adhoc

completed
2026-09-22T17:51:24.789831+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
104.7 s
total steps
101
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

overheat

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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.
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 noteI see three fruits: a dark avocado on the left, a yellow lemon in the middle, and a green pear on the right. I’m moving the left gripper above the avocado to pick it up first.
move_to
left_x0.2900left_y-0.1300left_z0.1300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.0284, 0.7998, 0.6132, -0.382, -0.0143, -0.0193, 0.9992, -0.0227, 0.7986, 0.6186, -0.387, -0.0196, -0.0334, 0.9994] state[eef_state]: left_x=0.296 left_y=-0.0023 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2959 right_y=0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994 state[joint_eff]: [-0.0068, -1.7299, 9.7709, 1.8193, -0.1441, 0.0317, -0.0952, -0.1436, -1.6479, 9.1556, 1.873, -0.0317, 0.1587, -0.0708] 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":0.29,"left_y":-0.13,"left_z":0.13},"note":"I see three fruits: a dark avocado on the left, a yellow lemon in the middle, and a green pear on the right. I’m moving the left gripper above the avocado to pick it up first."})
tool
executing move_to over 12 steps (1.2s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe avocado is slightly left of the jaw center in the wrist view. I’m centering the jaws and lowering around its sides.
move_to
left_x0.3150left_y-0.1090left_z0.0280
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.7555, 1.0916, 0.5346, -0.197, -0.5797, -0.4576, 0.9991, -0.0227, 0.8005, 0.6178, -0.3943, -0.0227, -0.0341, 0.9994] state[eef_state]: left_x=0.2849 left_y=-0.1305 left_z=0.1187 left_yaw=-0.0272 left_pitch=-0.0412 left_roll=0.0231 left_gripper=0.9991 right_x=0.295 right_y=0.0009 right_z=0.1816 right_yaw=0.003 right_pitch=-0.0099 right_roll=0.0012 right_gripper=0.9994 state[joint_eff]: [-0.294, -3.1385, 7.4325, 1.7265, -0.442, -0.0904, -0.0122, -0.2256, -1.4017, 7.1043, 1.7949, -0.0073, -0.0269, -0.0122] camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.315,"left_y":-0.109,"left_z":0.028},"note":"The avocado is slightly left of the jaw center in the wrist view. I’m centering the jaws and lowering around its sides."})
tool
executing move_to over 6 steps (0.6s)
step 18
top_cam
camera top_cam step 18
left_cam
camera left_cam step 18
right_cam
camera right_cam step 18
assistant
agent noteThe avocado is still just ahead of the fingertips. I’m advancing a little and closing to its width rather than squeezing it fully.
move_to
left_x0.3440left_y-0.0980left_z0.0240left_gripper0.4300
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.5762, 1.4799, 0.3088, 0.448, -0.4519, -0.3367, 0.9991, -0.0227, 0.8043, 0.6178, -0.3946, -0.0227, -0.0341, 0.9994] state[eef_state]: left_x=0.311 left_y=-0.1058 left_z=0.0212 left_yaw=-0.0125 left_pitch=-0.0691 left_roll=0.034 left_gripper=0.9991 right_x=0.2952 right_y=0.0009 right_z=0.1804 right_yaw=0.003 right_pitch=-0.0141 right_roll=0.0014 right_gripper=0.9994 state[joint_eff]: [0.0752, -5.2718, 4.7248, 1.8193, -0.0952, 0.149, -0.0073, -0.0479, -1.6068, 7.0222, 1.7265, -0.0269, -0.0269, -0.0171] camera 'top_cam' (step 18): [image omitted: streamed camera frame] camera 'left_cam' (step 18): [image omitted: streamed camera frame] camera 'right_cam' (step 18): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.344,"left_y":-0.098,"left_z":0.024,"left_gripper":0.43},"note":"The avocado is still just ahead of the fingertips. I’m advancing a little and closing to its width rather than squeezing it fully."})
tool
executing move_to over 6 steps (0.6s)
step 24
top_cam
camera top_cam step 24
left_cam
camera left_cam step 24
right_cam
camera right_cam step 24
assistant
agent noteThe jaws have stopped at about the avocado’s width. I’m lifting a few centimeters to verify that it is held securely.
move_to
left_z0.1000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4759, 1.562, 0.3698, 0.4538, -0.3912, -0.2855, 0.5437, -0.0227, 0.8051, 0.6178, -0.395, -0.0227, -0.0345, 0.9994] state[eef_state]: left_x=0.3318 left_y=-0.0912 left_z=0.0136 left_yaw=0.0126 left_pitch=-0.1032 left_roll=0.0473 left_gripper=0.5437 right_x=0.2952 right_y=0.0009 right_z=0.1801 right_yaw=0.0032 right_pitch=-0.0152 right_roll=0.0011 right_gripper=0.9994 state[joint_eff]: [0.3897, -4.6564, 6.9812, 1.8144, -0.0073, 0.2125, 0.9744, -0.212, -1.2103, 7.0496, 1.6972, -0.022, -0.0415, -0.0171] camera 'top_cam' (step 24): [image omitted: streamed camera frame] camera 'left_cam' (step 24): [image omitted: streamed camera frame] camera 'right_cam' (step 24): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_z":0.10},"note":"The jaws have stopped at about the avocado’s width. I’m lifting a few centimeters to verify that it is held securely."})
tool
executing move_to over 6 steps (0.6s)
step 30
top_cam
camera top_cam step 30
left_cam
camera left_cam step 30
right_cam
camera right_cam step 30
assistant
agent noteThe avocado rose with the gripper. I’m carrying it above the blue bowl, keeping it high enough to clear the rim.
move_to
left_x0.4700left_y-0.3900left_z0.2100
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.4736, 1.2575, 0.5434, -0.049, -0.3843, -0.2882, 0.5453, -0.0227, 0.8082, 0.6178, -0.3946, -0.0231, -0.0368, 0.9994] state[eef_state]: left_x=0.3274 left_y=-0.0894 left_z=0.0865 left_yaw=0.0122 left_pitch=-0.1273 left_roll=0.0527 left_gripper=0.5453 right_x=0.2955 right_y=0.001 right_z=0.1794 right_yaw=0.0047 right_pitch=-0.0179 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.1709, -5.2308, 8.5675, 1.5702, -0.2125, 0.0073, 0.7204, -0.0342, -1.2103, 7.1453, 1.7265, -0.0366, 0.022, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 30): [image omitted: streamed camera frame] camera 'left_cam' (step 30): [image omitted: streamed camera frame] camera 'right_cam' (step 30): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.47,"left_y":-0.39,"left_z":0.21},"note":"The avocado rose with the gripper. I’m carrying it above the blue bowl, keeping it high enough to clear the rim."})
tool
executing move_to over 27 steps (2.7s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe arm is near its extended reach, and the blue bowl is just to the right of the held fruit. I’m shifting to the bowl’s near edge and tilting the wrist forward for better reach.
