adhoc

completed
2026-09-17T22:28:42.686844+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
102.1 s
total steps
78
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the can on the burner

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: put the can on the burner
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: put the can on the burner
step 0
top_cam
camera top_cam step 0
left_cam
camera left_cam step 0
right_cam
camera right_cam step 0
assistant
agent noteThe can is lying to the right of the burner, with the kettle behind it. I am moving the right gripper above the can to line up a grasp across its body.
move_to
right_x0.3900right_y0.1900right_z0.1500right_gripper1.0000left_x0.2940left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0193, 0.7933, 0.6056, -0.3893, -0.0193, -0.0338, 0.9985, -0.0208, 0.7948, 0.6083, -0.3954, -0.0189, -0.0254, 0.9996] state[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9985 right_x=0.2933 right_y=0.0008 right_z=0.1785 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996 state[joint_eff]: [-0.4171, -1.3607, 10.1675, 1.9805, -0.0562, 0.1783, -0.1587, -0.4308, -1.5795, 9.7026, 1.9072, -0.0562, 0.1001, -0.0513] 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":0.19,"right_z":0.15,"right_gripper":1,"left_x":0.294,"left_y":0,"left_z":0.18},"note":"The can is lying to the right of the burner, with the kettle behind it. I am moving the right gripper above the can to line up a grasp across its body."})
tool
executing move_to over 16 steps (1.6s)
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 can is centered in the wrist view but still ahead of the fingertips. I will advance toward its middle and lower the open jaws, turning slightly to match its diagonal length.
move_to
right_x0.4450right_y0.2050right_z0.0750right_yaw-0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4091, -0.0223, -0.0387, 0.9984, 0.646, 1.5383, 0.9333, -0.1543, 0.4953, 0.3489, 0.9996] state[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0232 left_roll=-0.0019 left_gripper=0.9984 right_x=0.3763 right_y=0.1831 right_z=0.1308 right_yaw=0.0382 right_pitch=-0.0692 right_roll=-0.0496 right_gripper=0.9996 state[joint_eff]: [-0.5128, -1.4838, 7.4051, 1.8535, -0.1001, -0.0366, -0.022, 0.1299, -6.9675, 8.8137, 1.8486, 0.3932, 0.149, -0.0562] 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":0.445,"right_y":0.205,"right_z":0.075,"right_yaw":-0.35},"note":"The can is centered in the wrist view but still ahead of the fingertips. I will advance toward its middle and lower the open jaws, turning slightly to match its diagonal length."})
tool
executing move_to over 6 steps (0.6s)
step 22
top_cam
camera top_cam step 22
left_cam
camera left_cam step 22
right_cam
camera right_cam step 22
assistant
agent noteThe open jaws are near the can, but its long axis is still diagonal across them. I will correct the wrist angle and descend to the can’s mid-height before closing.
move_to
right_x0.4700right_y0.2120right_z0.0220right_yaw0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8028, 0.6083, -0.4282, -0.0219, -0.0387, 0.9984, 0.6777, 2.0098, 1.3117, -0.2981, 0.7002, 0.6483, 0.9996] state[eef_state]: left_x=0.2892 left_y=0.0 left_z=0.1697 left_yaw=-0.0015 left_pitch=-0.0465 left_roll=-0.0016 left_gripper=0.9984 right_x=0.4352 right_y=0.2088 right_z=0.0674 right_yaw=-0.2548 right_pitch=-0.1178 right_roll=-0.0941 right_gripper=0.9996 state[joint_eff]: [-0.1846, -1.5385, 6.9812, 1.8535, -0.0317, -0.0269, -0.0122, 0.0615, -10.7009, 7.2137, 1.0525, 0.5885, 0.1929, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 22): [image omitted: streamed camera frame] camera 'left_cam' (step 22): [image omitted: streamed camera frame] camera 'right_cam' (step 22): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.212,"right_z":0.022,"right_yaw":0.35},"note":"The open jaws are near the can, but its long axis is still diagonal across them. I will correct the wrist angle and descend to the can’s mid-height before closing."})
tool
executing move_to over 4 steps (0.4s)
step 26
top_cam
camera top_cam step 26
left_cam
camera left_cam step 26
right_cam
camera right_cam step 26
assistant
agent noteThe last descent fell short of the requested sideways position, and the can remains ahead of the fingers. I am lifting clear and tilting forward to improve reach without dragging the jaws along the table.
