rig."})
tool
give_up: I picked up the pen and set it back down safely, but did not secure the cap. The cap is now at the far rear-right of the table, beyond the verified table-level reach. Both arms are parked; the cap needs to be moved closer before I can complete the assembly.
Trial 0 Wire
Tools (trial initial)
[
  {
    "description": "Move to absolute Cartesian end-effector targets (meters for positions, radians for rotations, per the dimension labels). The motion is a straight line interpolated at a fixed safe speed and the result reports its step count. Unnamed dimensions hold their current value. Coordinates are absolute in the embodiment's declared frame; on multi-arm embodiments each arm uses its own base frame and axes may differ between arms depending on mounting. Rotation dimensions are absolute targets measured relative to the trial's start orientation (0 means the start orientation) and interpolate linearly without wrapping, so prefer intermediate values for large rotations. Per-dimension bounds: left_x: [0.08, 0.6], left_y: [-0.4, 0.05], left_z: [-0.02, 0.6], left_yaw: [-3.142, 3.142], left_pitch: [-0.6, 0.6], left_roll: [-1.571, 1.571], left_gripper: [0, 1], right_x: [0.08, 0.6], right_y: [-0.08, 0.4], right_z: [-0.02, 0.6], right_yaw: [-3.142, 3.142], right_pitch: [-0.6, 0.6], right_roll: [-1.571, 1.571], right_gripper: [0, 1].",
    "name": "move_to",
    "parameters": {
      "properties": {
        "note": {
          "description": "One or two plain sentences for the human operator watching the robot: describe the scene as it currently looks (images, if any, and state) and state the goal of this motion. Shown live and in the saved transcript.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 8.239 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": "You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial.\n\nEmbodiment notes:\nTwo identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw\ngripper, controlled by Cartesian end-effector targets. Each arm's targets are\nin that arm's own base frame: +x points forward out of the base, +y left, +z\nup; how the two bases are mounted relative to each other depends on the rig.\n- left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position\n  in meters in the arm's base frame (the grasp point sits between the\n  fingertips).\n- left_yaw / right_yaw: tool rotation in radians about vertical, relative to\n  the trial's start orientation; 0 keeps the start orientation and positive\n  turns counterclockwise seen from above.\n- left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians,\n  also relative to the trial's start orientation. Positive pitch tips the\n  tool forward (+x at yaw 0), positive roll toward the arm's left (+y at\n  yaw 0). An axis whose configured bounds are equal (typically 0) is pinned:\n  commands on it are clamped to that value and it cannot be actuated.\n- left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about\n  9.5 cm between the jaws).\nProportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m\nwhen straight; reach from the shoulder about 0.76 m.\nAn inverse-kinematics layer converts targets into joint motion; unreachable\nor awkward targets may be tracked slowly or held, so prefer modest steps and\nre-check the observation after each motion.\n\n# Rig facts\n\nMeasured facts about this rig. Numbers here are verified; use them\ninstead of re-deriving them. Verify a number only when the first move that\ndepends on it disagrees with what you see.\n\n## Arms and gripper\n\n- Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel\n  (both face forward), each with its own base frame: +x forward, +y left,\n  +z up. Grasp-point readings and targets are in the owning arm's frame.\n- Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to\n  fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table.\n  With the tool pointing straight down the wrist reaches ~0.51 m from the\n  base.\n- The tabletop is the arm mounting plane: fingertip z = 0 at table\n  contact. Pressing 1–2 cm \"below\" the table is safe and gives a firm\n  contact for grasps at table level.\n- Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the\n  normalized fraction of that (0 closed, 1 open). After a full close the\n  settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper\n  reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled\n  reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped\n  across.\n- Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not,\n  and stays there for many seconds. Effort cannot tell an empty close\n  from a grasp. Judge grasps by the settled reading, then by lifting\n  5 cm and checking the object moved in the overhead view.\n- The jaws close along the tool's own left–right axis; that axis turns\n  with base yaw and with wrist roll.\n\n## Cameras\n\nObservations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px.\n\n- `top_cam` is fixed above and in front of the rig, looking back and down\n  at ~45°. It is not a plan view: you see the sides of objects, and image-y\n  is compressed relative to image-x. Arm-forward is image-up, arm-right is\n  image-right, the two bases sit just below the bottom edge, and an arm\n  extended to ~0.45 m appears near the top corners.\n- There is no single top-camera scale. At table level expect ≈ 2.2–3.5\n  px/cm in the far half of the frame where the arms work, rising to ≈ 8\n  px/cm at the bottom edge, and x and y scales differ at the same spot.