move_to
left_x0.4900left_y-0.4000left_z0.1800left_pitch0.4000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.8673, 2.6911, 2.8231, -1.2781, -0.6361, -0.6365, 0.5448, -0.0227, 0.8116, 0.6178, -0.4095, -0.0227, -0.0372, 0.9994] state[eef_state]: left_x=0.458 left_y=-0.3721 left_z=0.1255 left_yaw=0.0437 left_pitch=-0.268 left_roll=0.209 left_gripper=0.5448 right_x=0.2936 right_y=0.0009 right_z=0.1754 right_yaw=0.0046 right_pitch=-0.0362 right_roll=-0.0006 right_gripper=0.9994 state[joint_eff]: [-0.5402, -15.0632, 8.253, 0.7937, -0.525, 0.022, 0.7155, -0.212, -1.3744, 7.0496, 1.8584, -0.0415, -0.0611, -0.0171] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.49,"left_y":-0.4,"left_z":0.18,"left_pitch":0.4},"note":"The arm is near its extended reach, and the blue bowl is just to the right of the held fruit. I’m shifting to the bowl’s near edge and tilting the wrist forward for better reach."})
tool
executing move_to over 23 steps (2.3s)
step 80
top_cam
camera top_cam step 80
left_cam
camera left_cam step 80
right_cam
camera right_cam step 80
assistant
agent noteThe fruit is above the bowl area, but the extended pose overshot slightly. I’m bringing it lower and slightly back before releasing.
move_to
left_x0.4600left_y-0.3900left_z0.1100left_pitch0.3000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9363, 2.9795, 3.118, -0.5297, -1.066, -0.1528, 0.5469, -0.0227, 0.812, 0.6178, -0.4175, -0.0227, -0.0372, 0.9994] state[eef_state]: left_x=0.518 left_y=-0.4369 left_z=0.1887 left_yaw=0.057 left_pitch=0.3737 left_roll=0.2108 left_gripper=0.5469 right_x=0.2925 right_y=0.001 right_z=0.1737 right_yaw=0.0046 right_pitch=-0.0446 right_roll=-0.0004 right_gripper=0.9994 state[joint_eff]: [-0.759, -14.9812, 8.4444, 1.8193, -0.2955, 0.3101, 0.5104, -0.1709, -1.3607, 7.0085, 1.7558, -0.0464, -0.0122, -0.0171] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 80): [image omitted: streamed camera frame] camera 'left_cam' (step 80): [image omitted: streamed camera frame] camera 'right_cam' (step 80): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.46,"left_y":-0.39,"left_z":0.11,"left_pitch":0.3},"note":"The fruit is above the bowl area, but the extended pose overshot slightly. I’m bringing it lower and slightly back before releasing."})
tool
executing move_to over 6 steps (0.6s)
step 86
top_cam
camera top_cam step 86
left_cam
camera left_cam step 86
right_cam
camera right_cam step 86
assistant
agent noteThe blue bowl’s opening is beneath the held avocado. I’m opening the jaws to let it settle into the bowl.
move_to
left_gripper1.0000
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9768, 3.0692, 3.1199, -0.6704, -1.0626, -0.3149, 0.5494, -0.0227, 0.812, 0.6178, -0.4206, -0.0227, -0.0372, 0.9994] state[eef_state]: left_x=0.4958 left_y=-0.452 left_z=0.113 left_yaw=0.04 left_pitch=0.2678 left_roll=0.248 left_gripper=0.5494 right_x=0.2921 right_y=0.001 right_z=0.1731 right_yaw=0.0047 right_pitch=-0.0476 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.4855, -16.0479, 8.1573, 1.4872, -0.5592, -0.1001, 0.2418, -0.1846, -1.2376, 7.0085, 1.7314, -0.0562, -0.0269, -0.0122] camera 'top_cam' (step 86): [image omitted: streamed camera frame] camera 'left_cam' (step 86): [image omitted: streamed camera frame] camera 'right_cam' (step 86): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_gripper":1},"note":"The blue bowl’s opening is beneath the held avocado. I’m opening the jaws to let it settle into the bowl."})
tool
executing move_to over 5 steps (0.5s)
step 91
top_cam
camera top_cam step 91
left_cam
camera left_cam step 91
right_cam
camera right_cam step 91
assistant
agent noteThe avocado is visible inside the blue bowl. I’m parking the left arm and bringing the right gripper above the yellow lemon.
move_to
left_x0.3000left_y0.0000left_z0.2000left_pitch0.0000left_roll0.0000right_x0.3950right_y0.2500right_z0.1500
Raw transcript
user
Current observation. Instruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl. state[joint_pos]: [-0.9215, 3.0695, 3.1199, -0.6846, -1.0348, -0.2924, 0.9953, -0.0227, 0.812, 0.6178, -0.421, -0.0227, -0.0372, 0.9994] state[eef_state]: left_x=0.5194 left_y=-0.4271 left_z=0.1084 left_yaw=0.0597 left_pitch=0.2433 left_roll=0.2735 left_gripper=0.9953 right_x=0.292 right_y=0.001 right_z=0.173 right_yaw=0.0047 right_pitch=-0.048 right_roll=-0.0003 right_gripper=0.9994 state[joint_eff]: [-0.759, -16.5949, 8.1573, 1.5604, -0.2222, 0.105, -0.1197, -0.2256, -1.3333, 7.0085, 1.7118, -0.0464, -0.0464, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 91): [image omitted: streamed camera frame] camera 'left_cam' (step 91): [image omitted: streamed camera frame] camera 'right_cam' (step 91): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"left_x":0.3,"left_y":0,"left_z":0.2,"left_pitch":0,"left_roll":0,"right_x":0.395,"right_y":0.25,"right_z":0.15},"note":"The avocado is visible inside the blue bowl. I’m parking the left arm and bringing the right gripper above the yellow lemon."})