move_to
right_x0.4750right_y0.1800right_z0.0700right_yaw0.6500right_pitch0.3500
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4366, -0.0216, -0.0387, 0.9984, 0.4797, 2.0186, 1.0763, 0.0914, 0.318, 0.2039, 0.9996] state[eef_state]: left_x=0.288 left_y=-0.0 left_z=0.1677 left_yaw=-0.0018 left_pitch=-0.056 left_roll=-0.0016 left_gripper=0.9984 right_x=0.453 right_y=0.1775 right_z=0.0084 right_yaw=0.0854 right_pitch=-0.2162 right_roll=-0.0903 right_gripper=0.9996 state[joint_eff]: [-0.253, -1.1966, 7.1043, 1.7607, -0.0415, -0.0073, -0.0073, 1.2376, -8.6906, 5.5726, 1.7167, -0.1001, -0.0024, -0.0122] camera 'top_cam' (step 26): [image omitted: streamed camera frame] camera 'left_cam' (step 26): [image omitted: streamed camera frame] camera 'right_cam' (step 26): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.18,"right_z":0.07,"right_yaw":0.65,"right_pitch":0.35},"note":"The last descent fell short of the requested sideways position, and the can remains ahead of the fingers. I am lifting clear and tilting forward to improve reach without dragging the jaws along the table."})
tool
executing move_to over 19 steps (1.9s)
step 45
top_cam
camera top_cam step 45
left_cam
camera left_cam step 45
right_cam
camera right_cam step 45
assistant
agent noteThe can has rolled slightly and now lies almost left-to-right in the overhead view. I will move farther forward and turn the jaws to approach across its diameter, keeping clear of the kettle behind it.
move_to
right_x0.5300right_y0.2050right_z0.0550right_yaw1.2000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4541, -0.0219, -0.0383, 0.9984, 0.2405, 2.0468, 0.7853, 0.934, -0.2951, -0.1795, 0.9996] state[eef_state]: left_x=0.2854 left_y=0.0001 left_z=0.1642 left_yaw=-0.0017 left_pitch=-0.0736 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4718 right_y=0.1723 right_z=0.0548 right_yaw=0.588 right_pitch=0.2682 right_roll=-0.0667 right_gripper=0.9996 state[joint_eff]: [-0.3624, -1.2103, 6.9675, 1.8095, -0.0366, -0.0024, -0.0122, -0.1846, -7.7197, 5.8872, 2.2198, -0.2076, -0.0708, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 45): [image omitted: streamed camera frame] camera 'left_cam' (step 45): [image omitted: streamed camera frame] camera 'right_cam' (step 45): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.53,"right_y":0.205,"right_z":0.055,"right_yaw":1.2,"right_pitch":0.5},"note":"The can has rolled slightly and now lies almost left-to-right in the overhead view. I will move farther forward and turn the jaws to approach across its diameter, keeping clear of the kettle behind it."})
tool
executing move_to over 8 steps (0.8s)
step 53
top_cam
camera top_cam step 53
left_cam
camera left_cam step 53
right_cam
camera right_cam step 53
assistant
agent noteThe can is still just ahead of the open fingers and has shifted toward the kettle. I will make one smaller forward alignment with the jaws turned across its width before attempting the grasp.
move_to
right_x0.5750right_y0.1900right_z0.0450right_yaw1.5000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8078, 0.6083, -0.4751, -0.0223, -0.0387, 0.9984, 0.0975, 2.4462, 1.3266, 0.9405, -0.9905, -0.2428, 0.9995] state[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1591 left_yaw=-0.0011 left_pitch=-0.0983 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5307 right_y=0.2039 right_z=0.0573 right_yaw=1.1427 right_pitch=0.4826 right_roll=-0.0885 right_gripper=0.9995 state[joint_eff]: [-0.2256, -1.2786, 7.1179, 1.8828, -0.0317, -0.0122, -0.0122, -1.2786, -11.2615, 6.188, 1.5653, 0.4127, 0.1734, -0.0171] camera 'top_cam' (step 53): [image omitted: streamed camera frame] camera 'left_cam' (step 53): [image omitted: streamed camera frame] camera 'right_cam' (step 53): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.575,"right_y":0.19,"right_z":0.045,"right_yaw":1.5,"right_pitch":0.5},"note":"The can is still just ahead of the open fingers and has shifted toward the kettle. I will make one smaller forward alignment with the jaws turned across its width before attempting the grasp."})
tool
executing move_to over 4 steps (0.4s)
step 57
top_cam
camera top_cam step 57
left_cam
camera left_cam step 57
right_cam
camera right_cam step 57
assistant
agent noteThe overhead view shows the fingertips at the can’s right end rather than its middle. I will shift left along the can and slightly forward to straddle its body.
