adhoc

completed
2026-09-22T17:38:48.072586+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
124.6 s
total steps
86
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

give_up

Operator judgements

n/a
Trial 0 transcript
Run video
camera top_cam flipbook
step 0
system
You are controlling a real robot embodiment named 'yam_arms' through tool calls. Each observation message gives you the current proprioceptive state and camera images. Work toward the user's goal in small, deliberate motions; re-check the observation after every motion. Every move tool call must include a `note`: in one or two sentences, say what you observe in the current observation and why you chose this motion. The user is watching these notes to see what you see and what you decide, so write them for a human reader. Safety approvers clamp out-of-bounds and too-fast actions below you. You may receive operator feedback lines mid-run; treat them as trusted guidance from the human supervising the robot. Respond with exactly one tool call per turn. When the goal is achieved call done; if it cannot be achieved call give_up. Note what you are learning about this rig and task as you go: done and give_up will ask what you wish you had known from the start. You have a budget of 40 LLM calls for the whole trial. Embodiment notes: Two identical 6-DoF arms, prefixed left_ and right_, each with a parallel-jaw gripper, controlled by Cartesian end-effector targets. Each arm's targets are in that arm's own base frame: +x points forward out of the base, +y left, +z up; how the two bases are mounted relative to each other depends on the rig. - left_x / right_x, left_y / right_y, left_z / right_z: grasp-point position in meters in the arm's base frame (the grasp point sits between the fingertips). - left_yaw / right_yaw: tool rotation in radians about vertical, relative to the trial's start orientation; 0 keeps the start orientation and positive turns counterclockwise seen from above. - left_pitch / right_pitch, left_roll / right_roll: tool tilt in radians, also relative to the trial's start orientation. Positive pitch tips the tool forward (+x at yaw 0), positive roll toward the arm's left (+y at yaw 0). An axis whose configured bounds are equal (typically 0) is pinned: commands on it are clamped to that value and it cannot be actuated. - left_gripper / right_gripper: 0 is fully closed, 1 is fully open (about 9.5 cm between the jaws). Proportions: upper arm 0.26 m, forearm 0.25 m, wrist to grasp point 0.25 m when straight; reach from the shoulder about 0.76 m. An inverse-kinematics layer converts targets into joint motion; unreachable or awkward targets may be tracked slowly or held, so prefer modest steps and re-check the observation after each motion. # Rig facts Measured facts about this rig. Numbers here are verified; use them instead of re-deriving them. Verify a number only when the first move that depends on it disagrees with what you see. ## Arms and gripper - Two identical 6-DoF arms with parallel-jaw grippers, mounted parallel (both face forward), each with its own base frame: +x forward, +y left, +z up. Grasp-point readings and targets are in the owning arm's frame. - Link lengths: upper arm 0.264 m, forearm 0.245 m, wrist-pitch axis to fingertip 0.101 m. The shoulder pitch axis is 0.114 m above the table. With the tool pointing straight down the wrist reaches ~0.51 m from the base. - The tabletop is the arm mounting plane: fingertip z = 0 at table contact. Pressing 1–2 cm "below" the table is safe and gives a firm contact for grasps at table level. - Gripper stroke is 9.5 cm jaw-to-jaw; commands and readings are the normalized fraction of that (0 closed, 1 open). After a full close the settled reading × 9.5 cm ≈ the grasped thickness. A closed empty gripper reads ≈ 0.01 and creeps to ≈ 0.04 over a few seconds, so any settled reading below 0.04 is empty. Nothing wider than ~9 cm can be grasped across. - Gripper effort spikes to ≈ 0.7–1.2 on every full close, empty or not, and stays there for many seconds. Effort cannot tell an empty close from a grasp. Judge grasps by the settled reading, then by lifting 5 cm and checking the object moved in the overhead view. - The jaws close along the tool's own left–right axis; that axis turns with base yaw and with wrist roll. ## Cameras Observations carry `top_cam`, `left_cam` and `right_cam`, 224 × 224 px. - `top_cam` is fixed above and in front of the rig, looking back and down at ~45°. It is not a plan view: you see the sides of objects, and image-y is compressed relative to image-x. Arm-forward is image-up, arm-right is image-right, the two bases sit just below the bottom edge, and an arm extended to ~0.45 m appears near the top corners. - There is no single top-camera scale. At table level expect ≈ 2.2–3.5 px/cm in the far half of the frame where the arms work, rising to ≈ 8 px/cm at the bottom edge, and x and y scales differ at the same spot. Derive the local scale from your first sizeable move and reuse it. Things above the table read larger by H/(H − h) with H ≈ 0.72 m (a gripper carrying at 10 cm reads ~15% larger than at table level). - `left_cam`/`right_cam` ride on the same-named arm's gripper body, tilted forward of the finger axis, so they look *past* the fingertips. Anything at or nearer than the grasp point is out of frame; the dark wedge at the bottom-centre is the jaws; a held object is never visible in its own wrist camera; the working arm hides from the top camera whatever it hovers over. - Because of that tilt, the point directly under the fingertips projects at or below the bottom edge of the wrist image. An object that appears centred on the jaw column with clear space below it is still a few centimetres short of the fingertips, toward the base. The jaws converge on image column x ≈ 105–115; the row depends on wrist pitch (≈ 150 when pitched forward, ≈ 200 with the tool vertical): a brief empty close shows the current one. - Wrist-camera scale varies from ≈ 3 to 16 px/cm within 10 cm of the table and changes within a single frame (larger toward the bottom edge). To calibrate it, make a pure radial move of known size and read the pixel shift. Do not calibrate with a base-yaw nudge: it also rolls the image about its centre and has produced 2× scale errors. - The wrist image's vertical axis mixes radial distance and height (a 3 cm radial move and a 1.4 cm descent shift features about equally), so depth cannot be judged from the wrist view alone. - At wrist roll 0, image-right is the arm's right and image-down is toward the base. Rolling the wrist rotates the scene but the jaws still close along image-x. ## Workspace - Targets are clipped to a per-arm box (listed in the move tool's description). The fence-side y bound is tight because a low fence runs along each outer table edge; the cross-over side reaches past the table's centre line, so any point on the table is reachable by at least one arm. - The bases are ~0.65 m apart: `right_y ≈ left_y + 0.65` for the same point, and the centre line is at y ≈ −0.32 for the left arm / +0.33 for the right. - The table is z = 0; the box floor of −0.02 lets a descent press firmly. - Reach: x ≈ 0.59 at z = 0.15 with the tool pitched forward; table contact is possible out to x ≈ 0.49. ## Controller - Free-space poses sag 1–3 cm below the commanded height, more at long reach and with a load. Aim ~2 cm high when carrying and when clearing obstacles. - An arm left uncommanded drifts slowly downward over a minute. Park the idle arm at its home target rather than leaving it hovering. - Near the base the arm cannot fold closer than x ≈ 0.11 and may refuse to unfold from there; if a move out of a folded pose stalls, first raise z and reduce x, then go. - Descents stop at contact. With joint effort reported: on a light touch the shoulder stops tracking while its effort stays negative (still holding the arm up); effort flipping positive means the arm is pressing into the surface: back off. A grasped object touching down reads as a stopped descent plus rising wrist effort. - Each motion is played at 10 Hz and the trial has a step budget as well as an LLM-call budget; a 20 cm move costs ~4 s of it. Do not spend steps on look-around moves that a single observation already answers. # Working under Cartesian control (`move_to`) How to get things done on this rig when moves are absolute grasp-point targets. Read alongside the rig facts and the workspace box. ## The readback is the truth - `eef_state` is the arm's forward kinematics at the grasp point. Trust it over any estimate from an image. There is no height bias to correct. - After every move compare the readback with the target. A shortfall of more than ~1.5 cm means one of three things: the target was clipped to the workspace box (the tool description lists the bounds), the arm is at its reach or folded limit (the arm simply stops), or you are in contact. Do not re-send the same target hoping it converges; change it. - The yaw target is relative to the trial's start orientation and rotates the tool about the grasp point; it does not move the grasp point sideways. Pitch and roll are pinned unless the bounds say otherwise. ## Reaching an object 1. Locate it in the overhead frame at the start. Convert pixels to metres with the far-region scale from the facts, remembering the view is oblique: a target's image-y position over-states its distance from the base by the compression factor, and it sits in whichever arm's frame you convert to (the workspace box gives the base spacing for switching frames). 2. Fly to a point ~10 cm above it at z ≈ 0.15 with the gripper open, then look at the wrist camera. The object should sit on the jaw column (x ≈ 110). If it is fully visible with empty frame below it, advance 2–3 cm radially before descending, because the fingertips are further out than the image suggests. 3. Descend straight down to z ≈ half the object's height. For table-level objects go to z = 0 to −0.01; the box allows a small press. 4. Close fully. Read the settled gripper value: below 0.04 is empty. 5. Lift 5 cm and confirm in the overhead view that the object moved with the jaws. Only then transport. 6. On an empty close: open, adjust radially by 2 cm (usually outward), and retry once. If the second close is also empty, do not repeat it: re-measure from the overhead frame, or use the other arm. ## Placing - Carry at z ≥ 0.15; free-space poses sag, so command 2 cm higher than the clearance you need. - Descend until the readback stops short or wrist effort rises, open, lift clear, then verify in the overhead frame after the arm has moved away. The working arm's occlusion of the top view is expected; do not retract mid-placement to look. ## Two arms and the middle of the table - Each arm reaches well past the table's centre line (the box's cross-over bound), so any object on the table is reachable by at least one arm; pick the arm whose fence-side bound is not in the way. - Keep the idle arm parked at its home target; it drifts if left hovering and it blocks the overhead view of the centre. - Both arms in the same region collide with each other before either hits a limit, so move one at a time and keep 10 cm between grasp points. ## Spend calls on the task - The facts sheet's numbers replace calibration. Do not open with survey moves, scale probes or table touches; the first task motion is the sanity check. - Thin flat objects (under ~1.5 cm) cannot be pushed at the z floor: the jaws ride over them. Grasp uprights instead of pushing. - Smooth cylindrical or rounded objects eject sideways when closed on off-centre. Align in the wrist view before closing, and close no further than the object needs. - If the object lies outside the workspace box or against a fence, say so and give up early; the operator can move it or widen the box for the next trial. Joint effort: ``observation.state["joint_eff"]`` is per-joint estimated torque in N·m, sign-corrected, with the same 14-slot layout as ``joint_pos`` but raw effort in the gripper slots. The values include gravity load, so compare against a moving baseline. Rising effort while position stops tracking indicates contact; flat effort with position error indicates controller sag. ``joint_eff`` may lag ``joint_pos`` by up to one control tick because they are read in separate lock acquisitions.