tool
executing move_to over 38 steps (3.8s)
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 · 6.803 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.7998, 0.6132, -0.382, -0.0143, -0.0193, 0.9992, -0.0227, 0.7986, 0.6186, -0.387, -0.0196, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0023 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2959 right_y=0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.7299, 9.7709, 1.8193, -0.1441, 0.0317, -0.0952, -0.1436, -1.6479, 9.1556, 1.873, -0.0317, 0.1587, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5c0d201ba06a97f71ce70e6c013f5191a9cb6f92f232a2f5ed55e9398cd29a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d1e49289844e4b3f1ec0e89c006a9f3f409f402dfcb56a946a94d394e2e37f91",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:516df0fd8b2a17cfb61ae48c7470cb33244320f4a8b85f8f211efa5b1ab748e4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5c0d201ba06a
wire blob d1e49289844e
wire blob 516df0fd8b2a
call 1 attempt 0 · /responses · status 200 · 5.463 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqssAxrw3rROAWHl4XF9b12bqknSzadV2nbpcO_9OFrXs5Zpqgfii54fhS1xGiCrQE77MO14PasH4CJc4cGEpRtu-FZ8GMrnFHcxmR-bPHbmfNsmZxyW_qHZaP0ZeLRejOHdkXomsYOjDGXQvFzdLqMDwLbBSYrqocLXuL2ymKTD-BIxM3EbHX9YfDpWjSxURbzYZJoNbuqpzNkLabT7AA7wEskPAF8l2R_x7Fi-rQyoEaF7jz6ydWV9R_HrOrhBjUOxM3FFNXfCIzG1bKgG01b9nG8h7JRqTL6J4bf3wu6gZNFSF-AXzaBErbyz4ct3VUIAXhJKOVuiMpjM3B0nEM44ddTEY_GyVsRpN41_sY_gTV3zZhSlOhZVrRL-Z_P_KQwDkXjV2a-DEpeuTAxzSJyfd2Qc52L6-5Ha58wtrIkmmk4-34dhXl5sAm6dCmnqP50KuOdgaqebPCxgobqwLmfaF51qpt1-SGZMuU6BuId-nzBBKWt411tPocYh0clC8BVefQCQ0SGLHeUNuqup2dXJVZKQWDYUxFFY2p4z-uPtHmK01XQO4NX69UGJtxCmbC1uTJ6w0pmFVJam7mk1nGSzzh7snh-KCuWPZt8buIjE6-jn1yQxN7WSVorVJpzg2Fqi85OUWgI-iSWy82O0X_agPewz7k1r8WTDrcnywF6mjuDOaskJQRLFs53PhVWGisEZxZoDbfNQz0_Q04WAk_XlTlBZ0M2nQTIF4kKusaJLI5cnBDyaLoaF0nFk1XQhvlt1xbscNNECtjjtzd80s_I0lkbTjfn53haHhnG8w1pCodSeJFeqkaiAE9XF2bBS-QmVPYmdjSGSiZsNjPbU30X5e1kSCn8OPOo3_bXjd39KEhfavnBJydDx6o9yTl0KrQN3SvCjhruwFLwSZvMD4eezbRL_rYrCVIZeMvje4PyMTpfsgWrt4DZ0O2h-kHmf2hPa3rUsuKBZRrxZafguPRNIvNdLIFiPeRfaFr483HSHv9icP0fuO-FMlm3iYeuBUx1XnFLATAWf1kthKHCc-2RB5ZwRX3a28n5hOKrQl0g7ND-CM05LJtXc4vp3c368CWqRuqW9TRSeTJQ_8jOc89YDPnuFCC-N7_YXIFLJKfOpjXPAIvhEfOF8UBRU2atL2WO1t7yM8ADQ9CkFipqQPHBS-1Zg9mLSSgOAQHKH5i4LG40ScedmBRELoSw9_BYD3hR6YOD8XAoRGTO14mX6_vsI-M-MmhczeayzHqSxFfibcE5AzzzA61GFscBXWPLdtAc2-gc4fo3V2G1_NMZ12F4YjA6eG8gp4zr9D6OSxAJTjFU9mLMeUAsGa4b6a-B3odfjcJPdxHcxC0IQKzl_olMcCyWSDhH2cae9uAugIokwWsr0WT2qjrGv22nU5NkHeS4RAUYkTR24jCu5_Th04mvsOjeuFbWvg2CJiW3c-bI0D2f5JbobykgzI5NwvkY7bB3mZpwr25-7DkDEjj3robMx2jKjyMOfSyg1Tg6XJR2N8fhHHQ-lozS8HL-gZHeRjPyKFI",
  "id": "rs_0091f82d05ebdf6e016ab2c02cc9bc87d08042a7e1f1939c8e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.29,\"left_y\":-0.13,\"left_z\":0.13},\"note\":\"I see three fruits: a dark avocado on the left, a yellow lemon in the middle, and a green pear on the right. I’m moving the left gripper above the avocado to pick it up first.\"}",
  "call_id": "call_P7o6BCQ6q0NbDDq2OATaaZLH",
  "id": "fc_0091f82d05ebdf6e016ab2c02feb9087d083ac6d7c6d29da4e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_P7o6BCQ6q0NbDDq2OATaaZLH",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7555, 1.0916, 0.5346, -0.197, -0.5797, -0.4576, 0.9991, -0.0227, 0.8005, 0.6178, -0.3943, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2849 left_y=-0.1305 left_z=0.1187 left_yaw=-0.0272 left_pitch=-0.0412 left_roll=0.0231 left_gripper=0.9991 right_x=0.295 right_y=0.0009 right_z=0.1816 right_yaw=0.003 right_pitch=-0.0099 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -3.1385, 7.4325, 1.7265, -0.442, -0.0904, -0.0122, -0.2256, -1.4017, 7.1043, 1.7949, -0.0073, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be60e5ba2c40e80849beded8d2f909b9d3b830d6f872c4c000fbcad378ac2654",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a071f5a46e1516f6583c0778e9a315f1d0d726828a644bd1ff5f4ee0664cd6c6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a54443316e17c596da3ce95329874047b7e85176a867f92441f0a50e1b150650",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob be60e5ba2c40
wire blob a071f5a46e15
wire blob a54443316e17