\n  Derive the local scale from your first sizeable move and reuse it.\n  Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a\n  gripper carrying at 10 cm reads ~15% larger than at table level).\n- `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted\n  forward of the finger axis, so they look *past* the fingertips. Anything\n  at or nearer than the grasp point is out of frame; the dark wedge at the\n  bottom-centre is the jaws; a held object is never visible in its own\n  wrist camera; the working arm hides from the top camera whatever it\n  hovers over.\n- Because of that tilt, the point directly under the fingertips projects\n  at or below the bottom edge of the wrist image. An object that appears\n  centred on the jaw column with clear space below it is still a few\n  centimetres short of the fingertips, toward the base. The jaws converge\n  on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when\n  pitched forward, ≈ 200 with the tool vertical): a brief empty close\n  shows the current one.\n- Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the\n  table and changes within a single frame (larger toward the bottom\n  edge). To calibrate it, make a pure radial move of known size and read\n  the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls\n  the image about its centre and has produced 2× scale errors.\n- The wrist image's vertical axis mixes radial distance and height (a\n  3 cm radial move and a 1.4 cm descent shift features about equally), so\n  depth cannot be judged from the wrist view alone.\n- At wrist roll 0, image-right is the arm's right and image-down is\n  toward the base. Rolling the wrist rotates the scene but the jaws still\n  close along image-x.\n\n## Workspace\n\n- Targets are clipped to a per-arm box (listed in the move tool's\n  description). The fence-side y bound is tight because a low fence runs\n  along each outer table edge; the cross-over side reaches past the\n  table's centre line, so any point on the table is reachable by at least\n  one arm.\n- The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same\n  point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for\n  the right.\n- The table is z = 0; the box floor of −0.02 lets a descent press firmly.\n- Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table\n  contact is possible out to x ≈ 0.49.\n\n## Controller\n\n- Free-space poses sag 1–3 cm below the commanded height, more at long\n  reach and with a load. Aim ~2 cm high when carrying and when clearing\n  obstacles.\n- An arm left uncommanded drifts slowly downward over a minute. Park the\n  idle arm at its home target rather than leaving it hovering.\n- Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to\n  unfold from there; if a move out of a folded pose stalls, first raise z\n  and reduce x, then go.\n- Descents stop at contact. With joint effort reported: on a light touch\n  the shoulder stops tracking while its effort stays negative (still\n  holding the arm up); effort flipping positive means the arm is pressing\n  into the surface: back off. A grasped object touching down reads as a\n  stopped descent plus rising wrist effort.\n- Each motion is played at 10 Hz and the trial has a step budget as well\n  as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend\n  steps on look-around moves that a single observation already answers.\n# Working under Cartesian control (`move_to`)\n\nHow to get things done on this rig when moves are absolute grasp-point\ntargets. Read alongside the rig facts and the workspace box.\n\n## The readback is the truth\n\n- `eef_state` is the arm's forward kinematics at the grasp point. Trust it\n  over any estimate from an image. There is no height bias to correct.\n- After every move compare the readback with the target. A shortfall of\n  more than ~1.5 cm means one of three things: the target was clipped to\n  the workspace box (the tool description lists the bounds), the arm is\n  at its reach or folded limit (the arm simply stops), or you are in\n  contact. Do not re-send the same target hoping it converges; change it.\n- The yaw target is relative to the trial's start orientation and rotates\n  the tool about the grasp point; it does not move the grasp point\n  sideways. Pitch and roll are pinned unless the bounds say otherwise.\n\n## Reaching an object\n\n1. Locate it in the overhead frame at the start. Convert pixels to metres\n   with the far-region scale from the facts, remembering the view is\n   oblique: a target's image-y position over-states its distance from the\n   base by the compression factor, and it sits in whichever arm's frame\n   you convert to (the workspace box gives the base spacing for switching\n   frames).\n2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then\n   look at the wrist camera. The object should sit on the jaw column\n   (x ≈ 110). If it is fully visible with empty frame below it, advance\n   2–3 cm radially before descending, because the fingertips are further\n   out than the image suggests.\n3. Descend straight down to z ≈ half the object's height. For table-level\n   objects go to z = 0 to −0.01; the box allows a small press.\n4. Close fully. Read the settled gripper value: below 0.04 is empty.\n5. Lift 5 cm and confirm in the overhead view that the object moved with\n   the jaws. Only then transport.