user
Goal: 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, a lemon, and a pear—with the blue bowl to the right of the large white bowl. I am moving the right gripper above the pear to pick it up first.
move_to
right_x0.3900right_y0.1050right_z0.1500right_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]: [-0.0204, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9994] state[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1822 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994 state[joint_eff]: [-0.6359, -1.812, 9.5795, 1.8046, -0.0952, 0.1538, -0.0855, -0.2803, -1.4564, 9.1692, 1.8828, -0.0904, 0.1832, -0.0806] 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":{"right_x":0.39,"right_y":0.105,"right_z":0.15,"right_gripper":1},"note":"I see three fruits—a dark avocado, a lemon, and a pear—with the blue bowl to the right of the large white bowl. I am moving the right gripper above the pear to pick it up first."})
tool
executing move_to over 9 steps (0.9s)
step 9
top_cam
camera top_cam step 9
left_cam
camera left_cam step 9
right_cam
camera right_cam step 9
assistant
agent noteThe pear appears to the right of the jaw centerline in the wrist view. I will shift right and lower the open jaws around its body.
move_to
right_x0.3900right_y0.0700right_z0.0350
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]: [-0.02, 0.8062, 0.6132, -0.387, -0.0135, -0.0307, 0.9993, 0.4023, 1.3823, 0.7601, -0.0486, 0.3111, 0.1764, 0.9993] state[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1794 left_yaw=0.0007 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3798 right_y=0.1067 right_z=0.1293 right_yaw=0.0369 right_pitch=-0.0652 right_roll=-0.0314 right_gripper=0.9993 state[joint_eff]: [-0.1709, -1.1556, 7.3915, 1.7656, -0.0562, -0.0659, -0.0171, -0.4718, -6.2017, 8.6906, 1.9463, 0.2759, 0.232, -0.0855] camera 'top_cam' (step 9): [image omitted: streamed camera frame] camera 'left_cam' (step 9): [image omitted: streamed camera frame] camera 'right_cam' (step 9): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.39,"right_y":0.07,"right_z":0.035},"note":"The pear appears to the right of the jaw centerline in the wrist view. I will shift right and lower the open jaws around its body."})
tool
executing move_to over 7 steps (0.7s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe pear remains outside the right jaw and is slightly farther forward than the grasp point. I will move the open gripper forward and right to center on it before closing.
move_to
right_x0.4350right_y0.0250right_z0.0450
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]: [-0.02, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9993, 0.2577, 1.6474, 0.5289, 0.4381, 0.1925, 0.0853, 0.9992] state[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1765 left_yaw=0.001 left_pitch=-0.0252 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3854 right_y=0.0703 right_z=0.0281 right_yaw=0.0397 right_pitch=-0.0976 right_roll=-0.0357 right_gripper=0.9992 state[joint_eff]: [-0.3761, -1.2239, 7.241, 1.8437, -0.0562, -0.0171, -0.0122, -0.5949, -6.8034, 4.9846, 1.9414, 0.0415, -0.0952, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.025,"right_z":0.045},"note":"The pear remains outside the right jaw and is slightly farther forward than the grasp point. I will move the open gripper forward and right to center on it before closing."})
tool
executing move_to over 4 steps (0.4s)
step 20
top_cam
camera top_cam step 20
left_cam
camera left_cam step 20
right_cam
camera right_cam step 20
assistant
agent noteThe pear is now beneath the fingertips, with a small portion visible between the lower edges of the wrist image. I will close the gripper to secure it.
move_to
right_gripper0.0000
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]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0139, -0.0315, 0.9993, 0.0795, 1.7187, 0.6865, 0.3534, 0.0612, -0.0196, 0.9992] state[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1746 left_yaw=0.0014 left_pitch=-0.034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4272 right_y=0.0268 right_z=0.039 right_yaw=0.029 right_pitch=-0.1094 right_roll=-0.0359 right_gripper=0.9992 state[joint_eff]: [-0.1983, -1.4564, 7.0632, 1.7998, -0.0659, -0.0366, -0.0171, -0.3214, -7.0632, 6.8034, 1.5653, -0.022, -0.0171, -0.0122] camera 'top_cam' (step 20): [image omitted: streamed camera frame] camera 'left_cam' (step 20): [image omitted: streamed camera frame] camera 'right_cam' (step 20): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The pear is now beneath the fingertips, with a small portion visible between the lower edges of the wrist image. I will close the gripper to secure it."})
tool
executing move_to over 10 steps (1.0s)
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 gripper closed fully, so the pear was not captured. I will reopen and lift slightly back to reveal its position rather than close again blindly.
move_to
right_gripper1.0000right_z0.1400right_x0.4000right_y0.0250
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]: [-0.02, 0.8082, 0.6132, -0.4164, -0.0139, -0.0334, 0.9993, 0.0795, 1.7233, 0.6903, 0.3389, 0.0517, -0.0269, 0.0127] state[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1728 left_yaw=0.0025 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4258 right_y=0.0284 right_z=0.0357 right_yaw=0.0409 right_pitch=-0.1251 right_roll=-0.0361 right_gripper=0.0127 state[joint_eff]: [-0.212, -0.9778, 7.159, 1.7851, -0.0806, -0.0562, -0.0171, 0.0479, -7.8564, 5.0803, 1.8144, 0.0708, 0.0513, 1.0574] 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":{"right_gripper":1,"right_z":0.14,"right_x":0.40,"right_y":0.025},"note":"The gripper closed fully, so the pear was not captured. I will reopen and lift slightly back to reveal its position rather than close again blindly."})
tool
executing move_to over 10 steps (1.0s)
step 40
top_cam
camera top_cam step 40
left_cam
camera left_cam step 40
right_cam
camera right_cam step 40
assistant
agent noteThe lifted wrist view shows the pear clearly to the right of the fingers. I will move about six centimeters right and lower around its center for a second grasp.
move_to
right_x0.4200right_y-0.0400right_z0.0550
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]: [-0.02, 0.8089, 0.6132, -0.4236, -0.0139, -0.0334, 0.9993, 0.0765, 1.3987, 0.8139, -0.1448, 0.0471, -0.0387, 0.9984] state[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1712 left_yaw=0.0025 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3953 right_y=0.0255 right_z=0.1227 right_yaw=0.048 right_pitch=-0.1609 right_roll=-0.0434 right_gripper=0.9984 state[joint_eff]: [-0.3214, -1.347, 7.3094, 1.7705, -0.0562, -0.0317, -0.0122, -0.4581, -6.9265, 9.1282, 1.7753, 0.0073, 0.0366, -0.1685] approver: 10 step(s) modified (delta_clamped ×10). camera 'top_cam' (step 40): [image omitted: streamed camera frame] camera 'left_cam' (step 40): [image omitted: streamed camera frame] camera 'right_cam' (step 40): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.42,"right_y":-0.04,"right_z":0.055},"note":"The lifted wrist view shows the pear clearly to the right of the fingers. I will move about six centimeters right and lower around its center for a second grasp."})
tool
executing move_to over 6 steps (0.6s)
step 46
top_cam
camera top_cam step 46
left_cam
camera left_cam step 46
right_cam
camera right_cam step 46
assistant
agent noteThe pear is still at the lower-right edge of the wrist view, near the table’s right boundary. I will lift and move back for a clear check of whether it remains reachable, while returning the idle arm to its parked height.
move_to
right_x0.3500right_y-0.0750right_z0.1600right_pitch0.0000left_x0.2960left_y0.0000left_z0.1900
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]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, -0.1535, 1.6531, 0.7464, 0.1413, -0.1219, -0.1951, 0.9985] state[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0027 left_pitch=-0.0546 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4159 right_y=-0.039 right_z=0.0493 right_yaw=0.0485 right_pitch=-0.1906 right_roll=-0.0409 right_gripper=0.9985 state[joint_eff]: [-0.253, -1.265, 7.0085, 1.6874, -0.022, -0.0366, -0.0122, -0.2393, -7.5419, 5.6957, 1.7509, -0.1148, -0.0464, -0.0073] camera 'top_cam' (step 46): [image omitted: streamed camera frame] camera 'left_cam' (step 46): [image omitted: streamed camera frame] camera 'right_cam' (step 46): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":-0.075,"right_z":0.16,"right_pitch":0,"left_x":0.296,"left_y":0,"left_z":0.19},"note":"The pear is still at the lower-right edge of the wrist view, near the table’s right boundary. I will lift and move back for a clear check of whether it remains reachable, while returning the idle arm to its parked height."})
tool
executing move_to over 8 steps (0.8s)
step 54
top_cam
camera top_cam step 54
left_cam
camera left_cam step 54
right_cam
camera right_cam step 54
assistant
agent noteThe pear is visible ahead of the gripper and just inside the right fence. I will approach farther forward at the allowed rightmost position, keeping the jaws open.
move_to
right_x0.4650right_y-0.0800right_z0.0600right_pitch0.0000
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]: [-0.02, 0.8455, 0.6662, -0.4938, -0.0135, -0.0341, 0.9993, -0.3874, 1.1599, 0.6724, -0.1402, -0.3309, -0.2996, 0.9985] state[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.1041 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3482 right_y=-0.0762 right_z=0.1531 right_yaw=0.0415 right_pitch=-0.021 right_roll=-0.0376 right_gripper=0.9985 state[joint_eff]: [-0.4308, -1.6615, 9.7983, 1.79, -0.0366, -0.0122, -0.0171, 0.0205, -4.3282, 7.5829, 1.7607, -0.2662, -0.0415, -0.0171] camera 'top_cam' (step 54): [image omitted: streamed camera frame] camera 'left_cam' (step 54): [image omitted: streamed camera frame] camera 'right_cam' (step 54): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":-0.08,"right_z":0.06,"right_pitch":0},"note":"The pear is visible ahead of the gripper and just inside the right fence. I will approach farther forward at the allowed rightmost position, keeping the jaws open."})
tool
executing move_to over 9 steps (0.9s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe fingertips are now at the pear’s location near the fence. I will close and check the jaw spacing to determine whether it is securely captured.