call 2 attempt 0 · /responses · status 200 · 6.043 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.0284, 0.7998, 0.6132, -0.382, -0.0143, -0.0193, 0.9992, -0.0227, 0.7986, 0.6186, -0.387, -0.0196, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.296 left_y=-0.0023 left_z=0.1822 left_yaw=0.0 left_pitch=-0.0 left_roll=0.0 left_gripper=0.9992 right_x=0.2959 right_y=0.0003 right_z=0.1839 right_yaw=0.0 right_pitch=0.0 right_roll=0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.0068, -1.7299, 9.7709, 1.8193, -0.1441, 0.0317, -0.0952, -0.1436, -1.6479, 9.1556, 1.873, -0.0317, 0.1587, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssA6wzH8aaYUSMCTw2zYN6CMqqJ9nzTnjJkD51W1YKc3f3YBRBhIBbgTe0fgOODPMPDJfryC0ZqdhSOSkkRf_c36ELduhxg8UKLAWuqG5zthiDjCeP_ps1NS-5ZnEJI_FEOsYWfmfWpVxRTyNyN6ZXl4LBGfzik9gIyKhnC-GFS3ykz80LhxG2kuHRX0PumGIGPe6IwXK8KeQy1BUbo6_tdAxHCc__ut0WVyJKEdJqofCf3qZYab2Udi5DVs5B5YSFLKc9qsHLnqeg5feuciuG5F8gogOVMGxYyVySDDUBf6uhASeJZW0lnq86069R2zJAJbEF_4OOeyn97eA918q89a1oXnQuC_9pl3v2eaxp8xmk5MRpbq8YnGoDZ-ZWIDSZbC3adw0rqmfth8WCU6bqkb_8nUCH8pqrSd43m8N1WDF0RRkcSazEda4WayvnIlI2GyYOemJTA8qee__9PCcUG37eppBb5Az7nBG7m0euzZONcJDP1kxcWbg_lJLnUWHralydLadz9jyENm-E3EDvZcFyqmtivQ65zmatcsqsiW3jNWT8j6NDGE3kQCFfHzxrAAWkpx21TNAP4ufGg_HyTvr-s-FXPUA5xAg1get4s3KqBZptwOdAcfMmLd84O4Oz1mBCytelltUQNv1r7E6P3V2AcmcgTjbhvcHzXD00Qy_opakcnaVfDGGL2bUwDJSUR9cpm3TO4Ah_nojwvD_12jMUQnGeaiGUSW-A9hDSldgV0XHG12mXbxaFZ5qR0Y-3TX7Gn0OqlFdMjQfE4mXiVGyDDiL4rB-sFs6SHq7JXfn2Qum1doO2PbScKeNyN_7t3SGuq8rfdI8HR_lg8owaFlXbp2kETDwYTi9PeX-4dVecXuOFuqPoB7wuMps4Yk-EWXsvF-BzxCBwwrXtYdt0uiAfBl7p551TO_-BU6_JzZItGFBg_A32dYUNV2OYVPNioHITaMAb9Z647RlqTwDnP16sfRlYcyIG6e3ijblkdqmO1hhhCG3nui4DCmzI62_RxfoHQzOQG9qH0r5D8OmJXwh2cKjE-PG0BLbltSNlPClBfPAYMzldnfL1fKMtqnABUFBhpG9UmAzWR9JR3ZSl-LgykPkL9YV_dpZwJA06s8Zm_yjBh_k6Sg1cwwu52tMkCo6uER0c531qBoumEzZ8BMXh6BBsuIDGUPmdFmdxKQwhw-ZEJwNZrReDZ7dIKk22LHfrorqQSUYhK-bk-ZDAdQLI3xa_6PPvq0_xuWk2sQ1XAY-S2qmjd2RLU0ga68RQ5Za-Q0kzradHd1ICwfQ6XAPaKY6a8Y5vXlsfmxRulz6fw=",
  "id": "rs_0091f82d05ebdf6e016ab2c0378d1087d0b751e1b687c8aaf4",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.315,\"left_y\":-0.109,\"left_z\":0.028},\"note\":\"The avocado is slightly left of the jaw center in the wrist view. I’m centering the jaws and lowering around its sides.\"}",
  "call_id": "call_uos792NXnYFm5peKK53hFPBy",
  "id": "fc_0091f82d05ebdf6e016ab2c0388d7c87d097c6e3e6948ff6da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uos792NXnYFm5peKK53hFPBy",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5762, 1.4799, 0.3088, 0.448, -0.4519, -0.3367, 0.9991, -0.0227, 0.8043, 0.6178, -0.3946, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.311 left_y=-0.1058 left_z=0.0212 left_yaw=-0.0125 left_pitch=-0.0691 left_roll=0.034 left_gripper=0.9991 right_x=0.2952 right_y=0.0009 right_z=0.1804 right_yaw=0.003 right_pitch=-0.0141 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -5.2718, 4.7248, 1.8193, -0.0952, 0.149, -0.0073, -0.0479, -1.6068, 7.0222, 1.7265, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:30d2c26421a7e7b63a529e64eefd1de4428069c42f3c640af064806fa31756bf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdbc3eed475c52083a095667735cbbaa16d62a068c50225836b681f5790ebe45",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 18):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5967a97d37f23e3912f1dcddf7c088714a42d958a6da9000f691342b268e1403",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 30d2c26421a7
wire blob bdbc3eed475c
wire blob 5967a97d37f2
call 3 attempt 0 · /responses · status 200 · 3.374 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.7555, 1.0916, 0.5346, -0.197, -0.5797, -0.4576, 0.9991, -0.0227, 0.8005, 0.6178, -0.3943, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.2849 left_y=-0.1305 left_z=0.1187 left_yaw=-0.0272 left_pitch=-0.0412 left_roll=0.0231 left_gripper=0.9991 right_x=0.295 right_y=0.0009 right_z=0.1816 right_yaw=0.003 right_pitch=-0.0099 right_roll=0.0012 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -3.1385, 7.4325, 1.7265, -0.442, -0.0904, -0.0122, -0.2256, -1.4017, 7.1043, 1.7949, -0.0073, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssBD_TYX2ZYbhDoNQ4eJKwNr_Rk5Du9crqGwLJWOwfjcGO2kgH8-CUeIhQxMeqncAREVdX6G_Y3YpJhcHsyta3lyqnPPINE-cOIxV2gdnVN0o750zqXyrWBw2_iUT3HqlpGhZfOy_Dsx9UaZkw_u0mstAPEUk1oUkmlPQDuRbTbXDqt3V99UzSoQ-bZ_04yWVSST9v92BDV6jNW26urb1_BRec__1blPtf4CrLm5zjnzPrD94HL8MPIpqSNzdLtf-v-ml-XCrgz19-VbkwK7jaDPPjMvUdC3YvwfeoHxM3vm2LoVCV5KbwPH1olY0AcXtdEQ_Qd0As2oeKwBSJeeIY0n-fMx9lI5t3m5WHn1Hmod6CvbNrHoA0OHlyV89WQVoUL_H6EkH0t7Tt8ZJwhJdD3cdI3w737nhVR1arHWtDhtTvhGbylmdAsZaqTbojPMYYFdejlucKA9DlrSUyjxegXoPpKmFi5B1KngLJLi7r2kJNIPoU-ckAXXI2sdNcBP2fjJBNIwZi7MTMK8njh4xHNiBwasetGqN2pS2bc147g2uEmlck0BpIxW0KrmuyRNMwMvxSVv_46WJrjyYrvfupnAD_oKbA0H7-bT8YSCl-Mp5COl50svlmfI51ZUdZXLdOOTGxxmzDqST7SbNwujl-zptkS-464zeGOkpcAOt7MxqwGtoCNi24l0nGKFyp3Y2OEKZo7tTtETHCCN6TkH-8ytXS47QB3zM2uTtmQ1hy7uw5Ku-RLyNUXXn3OP1_DrpK1QZGvAd3xPY_7TYqMSteYhtjF8KmyyWbcx_sRb8Yr_E0HBmgHsvagoLLIS2g-i8uHPi-vym1qlbn2aO6-Dtti_HRoHquhPb4u2DqVjpYJMHVk0C6-NS1TvfhrEhcraDUlOg43Z2-48gHk8trIfRC8YhnEOrzt0vgd1rVtZbs4jvSxsSLoEVv_PPB1lvWt6DB5aYAzR4RmZRBwAWoelDOdK7Im7zwz9BW_SZcrqfGDhm4UWFV-Q4sxK_vEbFv_yHxeRwdBPLBdLYrynC3vW2l_wZUWSqBwln8GLMO4Av5NFJJKd0ycACoMMWSs_2Dx9iHBZ9YAijmobh-4Ik5U4cGrUgaC50x8OHzntL2wGR8eEO--phvkr3DeXA1Rf21wzWocvc5BYII_x1nJN4_nsFlqgp_1fIoEKgvNCwpdExMlBNpHlmLGj8J89CB-4Ax0CNwjZRyNe0NLyi5iWuVKfMsB8FyFHzC8gyqaQUUYSvTfy6dw8EQ6QLFRkV0uzdmrVC0PFRRCRdtKz7X3zRqLkb0IP6sqeCpHV9GdewmlHO4mM9WDwOfX30z_mvQ-mzYt47QdDWOj1q9w17Lt2IjOjRNGW3DUiaEdIntinxG9d1sL0KKHvI9Le7PN8rrtFKVj3T4AL",