\n6. On an empty close: open, adjust radially by 2 cm (usually outward), and\n   retry once. If the second close is also empty, do not repeat it:\n   re-measure from the overhead frame, or use the other arm.\n\n## Placing\n\n- Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than\n  the clearance you need.\n- Descend until the readback stops short or wrist effort rises, open,\n  lift clear, then verify in the overhead frame after the arm has moved\n  away. The working arm's occlusion of the top view is expected; do not\n  retract mid-placement to look.\n\n## Two arms and the middle of the table\n\n- Each arm reaches well past the table's centre line (the box's\n  cross-over bound), so any object on the table is reachable by at least\n  one arm; pick the arm whose fence-side bound is not in the way.\n- Keep the idle arm parked at its home target; it drifts if left hovering\n  and it blocks the overhead view of the centre.\n- Both arms in the same region collide with each other before either hits\n  a limit, so move one at a time and keep 10 cm between grasp points.\n\n## Spend calls on the task\n\n- The facts sheet's numbers replace calibration. Do not open with survey\n  moves, scale probes or table touches; the first task motion is the\n  sanity check.\n- Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the\n  jaws ride over them. Grasp uprights instead of pushing.\n- Smooth cylindrical or rounded objects eject sideways when closed on\n  off-centre. Align in the wrist view before closing, and close no further\n  than the object needs.\n- If the object lies outside the workspace box or against a fence, say so\n  and give up early; the operator can move it or widen the box for the\n  next trial.\n\nJoint effort: ``observation.state[\"joint_eff\"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.",
  "role": "system"
}
{
  "content": "Goal: Pick up the pen and the pen cap, then put the cap on the pen.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6029, -0.3794, -0.0216, -0.0246, 0.9998, -0.02, 0.791, 0.6106, -0.371, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2965 right_y=0.0016 right_z=0.1857 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.4564, 10.441, 1.7607, -0.0024, 0.0904, -0.0366, -0.5538, -1.1692, 9.6615, 1.6923, -0.0562, -0.0464, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6418c2acaa836552ca63bed09489f241f768b533d1687bc06b0f192383c57d0f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:039f737cff5a878c3e30be68676f7b40c0c31b0808fa31e8af86d4cd7ef2e46a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8cf0f131542b9dcd8535c78b86002eca96ea2049a4b15e088a7ad9435d204fda",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6418c2acaa83
wire blob 039f737cff5a
wire blob 8cf0f131542b
call 1 attempt 0 · /responses · status 200 · 10.91 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsq1iIGSfIag0w8eIyIy6Mnk2i27t0yI-eBoeBhUFP9fnWDzaTzRpugS7VNYh5kVIgJ5KfCoRg2fbujalgvehRB2gNAYzQYVJ4JbvM5QrBCUx4NN9ES2AU2faQvW3uYqUGQ_Ke95K7ASHl46hfLedYJyhmRt_1-LoY_MME_HjPp7kiw3q4dsPcIXf5Qk3PZGQGcEibKMwTFAEQ9nMe1a-GM1z-hTpFRnUnQ5fRgBLHVhQQbjH5LMGulV7uDbktfPvvCM1m-UBE2wd9zgjmgQ5HhbiQ_ocbXAOuCSEtlov2KbMNvfKFNJtW2VsSq2psKDRzPt0ESZ_BIC9zMGnC2pSHBiYKgDW-kNO4jkxd31lIGFlfNSkf--rlME0NI3YBn1puoaNNlo9wtgXr56WheslUP_DqHUrXiNpcDqfbh4R5_-9oSpPULIzKjoiOg62fXj4Xtykwvkb2X6lctScKV84MiWxDqEDHGM4gORO0Nz0qgozvbEuFtSdXVu7ZcGJ4fvxKB8fhEBOtTjq1nqIfBi5WML3Z_e51xSEHj-OUmpd5ExcohEWiAmZ2NVGDOoZ3Hu-yRJBYI2pmeIuLxbvkaZH1D0MxsxF93juczcQeHuBVMFCq2MbYD2r7aNxfORYlmGhO5sYW-fNh7kqLh9LyjRpy7r0ZIFjAY2Mu-fuyN_e_4mWPiJMqkXFdHFGPzjTeOVZWKR0KcB4tDBwwSRGChmHdl41hhJoB9a2P31In5MA-64UqXAYXV8Ve-b-5J5iSdo24WGMCJpKMZvr__J6jhm_1oVx-39RdFnT7YIxhn58LdehLWKQU_rLf-y4q_e-zG7DZTd53gVUe9VbNmBDBJCQ79PefUF--RuVvLHKUrsyjV6aDSJZALEo_FHlxlkmT-fJWzIXoXvsBXHPE00f6T_5C_Eez6UNncXUxAZFgU69oO95pwAJBV-4VudeBxZr3Idi-kDQAVMI2KZc4iId2stkN4ICrRh5-Cy2ROVM7rifQCc2E4HQvjDyYFNL7Xq4HxAI4FOjzHOfdmn0UN54fy_8Q1WpaX5wvCasL6L_VIU_jAzX_3qA_NFhKrcgnxK1nNalvdhYCoNpqv0oxZwMRNLWe9fCf65lfcPEdbGE0X4SzwkGDMwLSA2MeW-Bg1wFQsb8wpiu5TIBbD-C3GkoO3L2bSnpttV4_T2rBdXPAkdD5W8kPIW743eyirLGOSv4pMJh6PWFgXyZdrhljYHKpEeqc2cDnuJgMNtk-WadgKvnfXFfiiszYucj6DWxTQ-1fu8Lzavtq50SRqoDhzBREwFJgXS3IQm60ks7_CBdDBLsKPtgY6G5N5NvbtKZbN4h_UcWMBt-_TfUi0l_-wqL2mT9C9PN4t4CHXxrWsMmPy9e2izw3ay_0l4H431aGWPFMdgZZvUfXKxFkRdX-2mI4AdAKjj7-xJBNWCVBAAB6-EZZTWCkydaSflUswyFvNfZqkgyMm4OBGALnRDelaSck_w2P3xyHMSmMqaJydbhaDeH6i_PayMVWNvQ3Msc8rwlFGzkuOzdmfwPszhr01FXQWVhQM7dfbhjoiZtPQjdYaDylgTWmdDSgxARrCtAW08gNYJxFXp7",
  "id": "rs_00aebc5a51306bf7016ab2ad5bf9e487d0aa5528ac2534831a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.4,\"left_y\":-0.16,\"left_z\":0.15,\"right_x\":0.39,\"right_y\":0.24,\"right_z\":0.15},\"note\":\"The short cap is left of centre and the pen lies diagonally to its right. I will bring each open gripper above its respective part, keeping the hands separated.\"}",
  "call_id": "call_KtN8UJqyNcnUHmPrG1prrQX2",
  "id": "fc_00aebc5a51306bf7016ab2ad60361887d08c246d8fab876858",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_KtN8UJqyNcnUHmPrG1prrQX2",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5739, 1.5085, 0.8745, -0.0971, -0.4648, -0.3511, 0.9997, 0.7639, 1.6615, 1.0473, -0.1329, 0.5961, 0.4358, 0.9994]\nstate[eef_state]: left_x=0.3862 left_y=-0.1511 left_z=0.1266 left_yaw=-0.009 left_pitch=-0.0709 left_roll=0.0334 left_gripper=0.9997 right_x=0.382 right_y=0.2336 right_z=0.1359 right_yaw=0.0338 right_pitch=-0.0461 right_roll=-0.0356 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -6.7077, 9.7573, 1.873, -0.3736, 0.0073, -0.0171, 0.4718, -7.9385, 8.5265, 1.6288, 0.5885, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:41c118114172ae6e8a8d343eb3d47e604e5e99a4fac85304c95b97ea7bce55fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ad7ef88c32a0b409295b7f88d4b213d7ab463b9965fedee237d29b626a9dcfb7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:226d22cd36df535065c5f5f4c9fc34661a875458dabf349d014b4f010da208e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 41c118114172