move_to
right_gripper0.0000
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]: [-0.02, 0.8474, 0.6659, -0.4984, -0.0139, -0.0341, 0.9993, -0.2588, 1.8217, 0.8013, 0.3866, -0.2584, -0.2501, 0.9985] state[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1697 left_yaw=0.003 left_pitch=-0.111 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4562 right_y=-0.0704 right_z=0.0478 right_yaw=0.0836 right_pitch=-0.0416 right_roll=-0.034 right_gripper=0.9985 state[joint_eff]: [-0.2393, -1.265, 7.0085, 1.6777, -0.0366, -0.0464, -0.0122, -0.841, -8.4991, 6.9538, 1.956, 0.1343, 0.2173, -0.0122] camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are now at the pear’s location near the fence. I will close and check the jaw spacing to determine whether it is securely captured."})
tool
executing move_to over 10 steps (1.0s)
step 73
top_cam
camera top_cam step 73
left_cam
camera left_cam step 73
right_cam
camera right_cam step 73
assistant
agent noteThe jaws again closed empty at the rightmost reachable position. I will withdraw the arm to expose the pear and check whether it has moved beyond the workspace boundary.
move_to
right_x0.3000right_y0.0000right_z0.2000right_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]: [-0.02, 0.8474, 0.6659, -0.4984, -0.0135, -0.0341, 0.9993, -0.2588, 1.8217, 0.8009, 0.3767, -0.263, -0.2546, 0.012] state[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1697 left_yaw=0.0027 left_pitch=-0.111 left_roll=-0.0015 left_gripper=0.9993 right_x=0.4548 right_y=-0.0692 right_z=0.0459 right_yaw=0.09 right_pitch=-0.0505 right_roll=-0.0317 right_gripper=0.012 state[joint_eff]: [0.0068, -1.3333, 6.9402, 1.6239, -0.0073, -0.0415, -0.0171, 0.0889, -8.4444, 5.4632, 1.7802, -0.022, 0.0122, 1.0818] camera 'top_cam' (step 73): [image omitted: streamed camera frame] camera 'left_cam' (step 73): [image omitted: streamed camera frame] camera 'right_cam' (step 73): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.3,"right_y":0,"right_z":0.2,"right_gripper":1},"note":"The jaws again closed empty at the rightmost reachable position. I will withdraw the arm to expose the pear and check whether it has moved beyond the workspace boundary."})
tool
executing move_to over 12 steps (1.2s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe pear moved to the right fence during the pickup attempts and is now beyond a reliable centered grasp within the right arm’s y limit. Both closes were empty. I stopped rather than push it farther or risk contact with the fence; the pear needs to be repositioned inward before I can complete the requested collect-and-pour sequence.
give_up
hindsightOn this attempt, descending with the pear off-center displaced it toward the right fence. Center a rounded fruit while still above it before descending, and do not chase it laterally at grasp height. At the rightmost y target of -0.08, the pear was still outside a centered grasp; an empty close read about 0.012.
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]: [-0.02, 0.852, 0.6659, -0.5129, -0.0135, -0.0338, 0.9993, -0.094, 0.9028, 0.6994, -0.4446, -0.1417, -0.178, 0.9958] state[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.1657 left_yaw=0.0025 left_pitch=-0.1301 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3053 right_y=-0.0001 right_z=0.1809 right_yaw=0.1123 right_pitch=-0.0725 right_roll=-0.0389 right_gripper=0.9958 state[joint_eff]: [-0.0615, -1.6342, 7.1179, 1.79, -0.0269, -0.0562, -0.0171, 0.1983, -2.0718, 9.7846, 1.7509, -0.022, 0.2027, -0.1685] camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
give_up({"reason":"The pear moved to the right fence during the pickup attempts and is now beyond a reliable centered grasp within the right arm’s y limit. Both closes were empty. I stopped rather than push it farther or risk contact with the fence; the pear needs to be repositioned inward before I can complete the requested collect-and-pour sequence.","hindsight":"On this attempt, descending with the pear off-center displaced it toward the right fence. Center a rounded fruit while still above it before descending, and do not chase it laterally at grasp height. At the rightmost y target of -0.08, the pear was still outside a centered grasp; an empty close read about 0.012."})
tool
give_up: The pear moved to the right fence during the pickup attempts and is now beyond a reliable centered grasp within the right arm’s y limit. Both closes were empty. I stopped rather than push it farther or risk contact with the fence; the pear needs to be repositioned inward before I can complete the requested collect-and-pour sequence.
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 · 9.403 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]: [-0.0204, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1822 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, -1.812, 9.5795, 1.8046, -0.0952, 0.1538, -0.0855, -0.2803, -1.4564, 9.1692, 1.8828, -0.0904, 0.1832, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ac700d40c65c36955b633f3b9dbecdccc27a9e88fb7e21755e657507affc5ba",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:34c7f49dd6c61ca04e1493806b0758c05ffe57b2ffea97879ba632e50dec7bc8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c830cdb1f478d091ec956940ba75ac396bee9721c0c4fae5c980cbcab38cbf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7ac700d40c65
wire blob 34c7f49dd6c6
wire blob 92c830cdb1f4
call 1 attempt 0 · /responses · status 200 · 7.046 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqsr0_0YhSVjkYNTo71E78siWgli5qD0BeJ0k3z8YAQkvit0qrlnoMPTcaBP0Nk0YErbsY2QTVkp9Vk8ANV5YPzfOiNvQH_4PH5VuJDveBImuaSRd8sGEXFBCVdrlQocydOM5_ro7kceb0FN-iSer4lS-lsZw6Xs9owE6d-kXx1TuYe59pahJssUKQQL9AfAEbN7FaI1OZpm7npi290TWsIEFrxljm7mQCDatnAHnGFu-wOtqx_AAC5sm2AFTtsDGiIoqZxazPEfUM6jE2JyIAVVQPBOiqieCPXKbFw9pmHXE-iK8RX8CL-A7qG_4KSVAxLdN71LhAPytb-XQu7i9SZDdj7ysBaowFMque6O1gpqDpxjFtlVUNJvzKZcV_qZliA9_jFoeio1LVAKx1AaT50x1lGiUrZi29wCSg6jUSmXwGUcSEbh-7abea5j8B3rmgLduGh14K7QcE4i2KBFw5MsONsaMgRq7eGflaTHt8SCXx1QezTwOuvIUpFopR4P-7T7ll4Pi4VlgXBC_8ZWAKNfk9p9RztkJvGYxlesM7FZ3sBRjS9hbh9q6fzmKhcKOsvWqkw1C67ZHaUAek2PZTHC9Uk83by2VoXkr1olas9GJGm3Sn4n7CRFikLxnYBVsqjvbSsoI3M-J_uK5B62XTqhzdwG5bpvK-1zYoAHtsZlro32Zg8b2ZBCLzoHwEhNn--4X35lIDuxJNuXQvmN1avvgItXeTZ3f6PMuF0zBY7KKLy4RjB633HjEKhehKvo25Tk-up08SDdI8V4Xmajq6V0JIq-FokuiWW5O6pm6hlP1mPYzCgpcneYYQtt6Kip6NFregY6M2hMiWg47mK1xvmwepiD_Qsu6CmVlr4fIfO5WeHjx3ueiIqQ1Q7Bd5nHsSOAGagXmfx7G9tpbl5Hw4Cp83CsKcQoSAem_9H-bH-u8dXWz4uGieM5X0fe5Smxo-3wU8c-t4Ha0D8ReKOqEtir4u8QKwIwWKRX-N7i-JT4Hd79EpfjW28ziRZOzcN7AKwLm59uUAqXXm7hLpA-QSX-9fEexSy3ma3gDlrvSI0e4deKU3wPxxZrHAMSwBw_YNdGUTDjfAqtXUZJgyJzgtYxQAY9A_KAQPvDDRYMDZnGhqd8IL4HIfiVDzR60uIuI3apKmnVzW6VG2khMDJ5yJtJGmy-VDSxLj28m0iLYMhu4Z_vgHcqOmx3n2SZp7qFFxF471cYK-foRcxQcPBxi-19tDbgBggroGbh1QIIcC--k8vKFTt4rOmWYpgtQoNgQ0uP6MsLva5e779sQ0zR28dudtdlnWlT0VulM2YfOQA8fWHn0FIsOAA-vJFoNT6FSIkfPOUbIgYqOqXytAMAnV3jMvGVJ4XFvIqGkwerxyzxjKFWG30TNJzkgksLZdWUnQb5r39K8MJAEtq2C-e4gX7FnFMBYAATDLbMlkkhuH8Ba9e5f1BI_RMnAeIL88I4d1q_jwI3YpKH7aBOZUD8GIZ3_KsbmXTCm6J_49_UBN__5fk-q3IuNlKl9egIs09f6Q76PD01o1Ymz_pIrj4GREC7xpeg==",