  "id": "rs_0091f82d05ebdf6e016ab2c03ef26887d0b37ade7550c45871",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.344,\"left_y\":-0.098,\"left_z\":0.024,\"left_gripper\":0.43},\"note\":\"The avocado is still just ahead of the fingertips. I’m advancing a little and closing to its width rather than squeezing it fully.\"}",
  "call_id": "call_uuBVe4V0e3sYCXCCPukcwBoV",
  "id": "fc_0091f82d05ebdf6e016ab2c0415d4087d0a8c92031a8551421",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_uuBVe4V0e3sYCXCCPukcwBoV",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4759, 1.562, 0.3698, 0.4538, -0.3912, -0.2855, 0.5437, -0.0227, 0.8051, 0.6178, -0.395, -0.0227, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.3318 left_y=-0.0912 left_z=0.0136 left_yaw=0.0126 left_pitch=-0.1032 left_roll=0.0473 left_gripper=0.5437 right_x=0.2952 right_y=0.0009 right_z=0.1801 right_yaw=0.0032 right_pitch=-0.0152 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -4.6564, 6.9812, 1.8144, -0.0073, 0.2125, 0.9744, -0.212, -1.2103, 7.0496, 1.6972, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3935bd513515abc71107c1de54ca84e937e926a3e3a79efc7d797548e0cd3839",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2dd2054dc8cf7ff386e494d5e0816600ad824f9e60884c72d3eabdde4fc2776d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 24):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:38113048ec7ef96abec302ede28b082eae65cf85e1277e8e806812a7e6fb9a50",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3935bd513515
wire blob 2dd2054dc8cf
wire blob 38113048ec7e
call 4 attempt 0 · /responses · status 200 · 8.72 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.5762, 1.4799, 0.3088, 0.448, -0.4519, -0.3367, 0.9991, -0.0227, 0.8043, 0.6178, -0.3946, -0.0227, -0.0341, 0.9994]\nstate[eef_state]: left_x=0.311 left_y=-0.1058 left_z=0.0212 left_yaw=-0.0125 left_pitch=-0.0691 left_roll=0.034 left_gripper=0.9991 right_x=0.2952 right_y=0.0009 right_z=0.1804 right_yaw=0.003 right_pitch=-0.0141 right_roll=0.0014 right_gripper=0.9994\nstate[joint_eff]: [0.0752, -5.2718, 4.7248, 1.8193, -0.0952, 0.149, -0.0073, -0.0479, -1.6068, 7.0222, 1.7265, -0.0269, -0.0269, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"left_z\":0.10},\"note\":\"The jaws have stopped at about the avocado’s width. I’m lifting a few centimeters to verify that it is held securely.\"}",
  "call_id": "call_tCK5bLGN2jp9xaFOF6YT95Ti",
  "id": "fc_0091f82d05ebdf6e016ab2c045ba2c87d091de238784d9101e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_tCK5bLGN2jp9xaFOF6YT95Ti",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4736, 1.2575, 0.5434, -0.049, -0.3843, -0.2882, 0.5453, -0.0227, 0.8082, 0.6178, -0.3946, -0.0231, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3274 left_y=-0.0894 left_z=0.0865 left_yaw=0.0122 left_pitch=-0.1273 left_roll=0.0527 left_gripper=0.5453 right_x=0.2955 right_y=0.001 right_z=0.1794 right_yaw=0.0047 right_pitch=-0.0179 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -5.2308, 8.5675, 1.5702, -0.2125, 0.0073, 0.7204, -0.0342, -1.2103, 7.1453, 1.7265, -0.0366, 0.022, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b1385a486362d012764db12427610f4a679b9fbf8e74591c8e64b386b40e944",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60c1e16d9f478d6f3a8988ccbec2205e5cd4417d9cff988e36e4ed155ffddbed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fb4827d812138f781fcc943fc348577aa67aaecb9393050680a685a17023f598",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 4b1385a48636
wire blob 60c1e16d9f47
wire blob fb4827d81213
call 5 attempt 0 · /responses · status 200 · 10.48 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: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4759, 1.562, 0.3698, 0.4538, -0.3912, -0.2855, 0.5437, -0.0227, 0.8051, 0.6178, -0.395, -0.0227, -0.0345, 0.9994]\nstate[eef_state]: left_x=0.3318 left_y=-0.0912 left_z=0.0136 left_yaw=0.0126 left_pitch=-0.1032 left_roll=0.0473 left_gripper=0.5437 right_x=0.2952 right_y=0.0009 right_z=0.1801 right_yaw=0.0032 right_pitch=-0.0152 right_roll=0.0011 right_gripper=0.9994\nstate[joint_eff]: [0.3897, -4.6564, 6.9812, 1.8144, -0.0073, 0.2125, 0.9744, -0.212, -1.2103, 7.0496, 