wire blob ad7ef88c32a0
wire blob 226d22cd36df
call 2 attempt 0 · /responses · status 200 · 9.598 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 2 changed as sent

message 2 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.0204, 0.7929, 0.6029, -0.3794, -0.0216, -0.0246, 0.9998, -0.02, 0.791, 0.6106, -0.371, -0.0223, -0.0147, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.1799 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9998 right_x=0.2965 right_y=0.0016 right_z=0.1857 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.6496, -1.4564, 10.441, 1.7607, -0.0024, 0.0904, -0.0366, -0.5538, -1.1692, 9.6615, 1.6923, -0.0562, -0.0464, -0.0757]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq1vmRbS1XgZ6AdYi17gOlC7wwrdu6K5QoZXq4uUUrWpnnQWfidMBT5xIGiJCDPHGZgqAwJwZAg2IX26rOIJmBltUBRwVNghN80BOOWxc0UuTD7X8UWxoi1r3thTiQKDFFddmpSdOw8kndahXy6zhB18Ka3wukCATcGWO_j8ySdauvHSNhvGRCkJXSE9xHKBQ_6EoOh9diJ56G6DkN77bBWhXb4NZxSg8KsVO9aP3vmn5N8-l79wpXOsktpK7wjxc_gx0Gu7vV4hOK9L76TpVBPRzukZhD20Udtq5ORTal39ff02EczGhstNmGzf0JooKG5r4Wh-sT0OneB-1ljVOQ6LdKfZczcNkEcWUn8dN9wZR0dZAYGAUWWdcGaS_YO9yRHJOL9AGqHlpGg0rVBo1hYS3zq2xteWo0XvDtwZQyVwjEIq94Kf-zFFU-csRjNTmgaYp_rmhl6dOlavkt0yoVvCg60nhYWa4L4yr8QBNL_5Rkjg3vI9xcZa7CnXZQBFxz03P5r_zlKmSfrM8SwQoCj11Vu3cZ21cwC11e6lZlkc5Y9pKy-_S0vZuzk_Vy_WVYQ4MIIFtiYY202zOjX9Ej5soOm82scs5NX-2Wlww3XmVnloqmn8pN7J9Lo0b4qCzz2rbgWNBzVkSSdlkXASwA0PRP95xOAWaJTJQQQfMFBw9MYycDrALOJVszDtfZCM21e3MOwBoGCMs4NPH6_ufy13Y4z6ZzQfj3NtimZD6RHhaahp7UPcr_RSwzNMq5gboLlnDdAOsm2wlGlOUiC5xQBbQJWsMlHl-9lQmYCNOCaO_iBgsY-vj2jqrDb8IYsS72NU-nr4B1izWdtc6mR_nH0o2qYL6cLRE8XoCfGT4jzkzUdPwBwgugMF9jMSLDDBKwPp4dSikaIOjUJ0nCGn0misd787GXp5xpdFlGUa6AjPsE9QTNnoALsGPsMpG11otwXNn7S25N-Ln_ti7m_yjs3TIPnueYVp7IMMNwWvv_OmiYoPIdtgUYMRFhNY6d5-vLDOcOqW-eLcBdHcBJ3XEZ2KggM6bizZ_ZQl5SI3swvn1kVGB0eFiPGjRW5GKWy34jXGbmkY5yQIWUhZbJfV2IrtfH89JYCnRQmKrjE4f7MTgMFRrZRy38WbAnQ9e7XHflKhx1RvKpWognA4vaDFHYX2918UcBaVebZRYUVJI2dNvJO34unqPIaR78-TdeSz6JgOTdyT_KtoOvfdgS7ct-pHLVeaEg7kunD5uXdezvjTRSZ-RiVd4ndFekzALZL7sW8Ha9tx4EuPjN-3l5bZiI6S5eQAdhWVzrmM5MqxmOdnVLovP_fuMydx0MJ3tlyl16CfqN1ZR_euwwZLkaY8l2DzdWgAylRvn_TVhQYoZ67ElZL1ijiZcSKRE6z9hK9wXXavHNoK1lR-WzotrNuDnoBtToIhSzKKEN7AADsAw5BIkCP4n_UtQGWDwqPoRsjG6UmhlvAKjs-wQcGPIefWa2QLvKhIkm2Pfk2Krt6QNugZ5L4E9Xo-oT7UZzfk4QVIk00bvjpJkcUcgQBPnWOan8z1EGyxhnQoj8oMkT_8ApcLgriEdcMcYL5yM9_v0zBiHHtvwrOX4FVvF9zASHeHlh8fO9d1hduca0Z8lf6GPmKoSqzBWtuw3qRRa7gHrnZ4vmUwEJ07v9Rj6YvovyZUGa8eEpKOeunKoOuMHI2TIr4aNy8-6XWtdBCN2iDKG8nj6Kjbjw72yqqFIwdpsF8-4-QTuw==",
  "id": "rs_00aebc5a51306bf7016ab2ad67005487d09839d15da6314634",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.415,\"left_y\":-0.15,\"left_z\":0.045,\"left_yaw\":-0.65,\"right_x\":0.4,\"right_y\":0.225,\"right_z\":0.045,\"right_yaw\":0.65},\"note\":\"Both parts are visible near the jaw columns. I am lowering toward them and rotating the jaws to grip across each part rather than along its length.\"}",
  "call_id": "call_vH2laWMLaDhExqK1aeMSRYNw",
  "id": "fc_00aebc5a51306bf7016ab2ad6aefac87d090d691e0aaec07c3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vH2laWMLaDhExqK1aeMSRYNw",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.255, 1.7485, 0.7265, 0.2543, 0.1406, 0.1303, 0.9997, 0.4698, 1.7905, 0.7635, 0.3393, 0.0044, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.403 left_y=-0.1269 left_z=0.0241 left_yaw=-0.4581 left_pitch=-0.1891 left_roll=0.0039 left_gripper=0.9997 right_x=0.3968 right_y=0.2046 right_z=0.0346 right_yaw=0.4785 right_pitch=-0.1365 right_roll=-0.0313 right_gripper=0.9993\nstate[joint_eff]: [0.294, -8.0342, 8.1026, 1.9805, 0.2662, 0.2271, -0.0122, -0.6632, -7.6103, 5.0393, 1.8974, -0.1734, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:53112ed9e14c6a4980ea4f91d01fc18d78bee09e3470b52ed21ef72d8b72674c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3cb4af49614fc2b690797a42c896c1e6e3a73ae50de25a8cd9754e6f8f5f1247",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c91dc337807cb5b3e7118eb7c0b2e5175117556dc1280f62db2b9e77297a21c9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 53112ed9e14c
wire blob 3cb4af49614f
wire blob c91dc337807c
call 3 attempt 0 · /responses · status 200 · 5.697 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 6 changed as sent