  "id": "rs_07b9d2ad7023e7f4016ab2bd38f6e887d09163480c2e8ae0f6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.105,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"I see three fruits—a dark avocado, a lemon, and a pear—with the blue bowl to the right of the large white bowl. I am moving the right gripper above the pear to pick it up first.\"}",
  "call_id": "call_3WK29PMmEHZbcykLv1eMoRtE",
  "id": "fc_07b9d2ad7023e7f4016ab2bd3caa7087d0a9562895110a31b2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3WK29PMmEHZbcykLv1eMoRtE",
  "output": "executing move_to over 9 steps (0.9s)",
  "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]: [-0.02, 0.8062, 0.6132, -0.387, -0.0135, -0.0307, 0.9993, 0.4023, 1.3823, 0.7601, -0.0486, 0.3111, 0.1764, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1794 left_yaw=0.0007 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3798 right_y=0.1067 right_z=0.1293 right_yaw=0.0369 right_pitch=-0.0652 right_roll=-0.0314 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.1556, 7.3915, 1.7656, -0.0562, -0.0659, -0.0171, -0.4718, -6.2017, 8.6906, 1.9463, 0.2759, 0.232, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cb8633f4c55aa48a48a990c558f84d9a58f34a1bf4b7b2472dd61973a2946daa",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:27c2e673ad982e0a12248bf0c0d22916f180d37e5637b2ae4309700a25df712b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 9):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a391d19d6e96ebe394165f79c27332d7e80ae43a210c1b008e2ef2596a287416",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob cb8633f4c55a
wire blob 27c2e673ad98
wire blob a391d19d6e96
call 2 attempt 0 · /responses · status 200 · 9.278 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]: [-0.0204, 0.8005, 0.6136, -0.382, -0.0143, -0.0296, 0.9993, -0.0227, 0.8005, 0.6189, -0.387, -0.0162, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2961 left_y=0.0001 left_z=0.1822 left_yaw=0.0003 left_pitch=0.0 left_roll=0.0002 left_gripper=0.9993 right_x=0.2961 right_y=-0.0003 right_z=0.1836 right_yaw=-0.0003 right_pitch=-0.0 right_roll=-0.0002 right_gripper=0.9994\nstate[joint_eff]: [-0.6359, -1.812, 9.5795, 1.8046, -0.0952, 0.1538, -0.0855, -0.2803, -1.4564, 9.1692, 1.8828, -0.0904, 0.1832, -0.0806]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1MqQCWiQzJj6tfb9VwpTs6q3SF2WQXVzT3KgxdjNtHuEgmV9GfjV6yOYvlgA4_zZ9d56G_HBfhijm09mPqs0PnTB68NdAJ1poghG7P-rUq8tRxnWHJqenjGG95qEuqOKRmrMZn1XflJnEj026oyh65-AMaSg4TRh0HmnTek7Y3y5sfplMJNbdPlqyU7lTT_8pe0_CbWnkreK5JhiKl41OP2MzYCWCp2Ee_RzKMfPG8sZ3smD07Y6tRozVXM6Wd506SlKuT8ME2zFRKwoVj7VLMkHjUuJNJe0xiu6OyMrKQMo7VUlxL1lVzIBeE7Prejl2vbxQl4XDN7htz-D7X3bZ5WCWMGKZEu3H0jIEoanRYMhxM2AWC3l0C8FtqmtAkQzIZpJg6v3ZqQERIWqq3ZM6xJgdO6XSI5UwqZqR8Jaxtfww3P793nnb8m1jNrgbE3dt2a03pQuqKTXleC8ONi1t6CDlNx2GPRRF1o4M2rb4Qf7-_tM87PVaOXMlH0OQQfcZV0NhV5lwn49EC8k1tecsCINv5fBSQuJEIRXwQFshKC2l3E675Jl0G29wMB1J7Rn0SPqJPnTel-hsaROsh6XKcR3-KAh6Sju5nVYOpZqBv2z00DTddIlRs2AD4ZRs_Gn053iFH6rszuH_58eGxn0jQAHo6zjRDTSIrQP7ItvLcsPU_AQUD4N43yoLr-pS_4M3efbMCYSViq76coXB2sSFyq0slHVbHpZCfWm1QdqwRFsDmbbQs_5dWVNtQ_FqQmqI7yBta6aVHhpgbYxPhuY6tFKnroT1tVGZJVRmjLS7GYfVo_-ciMHbi3oHhtQHf9qyMHb6L_jcEOi3xIBZE2ac5lyvpQOFT8_u_2m0uU6R-9Os5Q7_Hx5LuDhkihpv4t41Xd0p1mpyrqqwdPfkKawptrkWKjpQrKuJa9lo3vK6AVXCBVJiL4_NtwvsC0WMNw2Hc_Xk-XKnY_CNflLXYXnn_11eZyKmbugkZXSyziCurX3FIOk21nhXunXwd5lqbv3SIUrVob3ME_d8sKTOjww1co3HRzcKRzdx_yzFayhdGZU52XHq-hY-jQ2kiTsk6DcwzkDwyAehnjNLgAFdN5dVeyRugsQ0rAWhVoxORw7oW7cVgqcktIm2azW6VX4V8RWQuPKejWancDFo7jSmRntNL3dTW3q7Z6Sqnf3KMluP6tNUTH6nli0vC06eeRRJ5bwIINqPGQKrhV5oKe1QrQ2oMgrhxTy4hOTpbDoDZUF_LSMk-IIV4iSG8d1CtmFzBrZQfFhvkLz4l5qKxirMj6rpRcorF4G5hZwAlaELgOK4Gq9_Uzhy2l-NgEZxUvDbJk-fuRwue8gQzhgxVslckGWg91d9I3dwY6iGKr6eKkBncT9ZzqSL4DBSU5MQswbujE0k0",
  "id": "rs_07b9d2ad7023e7f4016ab2bd49a10487d0839286fd5ce9d9a2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.07,\"right_z\":0.035},\"note\":\"The pear appears to the right of the jaw centerline in the wrist view. I will shift right and lower the open jaws around its body.\"}",
  "call_id": "call_HnHm3irvQd2lVybI8cgqrAun",
  "id": "fc_07b9d2ad7023e7f4016ab2bd4b1b5487d09950ec90ae35895e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HnHm3irvQd2lVybI8cgqrAun",
  "output": "executing move_to over 7 steps (0.7s)",
  "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]: [-0.02, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9993, 0.2577, 1.6474, 0.5289, 0.4381, 0.1925, 0.0853, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1765 left_yaw=0.001 left_pitch=-0.0252 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3854 right_y=0.0703 right_z=0.0281 right_yaw=0.0397 right_pitch=-0.0976 right_roll=-0.0357 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.2239, 7.241, 1.8437, -0.0562, -0.0171, -0.0122, -0.5949, -6.8034, 4.9846, 1.9414, 0.0415, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6a97e939f9799e8e684de6f39895fb0851f9b966952a2a92a67e19efe2441cf1",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3c8aa182897440cdec7d07547325223bd331a73bafbd9cdd9ae428d9b3b8feab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d606c80217503185c57da38d93fa6c6aaa399752812644d8ff3d6f38e559a36d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6a97e939f979
wire blob 3c8aa1828974
wire blob d606c8021750
call 3 attempt 0 · /responses · status 200 · 5.6 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]: [-0.02, 0.8062, 0.6132, -0.387, -0.0135, -0.0307, 0.9993, 0.4023, 1.3823, 0.7601, -0.0486, 0.3111, 0.1764, 0.9993]\nstate[eef_state]: left_x=0.2958 left_y=0.0001 left_z=0.1794 left_yaw=0.0007 left_pitch=-0.0111 left_roll=-0.0009 left_gripper=0.9993 right_x=0.3798 right_y=0.1067 right_z=0.1293 right_yaw=0.0369 right_pitch=-0.0652 right_roll=-0.0314 right_gripper=0.9993\nstate[joint_eff]: [-0.1709, -1.1556, 7.3915, 1.7656, -0.0562, -0.0659, -0.0171, -0.4718, -6.2017, 8.6906, 1.9463, 0.2759, 0.232, -0.0855]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1ZxFDvIWiQuavirMbUzGoVxQX6qaOghtJhTnED415TpAUzYTheu7bxxLe1c1Ry3Swh-09JKWZ0tylMix_kWRXI28hz5lqgdO4wLBYviZ616wt9cLM1LZou96ilasxllCM5HGNPJD5OGxXrc1uZGB7q-LrM5YeQK1Gc8SpHKqH6FAurYEDnDchrULX6XJxr7Wiv6wDl9KJo70fDdb9mQzRJJNfHGNau4lL6ur7cKsdxYGjGECJ6l7MpDAkD2ykBAJsiWGWis9hGTM825lz6nPuH_D0Ej1NRAOq1YBD3_F_-KhFMDTt0pjFd42uiNbdb9W_t1n7t5rhgD5BdJvpxvT3ocYXXENnx6Ewreo-qdJ6Li2dOA5VgJO6bp9reqv4L161oZftX_hqGaO4s4UeRty1c7EJs-rsQffGFMtVhzXhLet8ArHdKhNs6eSf4tCybPEs8g28aly-g2NZXDrul5JupSv7VA88Cuf5Jwvept1bR9tf7DZ0PDFqUjT8g2dA4dsKvu0O48NJuO459LiksE8w3cRUodZ5yJ2xUjqDh9rRDe0tuUk2RY1gHY1FURTMKC4ivwrkaNSVvL6qyxZ-VfhWybcMA23wkZa63BgxQUsAVa6h3aXZ94g4UlFaXNVCu8m2BJ5Te-MOaraoEATLvsF1kwtbJfyLfM_i7ADFVdvtVCKk_FVvt_xlen8DGvxlLKWPn74QpEKdP9LjFVxAwyhOZk7NZ8ZIMF3NeSKXpC6Y2O5M896DRCaI7lp86t60dsKWknYDECaXrcqgbdexZN1GsDFpy-bgR6EolLrAA7vpLuuqsZyV64PjBMMMI58V_-YxEqMfNTUsC8KUBiAwlx0H_EWkbEHb2EbKU7HWIvea5sZiJ8oOkNo01SGI6qByWNqM5xRl3mRNzFc36Gb4t8NmVAZy9zloGL1uYuYbFSq__f8T-RbHz9XvaTi2J7FcEriGHlaOzqoZXzp57_VoSddCkOyY0kvvVPoF-ez03tYs5zcEdE8ffLmco_4DRg4GH0x38bgWNBN3iZspkX04lp37qRlX3bXW3MHY_FNqoV_-sQC2ishtimPvBwfmcDklr09JXEDKEpl_CNwr04Z3ma2OkKk0wnVXa-5jjVMrfzqe6cPRmUn7YdNVWqOHffixzdWwFEo2E0gFSKpbYrbG_DaCZaYsUxaFPfKDvJ6g-wUM1bUpbLispRaESaWdVohLI6F-BKTrRJD0Hpo0N1a3R8k_3AhbiKqYGxxj8QQtkmj_mlRoICzhjPwRN5FPgt6bgcqCcg3M3XLnF60IFCsXq_h_BVe0WVolRCBpVNPLAQbVyVc74HuGpmKVo_b8VjuW3a-lZdpguat55V3XD3JzOa1tRl2kpiTqCg1yUauZE7rFyWZByZgafpBuI0pmoCAbWfn_nKpWrZBXo-QtGuQfrVw1C93pkfBhOTjzNTY523NIOVIqTolif_5jjeLSQEGIMwAVJopcYYElqNYs4HOmL7X4ZqmKz9PWOe5y-XRmmQbw4zsbwQXVMr2oOTM7Sc7TErimNbNBnF0-t6bEJGFI0nlN86g==",