1.6972, -0.022, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssBQkTqW4pU-w63jUzesu_MJD0TKR9Uzn0TxdqSFEe1PjtB3r9doOr2v8OD1TPbEejp7sUmewZytcWgDBPoYt4b3fzH0Z6LGI9DVOG-n2_FCh0DpVFhwlAvK98zW1tv0UbnHtugQVEfyGs6aj_Dnzi5IgaSzJmR8A0NIDOPWkwWgNPtXjVH8pmkGBnYd12F6X6l3U_Gdv45dvCQXeSZzXuj4dwNoIfveF2IuRB5mkuorSYgn4tBxys_bywuCuqROxIy0oMaKnmYXH51lbkRBfzYMo_Lnti9bHjs5oTt7_XZbiEAIPX71JKBYwrkKMfry-BMs1rq9QSSrO1g_l6RhiRDmDaTBUV5izM99aTet0RZ-FHWCGX3hcjZn1MBLjxaMYDvKcd1R9HowLJvPx21EjrYE3QwT1LiO7lav6hwWYrPoExfaTF-sX3oY_BTFLG8ff6Um_i4micq7WUDfdj4QXOZyxycx1TG2hA9xewpOgWv2nJiuXmkwZ-W0ddM09Hm8UTubBEynV4dD7t8uvto6Po2WjdhbkNOT_sua0UQJrgbX9iyAWowI1DRW-UubxADGZhYQ5zSmAm0vhiEs621zH8ouJWpqPPtxdQ9EPjbhIZPL_jhVZ7MJWF55LOKFZ80cvP6ngILiutCIPLPaIk4qYpjmHwpEE-X2lySz_DbbhCCr6tlfXVRpmFi70EnFQOeLz3hUr_qIwbawb6T4WKVzKsn8o7dbZw9Rkwp43c33v_vsRW8zGFJAl9kJlnTP2ojoPg0uSsUjYPvONHcKgib6S29mayumQa3_IO53GYmR-lXv8Zi1rx4AwEPv2Cx86Ulv-VlWfQZzG0Alkv8bBXwtTx4AnmM8nQ2r1fTPdpDEYmSvoHqXiLeCPTrSNRiIw6_zYrkxOTeLajyaQ23JB2D3r3vclh7YpLtlGLvJcC-utst-jVj6VHMKs2ox_UeH3x20I_4NMKPZB5K8k9NEOAi18kjXRViWQtrwMqGVVUvcinRd13Kt2LQu-OHdN6Re3PyFc7AFRP1EnwDYWjuO9GlIszC58EYnFEMABwh-UTu-PyTo4sbEekj09An0o1Mpy7gSDlXAugKDMxK-rOsKbgx7MLEHsB4AldEV8oq1q-9kNPGLWav5oxD3RN0I2JwJFhMr8YPyAZxb5av3Dv_CIYfSnRymlS5MpEoCXraS89RXlEWE2ua8ZUVzFxsi4zB5_KvdKLcNfspJHWhnV90C64nLjFXm_hzAiRR1WNDU-xp6yvWObES4zSCltCcCc0vE_Un7oojvUsOw72yk_eHnjmuQOXJUbUV6jZ7vIDuHHZuSla_edz3Avd9AsTXCR4_LBTUMqY8Upe_LxzbYbvxdaFA9O1cCCfG6V0JFUMcaRTQf34ZUcITUnrtdJ1PCWWP0gepGdCm4PabUzjUcY7OKD5p0JRCY-l46bLI6JOKjYvlXCgLAd97Rf9qdYZEbvZdaG-WR4xqc8D80a-H2yfhwPCRLrE7M4-D7TsnJmOAKNeswnRIYhK2VdKnwEx77d8HDdY_scddQ",
  "id": "rs_0091f82d05ebdf6e016ab2c04c4bc087d09efcfcda94b724b5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.47,\"left_y\":-0.39,\"left_z\":0.21},\"note\":\"The avocado rose with the gripper. I’m carrying it above the blue bowl, keeping it high enough to clear the rim.\"}",
  "call_id": "call_sml3gnKpHZgEtwPHcJ9q2vFF",
  "id": "fc_0091f82d05ebdf6e016ab2c04fae9087d0bfbc433f399ddd7d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sml3gnKpHZgEtwPHcJ9q2vFF",
  "output": "executing move_to over 27 steps (2.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8673, 2.6911, 2.8231, -1.2781, -0.6361, -0.6365, 0.5448, -0.0227, 0.8116, 0.6178, -0.4095, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.458 left_y=-0.3721 left_z=0.1255 left_yaw=0.0437 left_pitch=-0.268 left_roll=0.209 left_gripper=0.5448 right_x=0.2936 right_y=0.0009 right_z=0.1754 right_yaw=0.0046 right_pitch=-0.0362 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -15.0632, 8.253, 0.7937, -0.525, 0.022, 0.7155, -0.212, -1.3744, 7.0496, 1.8584, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c48d574b9a0c8c3bb92ad8b24c286728e37a121c40591fc1b8f4527de9fb882d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:71b91ec37e29df028bee5ded85cf372ef4de400ae2f5870dd1084a4be43b421c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:969cca0118f5a04cc5ab7386fd6c52ab7cd9251133a1b661110415664774d722",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c48d574b9a0c
wire blob 71b91ec37e29
wire blob 969cca0118f5
call 6 attempt 0 · /responses · status 200 · 8.128 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 17 changed as sent

message 17 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.4736, 1.2575, 0.5434, -0.049, -0.3843, -0.2882, 0.5453, -0.0227, 0.8082, 0.6178, -0.3946, -0.0231, -0.0368, 0.9994]\nstate[eef_state]: left_x=0.3274 left_y=-0.0894 left_z=0.0865 left_yaw=0.0122 left_pitch=-0.1273 left_roll=0.0527 left_gripper=0.5453 right_x=0.2955 right_y=0.001 right_z=0.1794 right_yaw=0.0047 right_pitch=-0.0179 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.1709, -5.2308, 8.5675, 1.5702, -0.2125, 0.0073, 0.7204, -0.0342, -1.2103, 7.1453, 1.7265, -0.0366, 0.022, -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": "gAAAAABqssBlgB6JkQbHHWcb7U6SAndY9FIEr303A_1nS9q-6kY8I1tKlryoRdcRgXfzdQCrEBw-hV_VQwBFlOIl6O35grjPztG8K69FItUTMTJUhNAnwt8bpkdOae5_CsxdxMUWW57vf5lV4VoHyidcQmO-60N-zF1-WmJhHgyazu9hD-DJYuxRcb_aW3vrcq8VTw9-_-JIGEKAyaMh__ewTwS-jAsmfv_F9lAfThm0HFKTny6SMpx199cSkNPnzn-OUeebqRfgO-gPdZkg8byXe1U81ewNGv_zsrWu0ILz1O_KoXK-flocLi06tBdiHTS-STAs6XX7isOAdLPW4cR4ouvh6eGEm7D4qwDFq6eLbBDxV4WGAHChbKtMJIDc2PsL9Snj_pWJw2LwctGaR4dHt8O8N1up8tB6I6Aa7-CT1epMYPVeLEutuoISGn0ofknLZNzomB84Ytn5VytaUiHj0k4z28tE-0OA28x5zf2-UI4vU4SKARdSY7xGQi66YJkdBgh5zBhSP3QCe8gPB-dJjN8V4rItvby-hs0BpTa8SwughjgAitYQmrYy8yufA6flzSy-wZN7VVwWcoUfz45Ph8Vwh5fSvIL-bmj5mHFw43rf9ulEOiZTtIzKj8cIWZ9ok2upzxn1wmU-8PncA6UK14_BvtBk2-UWIKfz69wr5oYbD-1ImxVFGlPi-lLG30bMLKpOFvl0sq-H8okgGzB6kdIVPLmo1F8tWjgJuMw5becs7UPRtAEOq0-IaHyoe3KiglDmft9FEnk3xJwVLdicNLnMR9sKDYk843Xrye1oXCjb7NBQXf-09nuG31XJLFpTcJlYy1iTLe1u_MqH4GAIzbPoYL9z_bN5Qnrh7KcT3Agq5Ndx0mbZTgd7HU0ZLN62lOTDyFYO5EwhFgq9e6HcgxsYzlRHK3Nr6A2PFBqdwOV0Sz5V1bAmQNUWX7Qa3hHnZLMvHD4XV0lr7YPgvfAv2Tct5sLUDsYEGbLkE0DOxi4V4bCc3V24qt545wfBSehZZaeKJ8fDHXouvNgy9fmDywGtvOLUi0wjbTkfxIb8PTb_FrBJ0eC0xqNzlXzOymlbtGQXEgMbmEHzUdkYe8F7jTrZiEm6knD_7fR7Q9O6SCct2VDUpVsStPzZx6zUhv0qUQWdzigvrz9Y01GV6_WPM7R3HSLM-KQuXdH0l30ZW6lQuj-rcYPl1xAHHtCB-CRimvwOq_uQ2WhIOY9nCTnz1CFI_zlIJnqKdH1U0MBWbTi_s7BQHJkCFe7uPRDcKQb3ABktmSPwSJPc66qDE_0qS4eIxyEF1RK0NGDhGsEm0uLeYczRuCYpVIDSAAj_XwepDZ_OE8npMtG03sLB4aPrZzZ4AWKxWzLbW_LIe3H90L2puvlKV_VRevPplISAu_nK31pdd0F1sHW8veMSlRAotBh3nk_XmJTfpr1xjwhONO65CSH91AhnaRan6cdNqJoN4PupsBXLKDj1VIpYFWp7iXpp0NwMNcF3Wkhzmh9yfDq_Q0WRbFauaRvf1q9bnV6W9Zu_qAgnIL8nqjUKBHoROczm2oUf5jAJm2Z-cZvnuOV8hVOzKxGPEHyKcA6X-ygYjiPH3lSTicvc-bK70wWx2RKJnCVUPoLhZGZjUwfRk0mEnGadhJawaEjP84MHdkRoACisYhaUXaSO739H2D35jNh6Rb-fnBIErUkhbzDOF5B55Xjy5l67iidbbTsa-U7Wy5zeih1lzDBKcH9ewWlwlRkXpzbNv5PLFcrAt2H0tw5EpYgBEPrYdpU-094kQk6IAna_SFjMOmOc63dl5WUZ6SLB0oxWHOiQ7W6dgNk3KlNMKGAXzrB_YAyK85wn4tnY95vNXAFGDItzOMSojOrOA-dkdFSCtM64iL4QZg_CwMlPBBWpOOI=",