message 6 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.5739, 1.5085, 0.8745, -0.0971, -0.4648, -0.3511, 0.9997, 0.7639, 1.6615, 1.0473, -0.1329, 0.5961, 0.4358, 0.9994]\nstate[eef_state]: left_x=0.3862 left_y=-0.1511 left_z=0.1266 left_yaw=-0.009 left_pitch=-0.0709 left_roll=0.0334 left_gripper=0.9997 right_x=0.382 right_y=0.2336 right_z=0.1359 right_yaw=0.0338 right_pitch=-0.0461 right_roll=-0.0356 right_gripper=0.9994\nstate[joint_eff]: [-0.4308, -6.7077, 9.7573, 1.873, -0.3736, 0.0073, -0.0171, 0.4718, -7.9385, 8.5265, 1.6288, 0.5885, 0.1587, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq15VU4u4XesgzTYwtfKW_V38JPdgUslovWYGC2UeA7uHxg23QJuy_e_PI8bzizXYoH8z2exXfcMzaeasPtfYDQJ4MfymkzBHQzn6uJArvWJ0ZpnZWBTZzmJSH2PSBYfguJXViEWGM45izyxph2A0uTknvR-ByjShBXQShtocwr8vGFmciUzDJi8e5KViENrEzw8A-CQG63wN8wnXnp2cM8QKLGR-W28E5vaAE0dzEJLhsE6DV-6u5wX6GDhWhQ0bI1lE3ELazIGl8QfhWjcXzo_ihm82vQouVufqTlf62rrhL0aGNNuJLKkdLbTq6e447EQ_W08vPCATv1xxqcmX3nzQsU_jQ0kASBU31gC5zMZkKL54n33-1GIVjV0GgKZF1LKYvWA-pg9MLpLyDTJTk6HpTLnBMtqUphP4ijXQQB7UEH4mBDxwUoCqO5_aUVEjyShu5cwHE2kvrPFRsMSoegty2EXsKRJYdbwPrAVaLFLaA3IhTlfw2W90AtKyOb_McSg-jBgHIy-6ozD7m1B5k4EBMA-V82umeG3hY4gI89427MkA7w5KZimbHfbQOveZwWToI5GLRMttrYEgBRLN2FBfMeJJw4PR2l5Czexb7T3opXQ0N14mYlqLM76sjK7y1qd8zME0YD24-qaXRDHYRsKT-TaFMVbp3OWwU4kMNJWpiMtkjYZv8HXyXgAYvKa0eJIjX_h5Hqg8SgPl0JN7XO_eT7B-wfRiPk16Pqowx_VXMeyJ957dSdlkESKVSrrz4moqY0dmTxr6jPN1ab2sRKa1iLd8XYpT08zW8hoO2SpWDNB9h-8blqvHVM77S8a2W0ISXp6bm9CPtiLVHFDxpTnkUPnmsKrDwFAJFwAwqvtD1VV6BNCf4v5K_6EGK4xw-hrUNHd66dMdt8TQ99D4ia_yyhrX0Uv1KdB6s7s27OFiShQ2fj2SvzQo2YMJEJADV-eMwGY1Fa0bBlt0UBSHTHXsdPlVMXHiiWWNNg37e6NdBDsgX6vgg_BxYJUk_JKRYeFSAnSZj19HpLZaAfLtlO2YJaZ--jf0cd5-sA1bhvp7UGj7OwWO3JjC3Pgtyy5V0jPrpvlDjgcRSgZl-ldGyvoX2PMccPKV3tBvyTd9RIItRQ-VaV0VjkU1AX4dPH8XPXLYOxOWCYEqwRIYFvDejHRiS92qTgC39kNg6js3KTYyUrW4QRemC5NrQM-YV-L59JzxrlDm5VifTE8lw7NMJeAUmZGUaQKrnshYBqD_iS9qcDcoM377otH-LJssZEL1ATR2eszGgLHZfKA0tV9VzpD4XWJqkxNxTVRgFDOP30IwlnjYfZ2l2ZzBfb-r_tK85kWME6GhEYLsyPNA4NhF9HZBNQ0p1yCaodxALhJ_O8Dr960YaWIhl_fRBvjCoXC9-kOOB81RvVmk2sGzY-mfl3pgGkwFgVE7UmlsRoEgmUrFp5NelcrsGkSGotvRb2WMLj13xmMBnaFyxndf_CRZ6cr6LOyILhSa5fT-bby42MkrTmKfKzODc8k5FrvKbrzvbamlDTfi-6ej_bYAzIbuGnCSfdeczgwHmOkC1ld2lfBpnHQ1yJIM92nbgvkSj0S0eHZhoJs4yLQZkN6Pu-JtfQ_dlUrytKOQArYe1jMmJ_VuebWknJTG6EXksLV8omLUtUAHS8lT_k99Y6kAyEHKON2mxamLor67srAlNb7xHTb6z7SpEdQzxcGa3LqzRrmX2vRQ6jZa_GqvqyBub_szXBI1k21Ui7K_Q7kYvOAmAuxUB4=",
  "id": "rs_00aebc5a51306bf7016ab2ad7294d487d0aafdb171df023649",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.43,\"left_y\":-0.14,\"left_z\":-0.008,\"left_yaw\":-0.85,\"right_x\":0.41,\"right_y\":0.205,\"right_z\":-0.005,\"right_yaw\":0.85},\"note\":\"The cap is slightly left of the left jaw centre, and the pen shaft is slightly right of the right jaw centre. I will make small alignment corrections and lower the fingertips to table level.\"}",
  "call_id": "call_oSWGFw1S4xBInH7QwVLTPIH3",
  "id": "fc_00aebc5a51306bf7016ab2ad76ee1c87d0bc2379bb5bb18826",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oSWGFw1S4xBInH7QwVLTPIH3",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.202, 1.8366, 0.7261, 0.3328, 0.2852, 0.2451, 0.9997, 0.3344, 1.9545, 0.8188, 0.4221, -0.2924, -0.2935, 0.9995]\nstate[eef_state]: left_x=0.4049 left_y=-0.13 left_z=0.0059 left_yaw=-0.5897 left_pitch=-0.1694 left_roll=-0.0116 left_gripper=0.9997 right_x=0.4143 right_y=0.2016 right_z=0.0035 right_yaw=0.7324 right_pitch=-0.1263 right_roll=-0.0385 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -8.3077, 5.4496, 1.8388, 0.1099, -0.0415, -0.0122, -0.294, -9.0872, 6.9402, 0.2125, -0.1294, 0.7497, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d52e7dac200ceea72127ea7fc098d96924f07c370d6e9e8002201213b0fbb71a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1e4097a743625c519d5cd578ac46dc7ca314533b700565202af788176dc8dee7",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 29):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87c94013d626d06212f4cf3ad0fe4b27042dfa45af9bde9e7f3710b0734ffe6d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob d52e7dac200c
wire blob 1e4097a74362
wire blob 87c94013d626
call 4 attempt 0 · /responses · status 200 · 5.356 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 10 changed as sent

message 10 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.255, 1.7485, 0.7265, 0.2543, 0.1406, 0.1303, 0.9997, 0.4698, 1.7905, 0.7635, 0.3393, 0.0044, -0.0364, 0.9993]\nstate[eef_state]: left_x=0.403 left_y=-0.1269 left_z=0.0241 left_yaw=-0.4581 left_pitch=-0.1891 left_roll=0.0039 left_gripper=0.9997 right_x=0.3968 right_y=0.2046 right_z=0.0346 right_yaw=0.4785 right_pitch=-0.1365 right_roll=-0.0313 right_gripper=0.9993\nstate[joint_eff]: [0.294, -8.0342, 8.1026, 1.9805, 0.2662, 0.2271, -0.0122, -0.6632, -7.6103, 5.0393, 1.8974, -0.1734, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq1_10enbdt-OS2oZaWmrvuBlA9j_ZydJH5K0hguM2QTm5AlV34SIgrjcIlwmZLr5LXnIwrYrHa-KZTqTXqHIhsFhYK9N_rutnXLFLY_yMMviBsGVq5UrXE42yTnIrtTp85hli-2oTlWGD_faPnP0v9EIlIfotqd1z1Fb54TdQa9lxmXga4sTc9NS9n9QnDwDrqFR6zfFSnWJfDygarpD-Achb6Pz8AicLZRRrl96T4RgFta6ZkV0pyRY7fcCLA964O3pfADqMG0ITmSnMvye8mn90cimZsGnPMWeD164qVQHsctBAJ3JmrZ1CeqZlUz7ZGmukj-IcfmkGbrWQgCzOYpGICbKngabTo0UTmUsxEpwJJcTNxfSQkIWHzkVMChOjvjWISVkW408ope7xkuW722dnfdcBrYZWEC-aHTE8TCBV9QSptlerLY6p76UO_Y8B1XdzLfglj03GOIlAKX1awdFA1Qb_QqHDx9BMbKvhcQMOg5oINenraH8gOL2wVgZ7-zPWAupWA0NRyfgGi1gpMUt2X_0uSGYjF3FVQzMJYUwic9Mcn2nML26oqYcmUgU-I0Z-nbUp1QzspLEN7WUbjcXSOs1SCb4jQ92HlWpFZUekfs_P1ncnlDOm6SbHhhwpMzU5wXR5NjWAX_JXDb73q2Wa2oI8X1tsFJg9UzZleawDwBAMzNRHqBblHsCPHY7A4-4AEZNhdq57PCMYtYBxb_f2NzAJAPKlBqhw3KXVGUXDOJgTESH3QhhS1dqwgMvU_gE-uh85yix2BR4I6hnddEEwx9zbJY-ECmc_BzTHiF851qzqpl5V6rRsPyq2rolhEqFxChDNAhUCutVlWTqbPe642Nb_uSh4XkwpPi__eVm1wdrkFYlsyT-HkeTFD1HD2sO9WUtVWwzy2EzuHFQKu0OHRO_xDwizmCWg7g10uPgfNzsiwJ1RjdYr2y56a_ZSYcSCNNdBQzoxOP2fbHFX3OwotuNbGNrsC8fhZ_fHFRqTSA_QL1XFhQD2MxAk4divoT2mwsIWDf7AgjvAm6MB0fWx6AN-SYz9IUDmz24JEgvpzfhjpovZoFNKMXH2efMaSgWC1dwcawwCC-2GZlGoqPmV65nLWbBF2ub69LApTy20Nrw8tgWoUehBcclQ2bhdWP5s2syKnqzp78SOpSPcY9UuGNxG7cu8HyWKwVn-BMk-xYvI8mAUIQemhtojeQccCkcOXXT_A0A8Ad8P5YLQzMDSffxH8-HYh4KN3UEhRKodX-zK1Ph6Q4gotyUFgpQdWVOdtU1fixOPgnnd0lz3nXCOpk7thixbmhfM59qwCMZjAGPGN-Hft3ZVVQUzjUJ_T9b6RdLCApvhw7CexzXqGWtpJfa1Rm13Ge6QiNbNzqB99UEDw-kaTQFcGMQjDeZ-4T",