  "id": "rs_07b9d2ad7023e7f4016ab2bd5536ac87d0b1171426eef95f11",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.025,\"right_z\":0.045},\"note\":\"The pear remains outside the right jaw and is slightly farther forward than the grasp point. I will move the open gripper forward and right to center on it before closing.\"}",
  "call_id": "call_8uLyVLvmoCsugBZvNra41STE",
  "id": "fc_07b9d2ad7023e7f4016ab2bd58429887d08c44b27af95a1b72",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8uLyVLvmoCsugBZvNra41STE",
  "output": "executing move_to over 4 steps (0.4s)",
  "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]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0139, -0.0315, 0.9993, 0.0795, 1.7187, 0.6865, 0.3534, 0.0612, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1746 left_yaw=0.0014 left_pitch=-0.034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4272 right_y=0.0268 right_z=0.039 right_yaw=0.029 right_pitch=-0.1094 right_roll=-0.0359 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4564, 7.0632, 1.7998, -0.0659, -0.0366, -0.0171, -0.3214, -7.0632, 6.8034, 1.5653, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e641c5b09bcf633de407addc792bd926532fc5ba248810e6fb9f398acba87813",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bdd34dc8c47b7d80ae0e46329decc98d5f3c1118e24cb94200fc4ffffdb14e2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 20):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b6074c9d4eef61a4d4b43b53a6e11f732890d1d856388ed2bf0651b6bcdb10b1",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e641c5b09bcf
wire blob 3bdd34dc8c47
wire blob b6074c9d4eef
call 4 attempt 0 · /responses · status 200 · 5.568 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]: [-0.02, 0.8062, 0.6132, -0.4011, -0.0139, -0.0307, 0.9993, 0.2577, 1.6474, 0.5289, 0.4381, 0.1925, 0.0853, 0.9992]\nstate[eef_state]: left_x=0.2938 left_y=0.0002 left_z=0.1765 left_yaw=0.001 left_pitch=-0.0252 left_roll=-0.0004 left_gripper=0.9993 right_x=0.3854 right_y=0.0703 right_z=0.0281 right_yaw=0.0397 right_pitch=-0.0976 right_roll=-0.0357 right_gripper=0.9992\nstate[joint_eff]: [-0.3761, -1.2239, 7.241, 1.8437, -0.0562, -0.0171, -0.0122, -0.5949, -6.8034, 4.9846, 1.9414, 0.0415, -0.0952, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The pear is now beneath the fingertips, with a small portion visible between the lower edges of the wrist image. I will close the gripper to secure it.\"}",
  "call_id": "call_IrQjhzNS4NjAFbQTYy92w2L5",
  "id": "fc_07b9d2ad7023e7f4016ab2bd5e74dc87d09b3f940423499ca0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_IrQjhzNS4NjAFbQTYy92w2L5",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.02, 0.8082, 0.6132, -0.4164, -0.0139, -0.0334, 0.9993, 0.0795, 1.7233, 0.6903, 0.3389, 0.0517, -0.0269, 0.0127]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1728 left_yaw=0.0025 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4258 right_y=0.0284 right_z=0.0357 right_yaw=0.0409 right_pitch=-0.1251 right_roll=-0.0361 right_gripper=0.0127\nstate[joint_eff]: [-0.212, -0.9778, 7.159, 1.7851, -0.0806, -0.0562, -0.0171, 0.0479, -7.8564, 5.0803, 1.8144, 0.0708, 0.0513, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e5e006d271f20e0270724a1a4af7abdbb9402c568505c8b2c8fb21c385b05d2d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3536264b36bbf1159e2c2b25ad2f4509dcc8ad13fda614c05f6a5c2df2eb2201",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 30):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aeb0edc58b892a45306cba0d318f0a48aed2b0cd206f405f4b096743f4c78e11",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e5e006d271f2
wire blob 3536264b36bb
wire blob aeb0edc58b89
call 5 attempt 0 · /responses · status 200 · 7.008 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]: [-0.02, 0.8078, 0.6132, -0.4084, -0.0139, -0.0315, 0.9993, 0.0795, 1.7187, 0.6865, 0.3534, 0.0612, -0.0196, 0.9992]\nstate[eef_state]: left_x=0.2929 left_y=0.0002 left_z=0.1746 left_yaw=0.0014 left_pitch=-0.034 left_roll=-0.0009 left_gripper=0.9993 right_x=0.4272 right_y=0.0268 right_z=0.039 right_yaw=0.029 right_pitch=-0.1094 right_roll=-0.0359 right_gripper=0.9992\nstate[joint_eff]: [-0.1983, -1.4564, 7.0632, 1.7998, -0.0659, -0.0366, -0.0171, -0.3214, -7.0632, 6.8034, 1.5653, -0.022, -0.0171, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1mwSvDSqB_hDIlzINx4XgBQmYBsv0qPW_B7B3xyA3ZgN_7iBDqk5-olWBqm0TVb0-RMtln1VqGM7yJ-TcRgYeeISKYhZwt3yAug5kmEGEuIzErhLSilKoiXoAtgO_tUL_pyF5AiuCOIw9Yq7yIa6IUvhY__-5T4Kc-mmsDcjcVR5JBI683AeaIZkEdkuCyWZD1UikeZkSYY1GZ58M77xiN9Dl-q4CZPC6C9XqJzALuMEnip2wObSZjT9SXV46hlh4UsHjHVzM17pwKk9LnsyAapm-exfPUKGUgfi7bI0Gzvk1g6GQ1CG-bAktOpaIOYXG1hsRDhS6UjYZ-6pZ9en0ApUKOfLfQsuXRSLNb-AfTsp4Yq3D4BuTDAKIKXdkatymNk3_XNvDpbSBftj8Q-wGWTq_BdNNmPyOjRc7wXwY6hlZJO00XQXza5Co11yI181A8Lal7hcr3zi1Z9u4A0d9Nqcr0s2cLyoR2hxXKX7Va4UKUtiLVCGY6WQDnLh6AHsW3-OYlwQWxBpp1Qmo57xtBQoGwx1lLHXIMfQZ3q0x6JmaMdpLwlRrv7u-0s4iFqkfX4Nyd_91zAtqrTKrxoSzWJhufLBaXl6nfL2Uj277tIFL3cZTS7XUXIoE9WGtYDwSDvF1M_OrbPWlnKQA2W58BI0iIFsQ7roikBqc17HwxgI9xO1oYCSDh2QsHVdiJ88YLwTL9DTL36UeTkmQz_VmSNLpKqfOqSSqLtrFxvumqmcCWIxAx_IqVAwLaHIBs806gwSo6c6SsAU0NJnY3fKxmg3msZ5h9R_yuWheMWauKbsz8by9IYtgkoNRQdoj1RX2bn214vP9y83HWMuW4czdltu67uX0f0NTcztjrsOu7Aq54BJ01FFyqRlKOYyLrCBsAUpJDhl4ZhdqrTGNSHr-Ot2OfZFskFLguMPZZGp1OJtR5uW5RgXEhUyAJDTe6zpizDZ7gs7RE1Y-w-KPaAEDHKNMKuiAl0T-CJFy1rqP0wpizQ3m9kVYqCqkS-a2qSMsFgEZ76CLHzCTeIdWhY_pgQl9fTXQBrGg3bS8ObMz2KZrtSEWBO6wVwfP1DvZBI9yxpI25APQerl3Oa05pjQzREGH6L-Tt0zGiNEyKv-oJUnYTY-G-5774rU3XnPG8YjhuX5OBPqvYPiXzlqjtfSeis6gjqN65Jd36RfemsrsslrmltFOpMgD2MASOlibHmFkwpcnugHfv3JemoUp70NjEjumqjcrcF-XKmVmu0kuh5Ts3hycj9-QDyueAJQl7C46ssgkeKZJxy6E-7SdqTFV8F5XxpmPLLGw3YKUbBpZyG5DSyTSB6a3hiOxdIRIahUV20jpEiVwOjSblkrFZXrdi9g==",
  "id": "rs_07b9d2ad7023e7f4016ab2bd62fb9887d0a0b4d52c9b2e1765",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_z\":0.14,\"right_x\":0.40,\"right_y\":0.025},\"note\":\"The gripper closed fully, so the pear was not captured. I will reopen and lift slightly back to reveal its position rather than close again blindly.\"}",
  "call_id": "call_CTZwjEWMZrX9eZ9I58WsSI15",