  "id": "rs_0091f82d05ebdf6e016ab2c05e541c87d0925b92f14f822592",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.49,\"left_y\":-0.4,\"left_z\":0.18,\"left_pitch\":0.4},\"note\":\"The arm is near its extended reach, and the blue bowl is just to the right of the held fruit. I’m shifting to the bowl’s near edge and tilting the wrist forward for better reach.\"}",
  "call_id": "call_yiar1d4MUzuDsF6UrLXxVlVa",
  "id": "fc_0091f82d05ebdf6e016ab2c063c00087d0b3ad4e8c025b9c7c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_yiar1d4MUzuDsF6UrLXxVlVa",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9363, 2.9795, 3.118, -0.5297, -1.066, -0.1528, 0.5469, -0.0227, 0.812, 0.6178, -0.4175, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.518 left_y=-0.4369 left_z=0.1887 left_yaw=0.057 left_pitch=0.3737 left_roll=0.2108 left_gripper=0.5469 right_x=0.2925 right_y=0.001 right_z=0.1737 right_yaw=0.0046 right_pitch=-0.0446 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.759, -14.9812, 8.4444, 1.8193, -0.2955, 0.3101, 0.5104, -0.1709, -1.3607, 7.0085, 1.7558, -0.0464, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5a2c025f220c6c14d6e091ef738ea6db354c3362a8f3d04323be751303493bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e527b5580280a8126c0a83bd51f87f279166f054c24ff2c1cbf519c7ec797ba4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 80):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e90b981fd307d89f8a30735a223311d924b99a5146ff61e31777a11297000275",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5a2c025f220c
wire blob e527b5580280
wire blob e90b981fd307
call 7 attempt 0 · /responses · status 200 · 4.366 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 21 changed as sent

message 21 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.8673, 2.6911, 2.8231, -1.2781, -0.6361, -0.6365, 0.5448, -0.0227, 0.8116, 0.6178, -0.4095, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.458 left_y=-0.3721 left_z=0.1255 left_yaw=0.0437 left_pitch=-0.268 left_roll=0.209 left_gripper=0.5448 right_x=0.2936 right_y=0.0009 right_z=0.1754 right_yaw=0.0046 right_pitch=-0.0362 right_roll=-0.0006 right_gripper=0.9994\nstate[joint_eff]: [-0.5402, -15.0632, 8.253, 0.7937, -0.525, 0.022, 0.7155, -0.212, -1.3744, 7.0496, 1.8584, -0.0415, -0.0611, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssB20bynU-rFzQ6L0_30sx6RQjLkwlNJW092GGC5VgHOGFmRo9cQKPCZJGtueJl_4o2wjn0YYno9PhoXD38tP_plCiCM0J-hMRo5R-B04g52Lr3Jtu-XMow1dROnaXe5j92tSZuqiaHwL4zW3DLiIT9T6AGvej9Nm3BZH8cupoT21fb6pyFWD3HqjV1r4fMQU09YAd0BQ75vaPhb71CT3hREj18gR4I3uEIpXtPO9TzlmY8wrC9TZy57-aNN2-YPG7aeTlAEMqAECloBzE-C2sUr74DgYU_9eYfdUOLNIR4b2ju94vVfTISugpu2RkIN__Shd1dOlIn194Cuxshng4vWpxNtleIIwz8r2TsHTj6WYZSQhWJFmjvtVaVWXTus5fOs05E_8P4wX4OA5C0cyNy_oplYLUmCuX9eOpgpewE6LnpX2RCFdiOxlK08TbJLy1_R0zcoMyDpZISl2DlscV6_reacap3vtVKRjOF14i9NQK0dKf2w0zdnSwnt0vlbJBCXKhS8-JEhY4jzwVHgDLCAQtbKjzKwXLtNxmVZog1ocMJb6zWlij14OWMt-gcm-SK-WZ-5vaAGbKWiXB4RUCvSUe8XvpNqci0wRUzsAs6mSyS5NYK4zFxovn6gPbGa6CB1K21Sinwv6TrIXKWLEvrYKDeG_LkDuY69FTEfyJT8a3gUh4OvjCLgrhNIK60B9iWUbvAGWeLbmliDJOm4K8eQOlbmOI3fot3YdHOw1ISXz5I4lC5lVxHoOTIz__5yzwsfcInDcJh3NrK-O9xHptc8Ct9C4blQjLXpP1INODXZ-vmFN6POMCEQJTbjb6BiTG5njtg8uc5JnmJlVC5G6HLxGheU1E4eXzUWxca0fAajab1G8PN7ZrTJYIqdI2_llEOpL14AnMtYRviMGsSgCN4xGFDe01awlxuN0AbzLZtcVxta4mMXcmkQJhHbosEOZBp1gfa7sZ5odJ9E9Sl3kzU4ifcpwVg9m5KBMoeKBz81QNvPHkiECoSrG9R2fKY9nZp4H-pGLWn7wXfp9lDYwcGavWw4oVmub5am-U0FVwLtBemvP8Bu40K77ckj-IlQI_BS1zxf6_fydoAKMy-et2skb6Su3jaNlut2xaoNAEdqoOjq7ONvsGhQv2OC3cJCoFdyfFu_xnxduJnX2u1gIPUHh5AsFyL7cqOTBFWMrLH2SG746gnDTC7pzdWa7oUY4693l0WnfZSlyywISG4dpZvBKi7HiAo3fwFi8qiwZDwAGfbNo-EcvzYBIm00qEpJBrqHQ2yYpOnCbPQ2N337aMo3AW-che_5wgTgc5T3SzHD_BFJ84PRwrXXmQQ0-yILp2_Y3l70fJsSaj3iLJxJdVMQpe5cDg6CiZSMcnCJTf4ELBttFBqk_Xzluh4PKMl29r15i0XBaV5c8cAM81k5134efTe0ofcG1B7RmZHIlptQzytmDnF820UhSfxLjmiytBhv-eUnL641iBEPQ13jyeREQbxXJjxIQcHOydGyu8f5zcD_rIlIQaI3kqt3kHOJAcr5Srz5eFNBIPWyAzJWa-iAzFxI_ISwFCpMVUdYK6Za9EQ6xcXVWjmCyicAHlxL-mCGsQMljQSs8LypP5UXU6WzQL1gV4FmebGHKCutBcy2BlGg1ftvphvNdgyXHuujQ1Zup7wdLvqB2bK1EiCa5giWp_KxPpbfE9mGO3OsFZZ1P4H4LCcen8naIInnO3WV7PXfNGIn1i5i4qXqfxhKD1M6vA==",
  "id": "rs_0091f82d05ebdf6e016ab2c070929c87d095ca1b0649b64eff",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_x\":0.46,\"left_y\":-0.39,\"left_z\":0.11,\"left_pitch\":0.3},\"note\":\"The fruit is above the bowl area, but the extended pose overshot slightly. I’m bringing it lower and slightly back before releasing.\"}",
  "call_id": "call_LjjJynO4vQ7l4iqqofgiPoAk",