  "id": "rs_00aebc5a51306bf7016ab2ad7c3ff887d0b8d3032f994005d7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":0,\"right_gripper\":0},\"note\":\"The pen shaft and cap lie between the open jaws at table height. I will close both grippers, then check whether each part is actually retained.\"}",
  "call_id": "call_Ufgzouze10qLsv1EGY03s85v",
  "id": "fc_00aebc5a51306bf7016ab2ad7d862487d09f1a66f8fe8d6bc6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Ufgzouze10qLsv1EGY03s85v",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1989, 1.8393, 0.7265, 0.3439, 0.2859, 0.2428, 0.0094, 0.3016, 1.9759, 0.8429, 0.4046, -0.4099, -0.3981, 0.0485]\nstate[eef_state]: left_x=0.4069 left_y=-0.1292 left_z=0.0069 left_yaw=-0.5855 left_pitch=-0.1611 left_roll=-0.0105 left_gripper=0.0094 right_x=0.413 right_y=0.2059 right_z=0.0038 right_yaw=0.8519 right_pitch=-0.1059 right_roll=-0.0449 right_gripper=0.0485\nstate[joint_eff]: [-0.6085, -8.3214, 5.5179, 1.37, 0.1148, 0.0464, 0.6227, -0.0889, -8.1573, 5.8188, 1.326, -0.0952, -0.0317, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:483c04c237134f21b4f90d6185792ce9409e9dca35c04a87466bbea2dffda9c4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:32abe3274563d23c3540a84258aecfea372fafdf7a1026b11b2687cc04c5aeac",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 39):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2f50af870d85381f34c7247007f69e95a84356371cd9c6a1d75fc2bf09b7f769",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 483c04c23713
wire blob 32abe3274563
wire blob 2f50af870d85
call 5 attempt 0 · /responses · status 200 · 15.22 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 14 changed as sent

message 14 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.202, 1.8366, 0.7261, 0.3328, 0.2852, 0.2451, 0.9997, 0.3344, 1.9545, 0.8188, 0.4221, -0.2924, -0.2935, 0.9995]\nstate[eef_state]: left_x=0.4049 left_y=-0.13 left_z=0.0059 left_yaw=-0.5897 left_pitch=-0.1694 left_roll=-0.0116 left_gripper=0.9997 right_x=0.4143 right_y=0.2016 right_z=0.0035 right_yaw=0.7324 right_pitch=-0.1263 right_roll=-0.0385 right_gripper=0.9995\nstate[joint_eff]: [-0.0615, -8.3077, 5.4496, 1.8388, 0.1099, -0.0415, -0.0122, -0.294, -9.0872, 6.9402, 0.2125, -0.1294, 0.7497, -0.0073]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq2FtY6twaMdeAH_t3wYlHaFuTrPqHAe6geUU76mwSC61NDuSxIwQNzfv7B2PjUSqG4tvCxUGopZmnJJKGdo0ORj-c21w_GuP3ZwgDoQZVx5PEO19LEHjCfhpVx6dxChqzUCGCTT1QBGa43IjyFm710-7NbbTmtUZYAeIVK8-BFiTE1JTSTKp6yn0LaWWwrxHjtgTZoTDGgTky68hEiXKwdZgUv8T6TWJ9R5FSKOshVL1Ex_RtQMcpeSnZZRudyUTX0n8lg2F4fuxhbESr2y0qQViSQ8qldFgTGLA1o-MFTehta3N7wSFvi5q_gtzqqtwVtpxpSb0opR-3XHkho36mst-JLiIzQb6kkMnXtE0eVdQPmJQTFiWF2A5BvxKiUFq8PVqlylO1hsN6vaSumwrMAj7xYSK2Hdw_qLA3mdWEFIm1TAb1_hxeajxF1Vvp9UnmNXmvYKJUYYgv2fHsmLT-DMpn7dKZfQJdRyQgkCr4Ca__j6_ogrjVSVi3FD8kf9JYALA_8ykeDLeW_rm_UN2xMbMuQHEFOSytY3uMMmJ2RWDFbmJS5UYq3QgWK5lrNIqmrWQYpnwv74f9h8badxv4xrGy9Lf1yHPA6DEzta7LRBDE2yJotiY26xvyXOzvQM69Ml1EPtxZGw3PAiSlKCackf8lJZH6z_kIxsMZVes48sZ7h0xXnvy_YNtm5B9KRNIbCM7nVG8boFlNUsMDDYfiz0Dwb3iV4YEOKykliARJjy0LugEz66JZ55yLaIOfay24yMTT1B7T9AcY0RoQrrBQnzDU9dYXER0FJNvjA8e2m7GB_X_5rqzpGxBEvV_S8WyPoxSLq3HvopZfXMebkisTPY5z5_w2m2Zt_5ckli1mKohmhBqoj9KY-Vo2jwhcvc_V4txGQUN6oCwD43bHzpCSLo8X-ZFaj7o2ldS2jMA4WHxtUqiz4XQd4bP5C2EMkfZkNhx6vCbUr5-fG-VN4AGPXZSwzi-C2hKbKZ5izqGEVwq5bvvsKf0vLuhxmcTEDGDlG7cIUBZXB5QMi1zrh4wZR9XoYdT_qWDt26TemgC-HNUo5rCU0Rm3S7-7xZgdvoVuLDePI5yR1LWx1gz_B-HVXqKKsHpwFwg9kEbdTR_y-mofGRmRU5O5zQww-bNljSGQSW1xr5m8J724Pm38lWXN17Vyj8wQuibj9EGxG_Kj3exp6YAOMjLhZUUlBVKMnZkS8k3S2NWalejLOMLbGLuWeVsJ5Wj5kqrGdRNOBd8vraUFZpBg7Qz7Vx0YLuYoFkqp3X",
  "id": "rs_00aebc5a51306bf7016ab2ad82bcc487d0b975f0b8393fcaa8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.08,\"left_gripper\":0.65,\"right_z\":0.08},\"note\":\"The left gripper closed empty; the right reading suggests it may have the thin pen. I will lift to check the pen and reopen the left gripper for a better cap alignment.\"}",
  "call_id": "call_xq7kPg0c4pKDHsk0FlxvSzPN",
  "id": "fc_00aebc5a51306bf7016ab2ad835b0c87d0bda69b74c07276c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_xq7kPg0c4pKDHsk0FlxvSzPN",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1986, 1.6653, 0.8093, 0.0502, 0.2855, 0.2337, 0.6453, 0.3012, 1.8004, 0.9184, 0.136, -0.4122, -0.4011, 0.052]\nstate[eef_state]: left_x=0.3995 left_y=-0.1275 left_z=0.0564 left_yaw=-0.5823 left_pitch=-0.1955 left_roll=-0.0312 left_gripper=0.6453 right_x=0.4101 right_y=0.2053 right_z=0.0608 right_yaw=0.856 right_pitch=-0.12 right_roll=-0.0367 right_gripper=0.052\nstate[joint_eff]: [-0.253, -9.347, 8.9641, 1.6239, 0.0366, 0.0122, -0.1343, -0.3487, -10.6598, 8.212, 1.5409, -0.1978, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2d79485576b7ce87831e08f81dbe70c15168d422ef860b1fa773f4d48dcf0e50",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6d179a861aae4cdbdf7295fa2e7e263c211fd9150395f3a85e1a2764edba728",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:84f0ee0080445e7d8d1248de0e2948661405f634d0fc94bf80bd64cf014ef0c8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2d79485576b7
wire blob e6d179a861aa
wire blob 84f0ee008044