  "id": "fc_07b9d2ad7023e7f4016ab2bd649c1487d088bd1e9f793800b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CTZwjEWMZrX9eZ9I58WsSI15",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.02, 0.8089, 0.6132, -0.4236, -0.0139, -0.0334, 0.9993, 0.0765, 1.3987, 0.8139, -0.1448, 0.0471, -0.0387, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1712 left_yaw=0.0025 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3953 right_y=0.0255 right_z=0.1227 right_yaw=0.048 right_pitch=-0.1609 right_roll=-0.0434 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.347, 7.3094, 1.7705, -0.0562, -0.0317, -0.0122, -0.4581, -6.9265, 9.1282, 1.7753, 0.0073, 0.0366, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:51df6e4bd561afa3601f3146d9737784a9ca53188beb66f8c5913488c6922162",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:eadd0256b17456e348b0005f9093b3106600dab2705c349ad873b86c7dfe3b1c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 40):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7948435a92bc71a44e991a0404cc35b2945689a12abf46c8973f8bc0ffee6308",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 51df6e4bd561
wire blob eadd0256b174
wire blob 7948435a92bc
call 6 attempt 0 · /responses · status 200 · 11.26 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]: [-0.02, 0.8082, 0.6132, -0.4164, -0.0139, -0.0334, 0.9993, 0.0795, 1.7233, 0.6903, 0.3389, 0.0517, -0.0269, 0.0127]\nstate[eef_state]: left_x=0.2918 left_y=0.0002 left_z=0.1728 left_yaw=0.0025 left_pitch=-0.0423 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4258 right_y=0.0284 right_z=0.0357 right_yaw=0.0409 right_pitch=-0.1251 right_roll=-0.0361 right_gripper=0.0127\nstate[joint_eff]: [-0.212, -0.9778, 7.159, 1.7851, -0.0806, -0.0562, -0.0171, 0.0479, -7.8564, 5.0803, 1.8144, 0.0708, 0.0513, 1.0574]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr1vscfnXeIyMfYxIHxcXQTrnX8adO_E269yIjL8Tc3ABA18Hkt8iDv9yl9W7IR3iYD4jHKJwFm9-CJjJocqAosJPjWWeZqG85pdkaKN5kxfveopNQ8nT7jy_7YJad9o2Bv4tDljryX_kyzcU_XphBPPGGA5tu_jtW5PAXNsctZEoxqjw_ucyx5f79q6GLzeMUrq7D9Op-8wLCt_5-8mL7Z7xAN1aZdqLzLXumgUm0g86O6-DA-3ZkoLdXz2dnfXz6sNxY_SWw5yseQQMlHF9kio6dJnWuHREQEMNc_zAguPDqFVHuQ4Mgyn6ZSebH3bzHibuisc2p5U79KOriGbGvIpKiYlI6JQkYgbPLEfralRu9iyAUJFFS4XrQiKZ-afgTFiCxw1MkKDD6YWsvEfzdIKszbUzudbHdg03zXBpF82kwnsHglbx6OQ4jNWv2kvcAVGscedASifk3MfBXusFxXeOS9dWl_sNJJU_-ts0s_c9MvrN5nalhYyBT7u_4UYu4LsoSU_0PR5ytgjzRaJYY9IHfjESqhMFScIZi2x0UGKgxeNtd2WVgOiPEExx0GP417UqMiNYqGYRLUO3QSZINqrBT7drEzQyHkzh36XOEM13Wh6TilDUrtQk0MmWSCZa9RfM3iDJ-hAgEPU5S7NHSx6tsXhhfYL07L-3QqsC_FKFe47xy1z4x8GXPwPzwO1VRZjJFjTNzL2JEjAGPPxY1xMIyo6ntCTxIm5BINfBWIDc9hx5t1AfN953twMSkl5Jvf953YXLTxRk6yGW2YimywFwaLqw75MfRBIFnTdnyiJ4uHSl_0ZuBDWxm_e0JmwbhLlgyKAFcLLz9peZx4DTg9TJGxmy-MXTT7migRwoR3AMfSVVWlw4oK8BtobLuJIqboZVIknU9nszobNWLrQLX1g8BS2dEIQ34MxNB0qPELN4jQWaVrPu1ltXXrjZCInKIU_US2zvTldbkHeVZ37F1NE0uyAu3CdLrZmFXmQJr7fJtVxbHVCG3sRlUluSLU3IzNNJUeRqV9dkGXe7e16tGnSBqFY-azU8l7AgU1NNteJLW2YdUHQ6FNJapCLmA6NkI9UnBshjcG4xoCqE-pYA1zHnt2kqOd_GCNqKBKxgf835ZYLkWr4rbQSF6kPw0VZ2_psJmLKujdPOCF6CwqF65r1SkOucUu91UfLcMIwq2tSY2J_fnd3Regn-2bB_HwfWc-2uVuVRcuX_a76D7gFsD5zEzCBcy8dOFzVQ1GMz7I9GdMEYGb9SRpehaflM4T9n2TWFF4XjUxaaAYnoudGlmL7dZh_JYRjQivJZFSxC6iG2IeS3RAvDJHN4jAmQJXCu2SYA5E4Mdi0JZbvhnUe5NzBbgGkSrjXi8QeP5E6FOqrs9lk_hA9XE7bTQaa9CZL6hzMBKja08Ew4ZJRhah0V7wkONJz1jHhZYWuMrjABebObH971bGnNOkA6nQQles_sFAZ",
  "id": "rs_07b9d2ad7023e7f4016ab2bd6a2ca087d0ab331b5c95a47fce",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.42,\"right_y\":-0.04,\"right_z\":0.055},\"note\":\"The lifted wrist view shows the pear clearly to the right of the fingers. I will move about six centimeters right and lower around its center for a second grasp.\"}",
  "call_id": "call_qcH6hjpfa9HZ4QZMiylIJH8b",
  "id": "fc_07b9d2ad7023e7f4016ab2bd6d82bc87d0a5323b35cbc7520d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_qcH6hjpfa9HZ4QZMiylIJH8b",
  "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]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, -0.1535, 1.6531, 0.7464, 0.1413, -0.1219, -0.1951, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0027 left_pitch=-0.0546 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4159 right_y=-0.039 right_z=0.0493 right_yaw=0.0485 right_pitch=-0.1906 right_roll=-0.0409 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -1.265, 7.0085, 1.6874, -0.022, -0.0366, -0.0122, -0.2393, -7.5419, 5.6957, 1.7509, -0.1148, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4714545e8d55cc5a9e83dac41825fc813afc7e68d86a84e8777330d72f29147d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8e646acf48331245201efbb489d9580e166f7fce8d112d23a0262162b9276ab",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 46):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d99eabff7edcfb594a85a3c475700175582ff0b86bf929c9d5ca7bf64ea09f7f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 4714545e8d55
wire blob b8e646acf483
wire blob d99eabff7edc
call 7 attempt 0 · /responses · status 200 · 8.178 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]: [-0.02, 0.8089, 0.6132, -0.4236, -0.0139, -0.0334, 0.9993, 0.0765, 1.3987, 0.8139, -0.1448, 0.0471, -0.0387, 0.9984]\nstate[eef_state]: left_x=0.2908 left_y=0.0002 left_z=0.1712 left_yaw=0.0025 left_pitch=-0.0504 left_roll=-0.0021 left_gripper=0.9993 right_x=0.3953 right_y=0.0255 right_z=0.1227 right_yaw=0.048 right_pitch=-0.1609 right_roll=-0.0434 right_gripper=0.9984\nstate[joint_eff]: [-0.3214, -1.347, 7.3094, 1.7705, -0.0562, -0.0317, -0.0122, -0.4581, -6.9265, 9.1282, 1.7753, 0.0073, 0.0366, -0.1685]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr18wOAidc4WtE1ptwWcX8lgWJj3dCnTrOqTAqameG_FFc7LjUGX_t6xgeS6tgBTJGhzX5_bqDr_UqFp9UWz9MDz_JQL4XW3v7Lfn1HJ2dRH_NmQz9ETPDmcrtUnF7irKhPSwO9TbVSW_j4NLQjvAfRZ4Bx2jwqV1Gn4RnfPi0fjgJZndV7YwVRDXvsR0ng7z0qBRd5Dh9NK9hC9YKpwtcoauZcYi48eUfWd9pXQLV2RGKBehg5ztvBVPjm7J__Vhzvm0LlNp3_Qn-5bIbiVyzKz_AVaEe2Br5aAweKWv9LARprkEIQ9S6RloKDM3UMhy89N7LfQDSTv3F1MSGoUNNbFL5EPN1Wdv0wDOkwPySVUxnRW0rvLAdUO3YCiXoHO6FOCUuivIPVR7uiRujNRokaClgYdFMHg3gZagbo1z16LTnqssaOw5TYdLD6wyT3j4KS-FCl3aFFqYdKG7bv51ujo-JnQu22psU8f84636SZep4pnFo9DTcnQuMLWdZGSbhbnxRafNobk--VP2Py8r2ggxEf0D461LunrdhX0V0ITtlxKDevq7okKy3TQcwUH2TlyVPMT5XbF1awZOKoW-ELu_o_x5j_iEP-w4rrCcnau0-X_2G7MEUhL4Ga4NUbslHRAMxEbNxiX22r7Kk1R1OaJxgBCp60J1hy8MDC-Ct-0e_ddxC3r36mYvkL_tm3OItvccfr1JQimJe5u5WrX1_WrTpbAA_y_2pIXZdhyHpaAF1m3yqE9a0Htbgr4NMmgYAO7SYamEspIPkHMsDLbcHk1Bf1spTcyeJ8nE5rIKYgZFoFReskB-Ug7NOjT7d0ioK27hALiFVVwqDBIrefroMbLjXqIa3w8SZn6g5Y104kKRxpmeAzpTL6LegcxQhVL567M1cCUFw8nxOWbahdBgdtY0m90bj7XkQ26lhFGWeIMiDFI0gh4lYOoYebjzdtMMtYN2ARYORwMyMHcFocs3ABkQym4BrH-BfMPO94eSY4eyP6Th5OCL8ezHxsaCg4LDAOEDt_adQpm_RNapGOLo-0PxwQsoBaIvf9ufh7lKSi9agejX3IJaR9ssTq5Ov8JhN02DEa3s3KcuF_MR-fG9FTHBzlFbhtMJD57qE3qAaZC7ztxIgVHz_p6EtYVsScfAinT-Q7_hPY0he2gSVqBo1jsDjukIiJ_wBG_C3Qc1mSsSSxz86cOURNnleilBiuJg1kfObMLsKkiQFTWV4WXTgTpWc7EASdkkMxc4KusVpBP6kbn503pFSm7_UdhZ4ZDIjh21fzuy71xFtV7oY7ndmE5NUPn_KTHb9VgEjc4YtTecWHqiQMp7vYu5ribF-2ShXl9Xgi-qYsHQYjOm-5GzkqGJBXyWE6flj_7QGgef_9unJgn_J6Uk0tlm4N8hVxLS4JNpgSUgh-vGr_1dw4pVrU6ucLjr_58fGiCvZSQKTIdNfF8RPSnRjrZu6lnKu3jXCz5cftkaL1iNHs6GPPNP89XwYotlrgr48i7NLyqUjGDL9C2pMralL2tuaCkzo-UbsHr8OF3pXp1XwqvSgs25__T7x-PwvmxnFs_WgAzuVbUVjgfMzVtmj20gBrlrBBYqoZmKeRgv18VNpi6zskhYe6YJw0I-V6UQJzVFQy-Wrh-Y3RFgMb1F9yYlEZyNW_q70Db-uc70B8HeijJU_CHodkAM7VphDHSt2V86_zB8Hp2kQknqu005oWA6Mo2t1kNCEXPA24Wt7u61mtNl3B60kGD4iLrCnLt7M6hPbUtbobeHmZi9Va-wccf3J0fZSoA6_aqROEQJVKMTdPBqksbBpFa3l9mAlowwxSulgFydaTlCK6IHBP0NSMoculz-ygNOuSuzwFpD5RhmRCImqcs-cMSKhqIqRsbfJEJfB117NMOE946nTnHr9mUYkKbl0MJ1WklihWHhzU2mpYuFeniAv7z8hZRge4nL8PgJ49LAjmqG9OgYV4PaEZ1CdNsezNoCjsop91jEMbY00ADlGgKWMnahFgt5TaiJkVqpTFxeiGN8DAvjepo3h11YzkimUuMUG6DVPBhWEUML24Igbn5a6os8sY7Jw1p9hAkO8KpRm6xaodsYZLjc8LHrrKAOIn_mahtkUZLl2_joYmHc5jguL3FXgiH-9kJ7h02vTDj1qCW9N7Z59fgTen9oOEKPpOOluMGn84kkYqG3FAFKYZYJuKTNqgb9hfhE7bvv57iMyRvYrkc-NmRWUP1s1NGTztjSOuC",