move_to
right_x0.5900right_y0.2500right_z0.0350right_yaw1.5000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0254, 0.8116, 0.6083, -0.4946, -0.0223, -0.0391, 0.9984, 0.0498, 2.7331, 1.9316, 0.4934, -1.3708, -0.4568, 0.999] state[eef_state]: left_x=0.2796 left_y=0.0004 left_z=0.1544 left_yaw=-0.0005 left_pitch=-0.1216 left_roll=0.0002 left_gripper=0.9984 right_x=0.5668 right_y=0.2052 right_z=0.0509 right_yaw=1.5171 right_pitch=0.5159 right_roll=-0.1616 right_gripper=0.999 state[joint_eff]: [-0.0205, -1.3197, 7.0632, 1.9463, -0.0708, -0.0415, -0.0122, -1.6615, -14.2154, 5.9966, 1.4286, -0.5788, -0.1832, -0.0659] camera 'top_cam' (step 57): [image omitted: streamed camera frame] camera 'left_cam' (step 57): [image omitted: streamed camera frame] camera 'right_cam' (step 57): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.59,"right_y":0.25,"right_z":0.035,"right_yaw":1.5,"right_pitch":0.5},"note":"The overhead view shows the fingertips at the can’s right end rather than its middle. I will shift left along the can and slightly forward to straddle its body."})
tool
executing move_to over 4 steps (0.4s)
step 61
top_cam
camera top_cam step 61
left_cam
camera left_cam step 61
right_cam
camera right_cam step 61
assistant
agent noteThe can has rolled farther away, close to the forward reach limit. I am lifting the gripper clear and moving toward its near end so that any final grasp attempt comes from above rather than pushing it farther.
move_to
right_x0.6000right_y0.3000right_z0.1400right_yaw1.4500right_pitch0.3000left_x0.2940left_y0.0000left_z0.1800left_pitch0.0000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8143, 0.6083, -0.5095, -0.0223, -0.0387, 0.9984, 0.1219, 2.8452, 2.1235, 0.4129, -1.3163, -0.4507, 0.9989] state[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1509 left_yaw=-0.001 left_pitch=-0.1391 left_roll=0.0009 left_gripper=0.9984 right_x=0.5797 right_y=0.2469 right_z=0.0377 right_yaw=1.5342 right_pitch=0.4999 right_roll=-0.1563 right_gripper=0.9989 state[joint_eff]: [-0.0615, -1.4291, 6.9402, 1.7851, -0.0611, -0.0513, -0.0122, -0.759, -14.0376, 7.3778, 1.5946, -0.2222, 0.0171, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 61): [image omitted: streamed camera frame] camera 'left_cam' (step 61): [image omitted: streamed camera frame] camera 'right_cam' (step 61): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.6,"right_y":0.30,"right_z":0.14,"right_yaw":1.45,"right_pitch":0.3,"left_x":0.294,"left_y":0,"left_z":0.18,"left_pitch":0},"note":"The can has rolled farther away, close to the forward reach limit. I am lifting the gripper clear and moving toward its near end so that any final grasp attempt comes from above rather than pushing it farther."})
tool
executing move_to over 7 steps (0.7s)
step 68
top_cam
camera top_cam step 68
left_cam
camera left_cam step 68
right_cam
camera right_cam step 68
assistant
agent noteThe arm did not follow the lift at the extended target, indicating a reach limit. I will retract while raising the gripper to clear the can and leave the arm in a safer pose.