call 6 attempt 0 · /responses · status 200 · 9.417 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1989, 1.8393, 0.7265, 0.3439, 0.2859, 0.2428, 0.0094, 0.3016, 1.9759, 0.8429, 0.4046, -0.4099, -0.3981, 0.0485]\nstate[eef_state]: left_x=0.4069 left_y=-0.1292 left_z=0.0069 left_yaw=-0.5855 left_pitch=-0.1611 left_roll=-0.0105 left_gripper=0.0094 right_x=0.413 right_y=0.2059 right_z=0.0038 right_yaw=0.8519 right_pitch=-0.1059 right_roll=-0.0449 right_gripper=0.0485\nstate[joint_eff]: [-0.6085, -8.3214, 5.5179, 1.37, 0.1148, 0.0464, 0.6227, -0.0889, -8.1573, 5.8188, 1.326, -0.0952, -0.0317, 1.0476]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq2V2h5bhoVgTaTqgvWCkl8xTvkfgQRTHw_s6lEdekbVfMcgalAdhP-p5kChhVEXgK4NO3HU0NZtcBYzNUW0qOIwG6EToG3k4bZWPATx-Dq85Pm7G-3fcuRxEHdcUOueumolFIzZXVnCGqkJxLWFsrpBBD5Ci-_DHrW-qVmGi-PklgaqHQ8tpJVXf2lRyV89yGkKiLlP7_Rw-oTzw6GyA4KFfiHJjlDU_Id6veAUAPotKQcbh_uZ7Xld6WnH1bDZBpN-LeYTtLArjXo3Rb_kg3Uk9d7lvQB_8-6YTMUWiAeerdIIGGS23__N9XdZDqkcs1h2aBmjGhwI4JAlpCRGrUamZRLNk6zJ3HIVndFKFn8wCqKXMUet7SX8Es7fYtgYm_40Y5jwGdcX2iykxvhC8jTi5RimXMuRIdOZzLSTuF-6nQVOz3XjcR96fDdS8raDkCEGGLTqFPH-N3AaKPsqcJzgMNUAZGX6HEq222Eg5C4f2SJftsD-eFWAsd6ubWwy3_9-z08rEnPsIZxrUAqK50rFQH7qHVcpAgAMeIBk40xgDPrfqqNrAbmaQU1WesOQGLhruFtOl7YNpZrYf8rjxMmo6mi5vpts0Zsmi43cVbpNQ5CAVdoUMCLSEqraTt62vjVbJ3WKGbKdUuA8sPPObA2z0IXnKk-iEtejRCn3kjxSUBHltQ9pDFyiZMZXOeWoCfifN9yi_AgcIyniHW2-ysSAzOdp5D9yUkMBwaSziHusVZvBrjo1qZMXf6bKaiu506gvsRS6I__mjd7l1XXAlevNCMFBZk1hxR8rm5xKjgMdY0GqAt0xBfMHlYWT7ehohmq2juWEtbZAqN6uaKk8ZdIkaeTfX2MSOWNCVyW9iUGGtZG5rThzpCxcLt714_lDuVDHdChv4zL9dtwRtXYQURshwzsKKiob6Xr4sjO6FhW1_l939Dqsl_R4TIq4yXE_HdkaY5yiZQoo-P3-GuKPCtWdbPN-ykhCGD6MpjKiSfIaVbbE4xubjBtiHtkgHfTaH4SQiDrzbTaj68J0HGRNDgUylCEyT8aqsW3FGumh1Vk9AukmWYE13ZrsJ5c9--pqUXd5whbsDwi4IjANmC_KlylLZlMsP4UOTEGe71LvfJtL4Y9LkGDyg76hevLhgr-s1-q-H2MxhnHXWdsZTyooGzEsvAritsYXmTMCfEHHKG0f3zdJgbpyj38oZAHIS_4TzKwMsg_9JJCouE3YqpVmwODZHomMkozBSmctr1fIcxCkflGVrXzwQOKcpwN3qIlrLmeCsq--qivVZ8WfLjU4o-U4QlbX3P823aYgPUKDaQO6DoV8a4Nunw7XmIOmYZQz8Id17g93lDWwSBWDDGTL3KSHIp6_Y9DbusDW22SPgcwnkaoOwV3vt4ilSLM68VxkjswKjht1TWVUehbc2Zfb5qvKLwtuloVEPWSgvy8NIdZ-TbNiyq95ZhLKBcilUsvVNTndaH1gZ4cTRUPom8XbsVCjnE_k6n8G1X6G0uyHChmxlc1HUncQBppXA74VyjZ9blEXS0WVPW8WJTC9vl9l0uEcTHEOe0wgFXQItIAC19CMtTyDXDcA8yI32WUTVukitkRqTS36IEC2B3P-ttFRL0nUYnXwQ2ikx63SoidJFmax8Pe278taN8lxvaXBLFVxPudZyVLO6r62QmpwqegBt8-TJv8CtNJz67FmvssRfI1KnXacplcn79dSoC3v3e0peNxMgl1AH0oOrpE4s7gVAgTJEPkwMmDZlrHjax8ipd8q0JGH6VHFxAY_J4upXR-dGf5IskdK-dvXPsZ45A6x6AvsnLeADy9XKTGGIcvceeUK4fxDZrc1OCCjnzEe3FGtaylWbewIZ7D8CBoZg_S5I6l5bQSmKgP9kDZe8cuK4211Uw5T-_znMeNwOulIobkRZZc-ua__b5MHLTPG1bbMzN1A3w0HZGCQ5cjRVL-_piOgll0MKOFRxluUpVImDZ3MhSNxJXyM_XBozTfzcA4xACVIUmcTuZIR_dcOFwj3-x5DJKHWvRfdjmR_RW-KAn8QujbnC5nGCvL0C-izIBW-MFX3O2U3pg5p1_c0urwYNeCVVk2xVtOIM0dJHWF1mpgDk9cWvELgeFGFKVcpiSuoAmM8fWLb1-tqLWwIpWaBQjDeibsXxNtjtGAGnU_sM6RuZY55hg9QgCOknrHtCj_w7XYhVlSEm8CwyURMVQvuBQr3q23LRl_CfRSwUAXYJmzJ82_grtXK6tWz8iDk3qvjx_jvnPiCGvRx5WBbGkrSiYEGzyob8xifBV15NE2Np2ASF0Ogb-Riznkb5gRUQbc-Mk4Q42w6IaJxWckfDQ8r4-IvfTfD9XMjgeg4HR0G9fjDUxLT9iR7JQyghwSyRtjg0ELXyUG6b-GzyM_1IA33ohE5xBSgts54i_ms0xztisUSlRCsL644PzcdQUiHMzV5tYoAgM6Dw1N4P6Ox0odBlkxdaKxshjMtRsTxh797qgW__UkWEKIftmi4KN5f1XAT9D6CsXPqG7CEO3T8hc5QjNpPDhd45P037u0vBxubILVhcGpNT3PUghwXja5O2pK8dCu7RWfG1D3QVofBwh0qVIYXxek=",
  "id": "rs_00aebc5a51306bf7016ab2ad88df1887d0afa9da6a1ea79eeb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.015,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.19},\"note\":\"The pen lifted with the right gripper, but the cap was knocked to the far rear-right of the table, beyond the normal table-contact reach. I will set the pen down safely and clear the left hand.\"}",
  "call_id": "call_VZ5U5yvwZzNeqJcC4Dj8JeHF",
  "id": "fc_00aebc5a51306bf7016ab2ad93296887d0a4385af32b919dbb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VZ5U5yvwZzNeqJcC4Dj8JeHF",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3126, 1.1995, 0.9531, -0.741, 0.5629, 0.6186, 0.6458, 0.3012, 1.9156, 0.8581, 0.2893, -0.4122, -0.4011, 0.0576]\nstate[eef_state]: left_x=0.3108 left_y=0.0052 left_z=0.1734 left_yaw=-0.5179 left_pitch=-0.2147 left_roll=-0.0378 left_gripper=0.6458 right_x=0.4065 right_y=0.2041 right_z=0.0155 right_yaw=0.8575 right_pitch=-0.1388 right_roll=-0.0249 right_gripper=0.0576\nstate[joint_eff]: [0.1573, -5.135, 9.265, 1.1795, 0.525, 0.2515, 0.0317, -0.3487, -7.6923, 5.053, 1.7509, -0.2613, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b1c51b5f30a244f4bfa317095606f06dbd5a9a73fc6843476d6b9ad6176f25",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0151f5cc93202a8b64df71ca9168f20ff17eedcd2e1d4b16a14d3c3c52eb2c6d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ed1180bff4e395526c286e31ae080bfde065d7541dd55ce84548d268c40b24b0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f6b1c51b5f30
wire blob 0151f5cc9320
wire blob ed1180bff4e3
call 7 attempt 0 · /responses · status 200 · 4.355 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [-0.1986, 1.6653, 0.8093, 0.0502, 0.2855, 0.2337, 0.6453, 0.3012, 1.8004, 0.9184, 0.136, -0.4122, -0.4011, 0.052]\nstate[eef_state]: left_x=0.3995 left_y=-0.1275 left_z=0.0564 left_yaw=-0.5823 left_pitch=-0.1955 left_roll=-0.0312 left_gripper=0.6453 right_x=0.4101 right_y=0.2053 right_z=0.0608 right_yaw=0.856 right_pitch=-0.12 right_roll=-0.0367 right_gripper=0.052\nstate[joint_eff]: [-0.253, -9.347, 8.9641, 1.6239, 0.0366, 0.0122, -0.1343, -0.3487, -10.6598, 8.212, 1.5409, -0.1978, 