  "id": "rs_07b9d2ad7023e7f4016ab2bd734eec87d08b284f760fbbb594",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":-0.075,\"right_z\":0.16,\"right_pitch\":0,\"left_x\":0.296,\"left_y\":0,\"left_z\":0.19},\"note\":\"The pear is still at the lower-right edge of the wrist view, near the table’s right boundary. I will lift and move back for a clear check of whether it remains reachable, while returning the idle arm to its parked height.\"}",
  "call_id": "call_c807U5z2vTNtvPcygRaXizS7",
  "id": "fc_07b9d2ad7023e7f4016ab2bd7a3c1087d0a911e1afab176549",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_c807U5z2vTNtvPcygRaXizS7",
  "output": "executing move_to over 8 steps (0.8s)",
  "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]: [-0.02, 0.8455, 0.6662, -0.4938, -0.0135, -0.0341, 0.9993, -0.3874, 1.1599, 0.6724, -0.1402, -0.3309, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.1041 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3482 right_y=-0.0762 right_z=0.1531 right_yaw=0.0415 right_pitch=-0.021 right_roll=-0.0376 right_gripper=0.9985\nstate[joint_eff]: [-0.4308, -1.6615, 9.7983, 1.79, -0.0366, -0.0122, -0.0171, 0.0205, -4.3282, 7.5829, 1.7607, -0.2662, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:caaeebdfd5d63c14f430e2a4dbed1640f5e690c1c8b854a125a5de9208d8cde3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dca28e81c00cf6a8895e5271af06bc47ca0044d90d70145ea38e4c212b5bd2ee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 54):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6684f2824d1eb587c40749db8bd2f0625c46ac676f7b4971d9477599de05e3e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob caaeebdfd5d6
wire blob dca28e81c00c
wire blob 6684f2824d1e
call 8 attempt 0 · /responses · status 200 · 4.722 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]: [-0.02, 0.8124, 0.6132, -0.4244, -0.0139, -0.0338, 0.9993, -0.1535, 1.6531, 0.7464, 0.1413, -0.1219, -0.1951, 0.9985]\nstate[eef_state]: left_x=0.2909 left_y=0.0002 left_z=0.1701 left_yaw=0.0027 left_pitch=-0.0546 left_roll=-0.0023 left_gripper=0.9993 right_x=0.4159 right_y=-0.039 right_z=0.0493 right_yaw=0.0485 right_pitch=-0.1906 right_roll=-0.0409 right_gripper=0.9985\nstate[joint_eff]: [-0.253, -1.265, 7.0085, 1.6874, -0.022, -0.0366, -0.0122, -0.2393, -7.5419, 5.6957, 1.7509, -0.1148, -0.0464, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2KsZxeg1R4Tf4vsB6yGgn0KYUIU2o1IChUeSC_bGixR6t8oNrG9NwV-gD_gacUevh2KHk-CpBh3AxPgRHpal1ov7d41bHbZD3c-oVQW6l1r8mXhSlu6b0jl7sIAks-HNo5lI6cVvuz0LSIjSG3YgCV9QgjkNrqRAXJ5JoWcqRPsk2HT6MAoONj2I16bzmo2yoLoyzVg4Ng6NpflbJRGRpc8mo98LuJDQCRXi5Y3TF_pX9GRQLjlS0akbhcb9RnN7jsnadaMe4uw6fqhb50vxAdlzqphxyFWRn5PlolKVUW9FwLrmapZVjbjuK0MrRE3_4KXtVfVtItlVop7PX0uAkN8wWD92QtUhGweCeO7BfujoLg3p_QaIsQU9dQ1nac8cWw06RtRyggpPhXjTcnD5XKmroaH47fEmojwJDD3rlnC-vGF4BaGtfz8E_Y3leH2nvFi6UXjH509fAcldQzdvym7rX58Ru2rkMMefTlEqgyHpczSSz55Ni8ji3NhBNyhPc5EBJ4_LOfveDdRkbeRBHHQY2AEC5KJ3XjgZCegyReTp_tvbbHioMSdGb7N-XQ0aznu2QD8SYLEHSU078v5zshwKrKfYx5hFOIwoNteIArcBqtBRsHGrRTDoEfoklbUg1TZFrPDG630i8PWKC2iZ25rKh9sMXOQeTacClCciqPLFGrHm1IQaEbnRrk2EHRAfrZUXrqbWBGTVAH4mIbHEyDbBlvhZDKLYzA3bwzYcXhGujeY1r18XW0dh_gU31CMiRJxIAFVTK52Pv5T8-A1SkqfggxmnmO5DMFLB5ARJSelbKrCyp-4eGVCst7s1LFoHiMjmlKR5yaR-sZYpRiutrtZDP_Kh3RL4f7vnq2B8Gr7d_WSsxmfGdMwxmI2tQJGn34DOQUUBtD2dL25wkul1sSER4i4Kf0hfdJ8bMGLwphYR6QzQ_hd_OK_MlX53XjS2w14BP0jGTzde2ctGu3c4Wwx92IkNMGSeM_l7ipdOp1LJEWX_4iLD4eApxngBAhHMqO1aHRgZgI1RG8wMZoIF89yOYAYq5zGbVzYwxBewhZrX6JKdiNfnFTWKSQCU6a1tFNP7rvuatmr4IWjxIO9bbRsQkxXx436Tsr0kXz_0yNvCnxfYgCQYF7JVhJbSJtoGVcBOiTSmTiSKkC1dUsfJF0sgsIhkDUeLfq1ptklli3xEJZ81MaACPx5m4-Q1gTu-BGb0r7R6aSCr2dTXkgeNe3ATGsUOGuR0Pwj84v67ZNOgZLbRpJUgOTKPZuGVi3XAHc0LVtTdBaXvG6YUH2Jh7Gkn5J85HrRt4kN56WrO51LYFOV4jYKoVoKcgX6R5aHJDUx9R7DyWrR8a24wKt6c9VbQKwGb041yUazrlbIdvbzG49luMx0U9bCvoxCY6EVIMDLgoOVYDuf07OoAGG2Qqq8GIm_L1Q1l7oI6A_N2rRg1mWmwU5NZYRovfNyId50lsrDZGmqm8U0urxNhF39wQ2ayx9Zoph2t9hWHiNvX9vrfHd3SHy6KGg0Xq8l6CBW-ebcPbEBY8rFFZk7m4muSzs951Av5ONhs3lbauxr_hDGT_doHUBK0dnKROHcJUH1I46XVGJUzp13ylVL9CQFStjLThoHZ59qhV8PpINFeCxyW8gLdg0iOuAGZVvehA6p-DweXy89MvcO7JKuA-poaCO4w==",
  "id": "rs_07b9d2ad7023e7f4016ab2bd84108c87d0b33b29c800672cf9",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":-0.08,\"right_z\":0.06,\"right_pitch\":0},\"note\":\"The pear is visible ahead of the gripper and just inside the right fence. I will approach farther forward at the allowed rightmost position, keeping the jaws open.\"}",
  "call_id": "call_8TsPcmlcyzfA2Ddaf3AvC2da",
  "id": "fc_07b9d2ad7023e7f4016ab2bd88705487d0a37c51f9a6dbf4f3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8TsPcmlcyzfA2Ddaf3AvC2da",
  "output": "executing move_to over 9 steps (0.9s)",
  "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]: [-0.02, 0.8474, 0.6659, -0.4984, -0.0139, -0.0341, 0.9993, -0.2588, 1.8217, 0.8013, 0.3866, -0.2584, -0.2501, 0.9985]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1697 left_yaw=0.003 left_pitch=-0.111 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4562 right_y=-0.0704 right_z=0.0478 right_yaw=0.0836 right_pitch=-0.0416 right_roll=-0.034 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -1.265, 7.0085, 1.6777, -0.0366, -0.0464, -0.0122, -0.841, -8.4991, 6.9538, 1.956, 0.1343, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac98e4bccd986f03a722790eaf6dec7aeabb100b86c142ee07596cddcf6d91ec",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:581c9dab3bfe17b5637864eb6cf405777c13a7ec8e242e3669b4cde8ced69b7c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:23457863dab0aa9584745d4d589250c35a568d25039a5762b3495f7e375c6487",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob ac98e4bccd98
wire blob 581c9dab3bfe
wire blob 23457863dab0
call 9 attempt 0 · /responses · status 200 · 5.285 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 29 changed as sent