  "id": "fc_0091f82d05ebdf6e016ab2c0750fd487d0bc3ad559ecd6042b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_LjjJynO4vQ7l4iqqofgiPoAk",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9768, 3.0692, 3.1199, -0.6704, -1.0626, -0.3149, 0.5494, -0.0227, 0.812, 0.6178, -0.4206, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.4958 left_y=-0.452 left_z=0.113 left_yaw=0.04 left_pitch=0.2678 left_roll=0.248 left_gripper=0.5494 right_x=0.2921 right_y=0.001 right_z=0.1731 right_yaw=0.0047 right_pitch=-0.0476 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.4855, -16.0479, 8.1573, 1.4872, -0.5592, -0.1001, 0.2418, -0.1846, -1.2376, 7.0085, 1.7314, -0.0562, -0.0269, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e7902acf7e95812e1a945361ee1ba52f173021099fe06316134c35d97ce7ffa2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:01d6666f64aa1eece597355f9f8d344dd0c8aa25ecc858de365c4a776a76a9e6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 86):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7c3f84a7cdd1e9638020e4da62fd89a44486e2476856456928e48a3ac8cbc71",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e7902acf7e95
wire blob 01d6666f64aa
wire blob a7c3f84a7cdd
call 8 attempt 0 · /responses · status 200 · 3.716 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 25 changed as sent

message 25 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9363, 2.9795, 3.118, -0.5297, -1.066, -0.1528, 0.5469, -0.0227, 0.812, 0.6178, -0.4175, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.518 left_y=-0.4369 left_z=0.1887 left_yaw=0.057 left_pitch=0.3737 left_roll=0.2108 left_gripper=0.5469 right_x=0.2925 right_y=0.001 right_z=0.1737 right_yaw=0.0046 right_pitch=-0.0446 right_roll=-0.0004 right_gripper=0.9994\nstate[joint_eff]: [-0.759, -14.9812, 8.4444, 1.8193, -0.2955, 0.3101, 0.5104, -0.1709, -1.3607, 7.0085, 1.7558, -0.0464, -0.0122, -0.0171]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqssB7XMaDctScwIJWZdmX-KGZbY9GZ1Kpa58ELAz3A75z3DgLQ_82jCMWaWCyDPQGGPu96GJCPWKI_5MB6qYwWHDxT94VgMkEwQ-7K71NAHjCFpxrX-S-M0I9D7zJiaAKfUQMaiCL5BprBnPmS6V52xbou6B-jc4LAPxYd92lWYlh3CGpLYRhui-zwnnV8-wKKoC0GjcVEVDVVvRVbS_cZz-xeYRz-d5BpZrNTjlA8MLpxdpR7fkBeoiSHJVjLPKQRzovOPTjkvKWleiP_gTItrzZYq47Ua3VzksdDNf5jam-JCliLGUfK-e-7IY-cjYknlLNAOe3L-1XEm_JL1bFDVLz-IDDpY6XRG9DHLzb2dVPK2gn6S9K-zcMGZ-8uxHKG25W9clKDQd31wFl3fnK0ELbXJos-jmN0E1RnDI16HTUVEmQ4nOT26WYZV8u1Id4u4TiQNrjb4ugdoGul7LAu6alhSlXpYsSoPe8er7wQjIPHCCXHhoK1GfVOS0nneZFgqxjytgNGEpBJrvbd9HLfn2PJrapmhszB8Bt2KaNtj9SbD7a-Tk3TPECe6irhUNf6bHHc5xiipQ6Boi2mg8J-7LJTtfge4K_3cI-gnUMefFKNYccB-mmnOMkfnNndK0lsJraN0znf3opDNTupqSsEUIaD9QdSYxzh1bDHjedPHwm3I9CQuBCtWwEIOvSpcFwCwOQ10_Cj4lPvshPQP88WgE-ttgak605zlgytBA5fQz6LTNEdi35M-SENBvCXoAcDS2odx71XYvmVOp1b7Da3SUziNH_6kGmQgSVE6isE-5ZCZylICOxGIZtqXP8CNCVZD5ZGQvm3i5E1Iji1QLSL2RF6lwhUtdxJHC2xI9rtL4UgGpzIy_gOFsfstuD1O5jFxoOP7xCjovD24IVhuZojECIrr-b3AkqCYQLBwhOGJCF80nszCH268iTBCs3tkTxGXdt_OO42QhrmHngpn4FBHiYmOZRW8whmk7fN6cTbt5gMh-jOvpRYzCjqSyCmfvWxpdtDhrv1nyO1j-V3Ai3boShVNPnOzXPA_BZX8qUcXzIx_CJOcHhx7V2_H3dTsJqnUiTxDehSZq5v6WSl83RKiUXUc-t3r62ie01Ggt3E6kIQ5feIGvYYiIDJi1QzrHyg0I9XwqIJ2fB1BoMyFmc7pwbzQMs2EQ5Z9ffg-AthfuCHcpGGcxiLGYX3kjSguEw2v61Ksh-GgRitq529n7qSndAZFo_uMWLzpdi_gjGufIgVrWku0W86ltXu7fBrlqpGzWPtKJq1zznz9f2G9qBdkuEXqXoyicpbUGUBwbqzpEcD0i9dIfUJo02dHEt7TfG4abBq_JAt-kcQEvQiy1neK1iHw==",
  "id": "rs_0091f82d05ebdf6e016ab2c0798c4087d08b531ffa680e22d9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"left_gripper\":1},\"note\":\"The blue bowl’s opening is beneath the held avocado. I’m opening the jaws to let it settle into the bowl.\"}",
  "call_id": "call_QGoUNnHSCCtJVAzvXwYRJC0W",
  "id": "fc_0091f82d05ebdf6e016ab2c07a8b5887d0bf01c7838935a262",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QGoUNnHSCCtJVAzvXwYRJC0W",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: Place all the fruits into the blue bowl, then pour the fruits from the blue bowl into the large white bowl.\nstate[joint_pos]: [-0.9215, 3.0695, 3.1199, -0.6846, -1.0348, -0.2924, 0.9953, -0.0227, 0.812, 0.6178, -0.421, -0.0227, -0.0372, 0.9994]\nstate[eef_state]: left_x=0.5194 left_y=-0.4271 left_z=0.1084 left_yaw=0.0597 left_pitch=0.2433 left_roll=0.2735 left_gripper=0.9953 right_x=0.292 right_y=0.001 right_z=0.173 right_yaw=0.0047 right_pitch=-0.048 right_roll=-0.0003 right_gripper=0.9994\nstate[joint_eff]: [-0.759, -16.5949, 8.1573, 1.5604, -0.2222, 0.105, -0.1197, -0.2256, -1.3333, 7.0085, 1.7118, -0.0464, -0.0464, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a07c888044efc7221318ee9a1c3c5feb3f4c26afab86076d006dfe120c40717f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0f3cc6667ccf93d8cb3b7b811c53fc9eb329f23f6561c99d64b1d5c81d833114",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 91):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7d7581359a4481d4eca8eb5df90fee4550b52066e882b4ece2385585292f397f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a07c888044ef
wire blob 0f3cc6667ccf
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