move_to
right_x0.5000right_y0.2000right_z0.1700right_yaw1.2000right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8066, 0.6083, -0.4526, -0.0223, -0.0425, 0.9984, 0.1295, 2.8578, 2.1391, 0.4217, -1.2942, -0.4179, 0.9989] state[eef_state]: left_x=0.2858 left_y=0.0002 left_z=0.1638 left_yaw=0.0009 left_pitch=-0.0747 left_roll=-0.0037 left_gripper=0.9984 right_x=0.5832 right_y=0.2509 right_z=0.0354 right_yaw=1.5073 right_pitch=0.498 right_roll=-0.1337 right_gripper=0.9989 state[joint_eff]: [-0.3761, -2.2359, 7.0769, 2.0781, -0.0562, -0.0024, -0.0122, -0.3761, -14.0376, 8.4444, 1.6532, -0.0513, 0.022, -0.0073] camera 'top_cam' (step 68): [image omitted: streamed camera frame] camera 'left_cam' (step 68): [image omitted: streamed camera frame] camera 'right_cam' (step 68): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.5,"right_y":0.2,"right_z":0.17,"right_yaw":1.2,"right_pitch":0.5},"note":"The arm did not follow the lift at the extended target, indicating a reach limit. I will retract while raising the gripper to clear the can and leave the arm in a safer pose."})
tool
executing move_to over 9 steps (0.9s)
step 77
top_cam
camera top_cam step 77
left_cam
camera left_cam step 77
right_cam
camera right_cam step 77
assistant
agent noteI could not secure the can. It rolled farther back during alignment and is now beyond the arm’s usable forward reach, beside the kettle. I retracted and lifted the gripper clear; the can has not been placed on the burner.
give_up
hindsightApproach a horizontal can from clearly above before descending: low forward alignment moves can push it away with the leading open jaw. At right_x about 0.58 and right_y about 0.25, this wrist orientation was near its reach limit; a further outward lift did not track, while retracting to x=0.50 allowed the arm to rise safely.
Raw transcript
user
Current observation. Instruction: put the can on the burner state[joint_pos]: [-0.0257, 0.8101, 0.6071, -0.4725, -0.0223, -0.046, 0.9984, 0.0834, 2.085, 1.3052, 0.7052, -1.0805, -0.2897, 0.9989] state[eef_state]: left_x=0.2828 left_y=0.0002 left_z=0.1585 left_yaw=0.0029 left_pitch=-0.0991 left_roll=-0.0057 left_gripper=0.9984 right_x=0.5043 right_y=0.2021 right_z=0.2011 right_yaw=1.2971 right_pitch=0.5333 right_roll=-0.2444 right_gripper=0.9989 state[joint_eff]: [-0.3761, -1.265, 7.0496, 1.7509, -0.0464, -0.0024, -0.0122, 0.0752, -6.4752, 5.3402, 1.0672, 0.2955, 0.0757, -0.0122] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 77): [image omitted: streamed camera frame] camera 'left_cam' (step 77): [image omitted: streamed camera frame] camera 'right_cam' (step 77): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the can. It rolled farther back during alignment and is now beyond the arm’s usable forward reach, beside the kettle. I retracted and lifted the gripper clear; the can has not been placed on the burner.","hindsight":"Approach a horizontal can from clearly above before descending: low forward alignment moves can push it away with the leading open jaw. At right_x about 0.58 and right_y about 0.25, this wrist orientation was near its reach limit; a further outward lift did not track, while retracting to x=0.50 allowed the arm to rise safely."})
tool
give_up: I could not secure the can. It rolled farther back during alignment and is now beyond the arm’s usable forward reach, beside the kettle. I retracted and lifted the gripper clear; the can has not been placed on the burner.