0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsq2gnM8OTjg00cf7QTyd2EVMs4saFPrnsktd3NPEQWPl0goXoDoSt9CWrKxmGEZ_zzovsOakRmW_vmnaUUqDBVXvNRJVczb7SlZcx5V76SQFDSxkPgkc3cfiht47hUUx19GwLP2iFo1_Sr0iIb1lAD_NnmoVjsWmeDo0DcGFZeznEWFk1WBbkAunl6VoQqGSpW9n4ehpcGPlMJWYvCT7YIAGi2ELzdppvhTLlPdItLMhN3myM-_l6yemJ6B1xZLoCZLHO0SyFYY7Rz2gGsyWyDpi56MicAczwTQMkTAcERYqWp6Z5VTtgGt1g8YVF5tfzt3c61_24dNi_hq_FGoikyVb5gHz0LK4pkLg2yAFv46P6KEHkcE6oEPqDRnJpPHOcHOYkJxH6vHLs8brxX6kFAebHJNc6eWAm8E83eXyKR5qpgnAqlU94LTXALP890qA0CqLOd0OOzJbGY2pDoOTbuZr5rfQ0eK_9lcCGmZTrG0343yt-xriBWgNj3nHrJ8e2Z9KPOBtxxitlAOgPJIEGXHK7q6ZPSSVBu8waJJRiP3KwfBcihYchX9I9AmxbaHlj05-jsHgbEjumbflaRas788l9tC9pZDC6aCMT2kRXhlA1NdDK9CFmtOfzLgtT2Ef7BPT4omVTaHepDtvYZa0kyGx32y5-NcFmZKg6bS_LMNWvQntk1UcX4LADELmwM1-RI6xJO_mM7sZmq5ykkjLCv3j2Foq3_AGWCtR9O4cM3EbvfA9F8s1q9MS0QXDutQr8gVItkpRbc7xrB2JWNO9tF9jzahZH12D7k_sq74ni_YQfKb-UGG8yTCB3zPEuLBOkLihBBHNXpyt_ILGXI-GU6IzEx8Or5ajrwtR5oLPP--KZ_Hb-tDqDmMaEhZWUAnOriqkWNlhznHCZOFCuxX-8tasSgVz1F9Z4KKvxSHkGEkB3e64LsB-x3en_26klcKmR310GuhLW3EZY9uftqNNXKel4vNszP_pRjV4h9mgokRMQDm6B78ecXy97jKn-J7DDfJ-0yem48QV7unGGp4E0nUkuutIxnWd-HNJRTTm4bgwolhLAjKH9USEv1C4NxWcRIzXLJYPd46is7AMhQajhU65aIBkJ74Citd7LnW89RUx1FpAn2Kr-5gRFl5EMp3y_Qw4ZwpcImE47xIYyoLeTAnTGPJK9AKuFYNeelbM6Da-scoOg4NwWZRw5AgYK8lycsScvXwtCPfBEC99UpVVI13bsWCsxYrW2FB7qE0syBniZ7DAXNXCTcLMmy3UGS6U2vvQLStbRmrffccjBZHqgJUMzJZpWLibga9sw7yfBvJS3MrCZInRxrLCeS_AgLed1O1ycO6nLRDREkW1_mose7uWGjD6AW6na0WsfMBiR2aiYnDk8YOrRI7zUc7abocYbEQ0ZXbsiPsYBx7O6jgfsgf7kroALHkaUDdJO5W_WcrD9QAqYqixHGLAMnwqLuWJNIvf0b2plr47eSfZ9K4IfZqjfNwC9JGMVzKRccj7pDYGKiQEXS_sqjZUqhPiqSMfeREqbHOvtJf2rzDOW9msJhqvUHYD1nXVAbIfi86uesIXJBcYl98x_eBacWvWDmyfiUWFFnFt9DRFIGTfjS_FDa40A3l6dkBLlzGmrqsOEib7GTorVikVjiaPqxjbgJoZ4l-tKYW8leXD0_CC9RX0lGsEkK94CIltLLcAaqluMF2V-CeS8pOxCRv-FhkBTkwWWpCqlGiI4wtxEpVGgzy0CuHSxHMUcTg_A-tKlfbqOR54T-KCwTk_vSagh_wvMPvLWF2Q_9v0x7_ZogHjJ44YDeo4K3tGBX061AgYwVkqIIouXJBGRlbICp0XcnSSXzU9o6k_BvDiNzXSKjIHAJJtQnQ5IaekHJWpR7uInikpGn19HI4PJ1kBn_dkOOcAUWJNQipiwe9k0PgEPPMXKX_qcmkVOl0ObQfkEgZ5jz8Y_0X4V_7liz0PEQSL_GqJrW3KCzvEORXB0XiY0QCSYYaiTp2fDdFI2M0WtXPORFAdedXs2pLfKGdKJp8YrltLqPP2_bKOsRcOBp-3oVR7kmTMC1jUhA==",
  "id": "rs_00aebc5a51306bf7016ab2ad995ec087d080e3fa00e3c45e76",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The pen has been lowered back to the tabletop. I will release it before withdrawing the right arm.\"}",
  "call_id": "call_ztlqSbliOtLQokC2ZT0lD3DF",
  "id": "fc_00aebc5a51306bf7016ab2ad9ebd0887d08a85fa31736def3a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_ztlqSbliOtLQokC2ZT0lD3DF",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3138, 1.2007, 0.9497, -0.77, 0.5541, 0.6182, 0.6458, 0.3012, 1.9182, 0.8539, 0.2871, -0.4122, -0.4015, 0.9954]\nstate[eef_state]: left_x=0.3052 left_y=0.0051 left_z=0.1677 left_yaw=-0.5164 left_pitch=-0.2429 left_roll=-0.0584 left_gripper=0.6458 right_x=0.4045 right_y=0.2035 right_z=0.0126 right_yaw=0.8584 right_pitch=-0.1466 right_roll=-0.0203 right_gripper=0.9954\nstate[joint_eff]: [-0.2393, -3.9863, 6.9265, 1.4286, 0.3199, -0.0317, -0.0073, -0.212, -9.0735, 5.5726, 1.5116, -0.2369, -0.0122, -0.1538]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bd6a59115add2f4a492ab86ede302355a218e764e7d6bad898fbddf2ff79821d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e056c271a8e9357d4716b7e8b4b235a1f553708dc6efe96142fc6a2c04b8e689",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c45989ab564e452603d3926c5caa143b44ee3f8ca039edc604b72f6b58afdf31",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob bd6a59115add
wire blob e056c271a8e9
wire blob c45989ab564e
call 8 attempt 0 · /responses · status 200 · 11.16 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.3126, 1.1995, 0.9531, -0.741, 0.5629, 0.6186, 0.6458, 0.3012, 1.9156, 0.8581, 0.2893, -0.4122, -0.4011, 0.0576]\nstate[eef_state]: left_x=0.3108 left_y=0.0052 left_z=0.1734 left_yaw=-0.5179 left_pitch=-0.2147 left_roll=-0.0378 left_gripper=0.6458 right_x=0.4065 right_y=0.2041 right_z=0.0155 right_yaw=0.8575 right_pitch=-0.1388 right_roll=-0.0249 right_gripper=0.0576\nstate[joint_eff]: [0.1573, -5.135, 9.265, 1.1795, 0.525, 0.2515, 0.0317, -0.3487, -7.6923, 5.053, 1.7509, -0.2613, -0.0415, 1.0281]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_yaw\":0,\"left_x\":0.3,\"left_y\":0,\"left_z\":0.2,\"left_yaw\":0},\"note\":\"The pen is released on the table. I am parking both hands to leave the workspace clear and verify the parts' final positions.\"}",
  "call_id": "call_Q1PTAKPB6OyULh0EL5R08j1v",
  "id": "fc_00aebc5a51306bf7016ab2ada36c0087d0ad05e4f1821c3f3e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Q1PTAKPB6OyULh0EL5R08j1v",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Pick up the pen and the pen cap, then put the cap on the pen.\nstate[joint_pos]: [0.0158, 1.0336, 0.918, -0.7418, 0.0769, -0.0113, 0.6459, -0.0017, 0.9474, 0.7849, -0.5358, -0.0357, -0.0643, 0.9963]\nstate[eef_state]: left_x=0.2965 left_y=-0.0053 left_z=0.1841 left_yaw=-0.0568 left_pitch=-0.2859 left_roll=-0.0624 left_gripper=0.6459 right_x=0.3064 right_y=0.0094 right_z=0.1875 right_yaw=0.0563 right_pitch=-0.1466 right_roll=-0.0268 right_gripper=0.9963\nstate[joint_eff]: [-0.4718, -3.7128, 9.3197, 1.453, -0.1587, -0.0806, -0.0073, -0.4855, -2.947, 9.4564, 1.6044, 0.0855, 0.1734, 0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a36fa0f0a000701e62ca98cce747af84de7b6601090761409627a8e7e05c6dee",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e2428ffd0c93d73d72386daa2f3c40daa7970cc7b1af85d274f1ff16fac5103a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:302056056e2a67d0974d7b04c3dcc0ed7de916574b6091ccd0981bbc013b0818",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a36fa0f0a000
wire blob e2428ffd0c93
wire blob 302056056e2a