message 29 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]: [-0.02, 0.8455, 0.6662, -0.4938, -0.0135, -0.0341, 0.9993, -0.3874, 1.1599, 0.6724, -0.1402, -0.3309, -0.2996, 0.9985]\nstate[eef_state]: left_x=0.2897 left_y=0.0002 left_z=0.1713 left_yaw=0.0026 left_pitch=-0.1041 left_roll=-0.0017 left_gripper=0.9993 right_x=0.3482 right_y=-0.0762 right_z=0.1531 right_yaw=0.0415 right_pitch=-0.021 right_roll=-0.0376 right_gripper=0.9985\nstate[joint_eff]: [-0.4308, -1.6615, 9.7983, 1.79, -0.0366, -0.0122, -0.0171, 0.0205, -4.3282, 7.5829, 1.7607, -0.2662, -0.0415, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2XOrlMLITnrvAlgFTIJTIubCgLPGKDJNDkibX06qxwhl7sbkDEKKZsZpH_L26FRHX49ooxl3tcwD8r1c6za0BYYRJtrci0asqGZlOeVlsb3j5YeHfHNEmN_GxYhy_yf1wZkhYlj9Lk3shURzEr1JLHPqKjkBU8LGD7Jy0iXvYfcPd71pbDod52pb7x_gwGj4occydot9oS2UamMRLhT_f4ZzEtmTHDq7Rhy3qyMCbQd8grG-1ujyPyicLfqewe5JCVGj6ZbHAEMug8b3Bd4ttb84o0NkwoOpWwVmUbNvWzz96inOshilcXtNaijVUfUiCZTO229w1zQZaiqubdAwEIkiuMg-zg0crIdMgy-ItamU_10gg18aqm2c26QFbK89YGedhPgKMRR0B9RMWqNE92FJ_xyl2CsqHHCKABqZdn995nyowkDEZraB8WjWyybkwOL-hgyc7OjbOJPGY7btinvHgbJkcJBLP3hyWWhbdsAE5_d9GllBxmkYK0BCHmpDSpyz3AyM4rmfpwNoC6hFar97Vql4YjIUgWY5lIIptS7H46uE7g1tJTd2RYv3CIEztDZ31dbZIlCZ1ecf7xNtmtX-AG6afQ0OJm5iea9q1HtXiXtXkqfB4xheGrX1Kb6wblZ3aArkv3gZsNghmKyKigtiLbakaVJ_UVzPbOzUhGMwDxY5P5BRyvB8_9YQJp8Qzv2s2bJBRMhO6z6RjJIHJEq5cJ9e8QJpFyqLJgIIWotOrQby-KZJUXrT1_Mv2Atv3fPUy9NmdC_zsX686iGzvofcpgR4-h32i5uqLWysEnZfu87c-F5abhfLCcDKiMVtpyA45YkxyYwbCv59Xu5RGBOUO6IKlRZA-gsSdQGiVkxRFD216eVWUxDzmnDmtSehbF5YH_Xvo7gcVCfflLt8VxNRoiBbBV-CFDjB_NacNl1zngTl1VhPVpEwMVrNddahC605mLxi0N9D8lUot-ZWBvxwXg8I5DhoHK7fGOQjxFoG7jNfPORjGK5S7-1FrcZG6hi3iCOwp9AySNoj1YHWEsoBRXhdT77knWYRkvb-7AOGEiR317J_sQX6374X2mDdzCQbE70bKgQ8lchTH4MuXlSWTEE3mVAMylMyckgTN3BQwODId8ZlRtnDss52uAWe10fa5NvMcad-zcDBVUzY6kZfTnR-TfzsLjaomG74YBVcTCuWDxelAfll6oDQbWwuNjbhcTHWaOUSSKv9IPl0wuAg==",
  "id": "rs_07b9d2ad7023e7f4016ab2bd95352c87d0b63dfe6db2d0b688",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are now at the pear’s location near the fence. I will close and check the jaw spacing to determine whether it is securely captured.\"}",
  "call_id": "call_sCDWBm9mbZwBgcEW6dMj5mSm",
  "id": "fc_07b9d2ad7023e7f4016ab2bd95b11887d08c53174504540a87",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sCDWBm9mbZwBgcEW6dMj5mSm",
  "output": "executing move_to over 10 steps (1.0s)",
  "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]: [-0.02, 0.8474, 0.6659, -0.4984, -0.0135, -0.0341, 0.9993, -0.2588, 1.8217, 0.8009, 0.3767, -0.263, -0.2546, 0.012]\nstate[eef_state]: left_x=0.2891 left_y=0.0002 left_z=0.1697 left_yaw=0.0027 left_pitch=-0.111 left_roll=-0.0015 left_gripper=0.9993 right_x=0.4548 right_y=-0.0692 right_z=0.0459 right_yaw=0.09 right_pitch=-0.0505 right_roll=-0.0317 right_gripper=0.012\nstate[joint_eff]: [0.0068, -1.3333, 6.9402, 1.6239, -0.0073, -0.0415, -0.0171, 0.0889, -8.4444, 5.4632, 1.7802, -0.022, 0.0122, 1.0818]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:201e3a6bf7be38fec8c574e4bfb388b0e53beb11687e36c36de9c42b12dc49b8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2ab74389a136b40542723f8bc580c82b7dd2679c0b85d5d28b31036b894cf599",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 73):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ca8c9420e2a228b26dc43df4fbac4fdac8d5147fef56b91f2a204d094e595ba3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 201e3a6bf7be
wire blob 2ab74389a136
wire blob ca8c9420e2a2
call 10 attempt 0 · /responses · status 200 · 9.113 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 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]: [-0.02, 0.8474, 0.6659, -0.4984, -0.0139, -0.0341, 0.9993, -0.2588, 1.8217, 0.8013, 0.3866, -0.2584, -0.2501, 0.9985]\nstate[eef_state]: left_x=0.2891 left_y=0.0003 left_z=0.1697 left_yaw=0.003 left_pitch=-0.111 left_roll=-0.0013 left_gripper=0.9993 right_x=0.4562 right_y=-0.0704 right_z=0.0478 right_yaw=0.0836 right_pitch=-0.0416 right_roll=-0.034 right_gripper=0.9985\nstate[joint_eff]: [-0.2393, -1.265, 7.0085, 1.6777, -0.0366, -0.0464, -0.0122, -0.841, -8.4991, 6.9538, 1.956, 0.1343, 0.2173, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqsr2dXHrtbhgLcHRsmcSPK_MFlqGs0y8ecB91E023tAU5pbcqKJUaQ-dNIMKZGcqW_T6GGtqBIgo_Qq9IXSfIy8_FMZHYcu_YQJdyZMc3IAxBu-2ywumlyItI4_khzzlS-92_CCkdD1zj_yVn4wq6qyV9yPWDvvXzCnynXc4EBNRjrZvsf88E58n8niM7mG8Qti3kmTkUVEXmhCD8pqpIWqyWjfoa85Nfmxe33IY5aBDaXLiz_wfuSUCYo2ac5GJvC5fXgVYiFvT5uyyf-BASYqUeoQEgrqfAnlmQ82T6751dl_XW-rhE2ZV1oZbEhjnySYdLGgzhpW-SF7dnpz-ZmjFAhMd1S8AfP6cd9UFK2Y8SJqmborlNbboCheJQW1I002viG2R7lH5hSmDohLj4zqas13KyP_lD8Nyq08Gb5NMqqszC8z8l3x9Con57ROtu8rrf-4FhbdMbEhhTaSRCq6gW2CqIaUhVlsurTYvrwbm-KwI-xxX7nexbDSd3Yetejp9vOP9RMoLIvRtpluzHY81IvyY8UzIWWDaXB4aQJRrU7DhXCDtRTybkWfq4xmUseByhAX4rIZJx2vSyIUnEtU4o36o29v-7vH7T7tnZSQs4dQ9wTc6wLag6cNwSl_jYptVUhtp-T5rwqGYQgq8H4Vxj5z_dKGVnpLd0Zy-hYOvnWb2oJ_-ubXO0TULqYXhJe8qnse7QYzeHYQmlCIvBqDGmDEWA4dE8dQtcBnf5Stoe91iL38EfAcxKu4Wm8uDtvuns9UHvLXuKQzHce21VJXtKVrakIbNXvnyBCa1osN-0KKAEryt1E-p6f4qmYvFJa044yeP2uVar4LMtxCLxC9vimLYMA_l3UgSanVkHST5saROu_qF_k3gQi3qou1EkZlm23rQeD7ryqGeGOhfxjN0YMQit2ChUx1f5xNUJSlP_TBceEjwOJl5OKnthoXKNjc9Rp3mMxarLCjj7GgeyXqfk7dTLYBw95F0kSihFYhXPT6QD8BMaJXbQjTtFzrtGj3fguh2B6v-NwG1LkeuYHdzfYoTk6QlknU_s8_7aGlKOC5oembWdobtiuGoPrDqbXzhydBW55a2Ox363mX8mJfUwnv5yHIfwFQsv-NqhszYfCgCpJZuojuzzYdetx_NZ8VdqfPWNQOe4nATdyaVA9HS_hbNCLgsXhG0V-gOKBgB6EUE8mLIsYX1QMAQ6vZNs23C1g1xwJvHMSCxnlifa4f-pn55bt5xv3iPLgP5BoAJG5aFktDMN7rCUFDGodrbQTEDa2U4YU9d0nkRqSiZR1gr6sjb6JZAJxYdnBgYnPJb6yNJREaL-qnxQi9beXr7a6BLU",
  "id": "rs_07b9d2ad7023e7f4016ab2bd9ad3e487d0bb4bacb961e78f82",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.3,\"right_y\":0,\"right_z\":0.2,\"right_gripper\":1},\"note\":\"The jaws again closed empty at the rightmost reachable position. I will withdraw the arm to expose the pear and check whether it has moved beyond the workspace boundary.\"}",
  "call_id": "call_DM2T1URL5Sl7h9k6uWiVluC4",
  "id": "fc_07b9d2ad7023e7f4016ab2bd9ba75c87d0b27f5d0e1333a9da",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DM2T1URL5Sl7h9k6uWiVluC4",
  "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]: [-0.02, 0.852, 0.6659, -0.5129, -0.0135, -0.0338, 0.9993, -0.094, 0.9028, 0.6994, -0.4446, -0.1417, -0.178, 0.9958]\nstate[eef_state]: left_x=0.2871 left_y=0.0002 left_z=0.1657 left_yaw=0.0025 left_pitch=-0.1301 left_roll=-0.0008 left_gripper=0.9993 right_x=0.3053 right_y=-0.0001 right_z=0.1809 right_yaw=0.1123 right_pitch=-0.0725 right_roll=-0.0389 right_gripper=0.9958\nstate[joint_eff]: [-0.0615, -1.6342, 7.1179, 1.79, -0.0269, -0.0562, -0.0171, 0.1983, -2.0718, 9.7846, 1.7509, -0.022, 0.2027, -0.1685]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:83c96cf100dca837d88b5faf64739f162d1e826f2fd52010e525f9acd7fb8a4c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4370c52b6a1c25b253f545fcdaac15e8fd10174cbb88a46a62809d418692b34e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0a53c42e022b797f9de1825393e6fcb0c5417bb7c191a14094f233b10e138457",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 83c96cf100dc
wire blob 4370c52b6a1c
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