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 · 9.326 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: put the can on the burner",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6056, -0.3893, -0.0193, -0.0338, 0.9985, -0.0208, 0.7948, 0.6083, -0.3954, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9985 right_x=0.2933 right_y=0.0008 right_z=0.1785 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3607, 10.1675, 1.9805, -0.0562, 0.1783, -0.1587, -0.4308, -1.5795, 9.7026, 1.9072, -0.0562, 0.1001, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f083fb8905d8fd2013405b35f6f8ee041a9e2b835a10bd00229ecd467e24d41f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3d86c2f8ab95530bc05466ae1bdd46c35dc07fd38abcea95a26253950c2dc574",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5d2ca79e7b7b03f785f8f32a226488b577f69143e161a6e2cc55ec6be9436dd7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f083fb8905d8
wire blob 3d86c2f8ab95
wire blob 5d2ca79e7b7b
call 1 attempt 0 · /responses · status 200 · 7.703 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrGmsWJsHkYBdqlqNodrRuYPO-eP8aHEHkaGzycZ_lxhPjI1_gK5WhQgD6EUNAclH8Qj2OZjesHxFsbz8TxlDPyL_qZMAO1YEirCAU6noG7K251vc7-BPtrxzx4yWH2gbi2CpfTCI1w28DGVJm9zvUOfD0ArF6DBe2v8w0w424s1FkkJqyQuX237UdqLxSnNmVOYfcOFT3vYLCYprkK2BRR3WkwBiy7m5eactHMl0wSoYIl7xm2xl3ooMbAkZ3MoWfV28Rr6rYfvY1etqbXLQrgB0o_w4uNmfdMKnaJXOJ_dNxjEQbpwIs-Fey9pzacxbKr-5uZZt_EB1bdlcZWM08tnNG16g6XXUKxbS7aqupw4H0JqvHmBj6iYwQEWsUHR04Ha3R7_MuCwfSgJWxnNn8aUG1vzFYpgWpzWlcL_KNbDmXpftcKgb4yPw5eLOkkcG68YNMRruY8SQ2a0AaRelNMn3E84FbYtIkzfMsllCHvdPhgO28ke_mEwXMGcX0bZnaugaah0yzEba0i7X3_BjmbHKqSovKxKT3tneOCy4jvY2uIh6gOodjAgnRNMoEvgQZ_VJlsGC0Bhsur6-R8fFiaUFQBbSMqJaJljcnfNni10_c_SzwT9HfAvK37Bwf9v2bkzLrF84rrnKeY0PQxpjIoVOnvaS3Z1opAaeS31EbMt7TSEwInRKVclvgAboH2eJyEdIR4ejeEV6_eXCuYRVhMDYrhhX444BKWr1Ej1CC9Zxuox_Jon1y8r2yS0JzrOWxbCcxMUTXRvL0ZwWNdrt7-41Nq3RveebxHvRN7fTpJepX-nKsgc4mcb9lz3uGzrXzcYY39ijuXz2yNvNoZ9DpAs6Ep-eHTT0qfMZrz5Z5C8AJaJfOhzdO5rtggzGA9VWqUehoiIUOQPeCvXFM8_cHBOLDWPxANmAlHzA9xxY6M-VWoJ_jiDfiSjf46AhY3a9oH5ENAhWe796imFwk4GtxDQ3IAyDLQIIuhddqj2m1fGcUtoCYsFSdhs7EwjJlL9Y_NeQyqZEbUZGz1hU7A5yuhmDVae-RizS4B2qJIh6YYsvCuygftfWQidMYg7B0qC8CUv2h7gkF-IMKNQd23x_goDSWopL0cqUTCMOsF2_plos4dvnwXnYWuzHqxTee_XtTv4nCs-MWVbPLjij_fLJNaHtae0Qgjn_sKHdJlzNMElymaRvgKp7PhaqGYL7XuygpcDsd1aHETWBUaDFkaaBrfYq_WhOrRPC_7X4tEKl24LqfUuPr2oTlbGZAwjYBTaAq2HuZcdxVCB9_vtJLKyCnG2fJz5yFsUiUz6yl6MzHqGdaDP-BMKSVU3DuWhv1UvxS4by5oQa-bUcpRmohiSWlbo2_K8qVDywu_j-pjRUA5BMGC0X1kUC5yaaVp9ztaL7Rm0cIq4t38jg4tijzdvaD95PYxc0qd3L1ZNnuN6TI3hxmddUTiDmfp7Zzbmdc7SdHLViqL-1GXb989qEk16udWCuTzhkGy5l66k6et-Rx2-zt7a2UPGcZuMt7vydVj2S3ujEnuwm5zyRQISF3usitFOCPF6JCmxq6rS4iGPWtdZO4Q98gobqJc_0HqqnoHiGmHNyvR1iovu6GmCTyy6Wtv1NoaW_yXjoKv0BCiQMlbRgoG9upBmT0K7SybsdlFeifpYPdXnENO0CQ4Pq4d1V1WaAb4dxHVxh7_PXdiLnpn-OTPmwNPIjz74fZHX8DsDWETHMDhv0-ncVk-7qmcsW02jZ6Q==",
  "id": "rs_030e377c5e4877f8016aac69a4444087d0b28c889836da8319",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.39,\"right_y\":0.19,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18},\"note\":\"The can is lying to the right of the burner, with the kettle behind it. I am moving the right gripper above the can to line up a grasp across its body.\"}",
  "call_id": "call_4EyF6La7xFC0SoMdTpcn8vev",
  "id": "fc_030e377c5e4877f8016aac69aa0dc087d0991d9fff62f46495",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_4EyF6La7xFC0SoMdTpcn8vev",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4091, -0.0223, -0.0387, 0.9984, 0.646, 1.5383, 0.9333, -0.1543, 0.4953, 0.3489, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0232 left_roll=-0.0019 left_gripper=0.9984 right_x=0.3763 right_y=0.1831 right_z=0.1308 right_yaw=0.0382 right_pitch=-0.0692 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4838, 7.4051, 1.8535, -0.1001, -0.0366, -0.022, 0.1299, -6.9675, 8.8137, 1.8486, 0.3932, 0.149, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c913fa598a7724708ded13d37836e2cafc2fce2167b81d36bdfade68815bf89a",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:419483df0ab4632ceaddb9af71075af933852f7e6f35b771880236a0c388d09d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f7e065a7f80ba1468c0f9c6c8205e9dea6bb7ebe226bb027f2299720e9189d52",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c913fa598a77
wire blob 419483df0ab4
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call 2 attempt 0 · /responses · status 200 · 6.543 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: put the can on the burner\nstate[joint_pos]: [-0.0193, 0.7933, 0.6056, -0.3893, -0.0193, -0.0338, 0.9985, -0.0208, 0.7948, 0.6083, -0.3954, -0.0189, -0.0254, 0.9996]\nstate[eef_state]: left_x=0.2937 left_y=0.0013 left_z=0.179 left_yaw=0.0 left_pitch=-0.0008 left_roll=0.0 left_gripper=0.9985 right_x=0.2933 right_y=0.0008 right_z=0.1785 right_yaw=0.0 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9996\nstate[joint_eff]: [-0.4171, -1.3607, 10.1675, 1.9805, -0.0562, 0.1783, -0.1587, -0.4308, -1.5795, 9.7026, 1.9072, -0.0562, 0.1001, -0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGm1tkkJHseIW0VRAnfBs1l8wwWFwIfT9ZXajttj8Hti1EcjQXDwA0d-bL-cwOSpyHPJvkQ3PGN8Y3Sar9Ji6mZtmKuS8CHzxQfrNpjPTw8gbEcdo6VmsjIAfjuB01pnFnamCfF0HekOXgX7DlEycfnCfWRRvsoqvb5SiHFcNg8gT9scnJvwqSI-zRGbxD0lomb59LHmwo4vIWC8HqisJ7xGmgKdAAXLavZvx94o_vgfeRNA3CNIRZ9jyGHmlY8bUtV7lXXAB-nGKnaRdlRFW8viGTtDSYu9FRB1411Nc-PvozI3jBB-KSAroMUGJnR-oxlOk6bHD_i82JzNRt4-bcpVDcbmMMIK1UeTKFtZzwhRZGhy8wTd--KQmEqpdtiWigWDUF2yqn1ejZV0w-5rO8YWMVs4GqfHm98ui0Go8v1YytyUahxptBZR6qpLVDppAMxTcIBNIipEA_q2qNgr6xfsEudQG8SwjGx6WlMbl4xI1DRljUQzWLV77jr-rPgI3kWJQBGPndyFqcb1PF7s5xK7gu-4vQyCxvbSbilmqkN8L74113r352Y6R6vxSpNeGgUhC5KiG2KM-f_5J5KwGlUK25UrAuvZTvxw0-TSakwCpixh3kWd0GDDW3NMmoUmHgS8ODslJCE5V1TEuxTAqMDS4nfmCEoXu9hkFFMsINZqUcb9FdsgBrYArwVLei9G9_V5EKlBU-uI2y1DFVjCCO9BvLjzoFp2zAb7y7XTl7rtDEAQC6F7o9L1rNwCOvWuLNrSHG9rWZBCq5QNvmUM1MA9UY-CMv6YlfSADzdokqhx7L06o7OZJRAqjaP09YkwUfF5jDn0KfT0lTvUTzFja_QssF8M1VBZJ9JpQHXiUZAkiw_EgNcu4n7tZCTKpVWcTz6dsF5PGn8iue9hqLJjTRdFDoXD4sII5Adc5CiznNuN5J-N-6orKHbFmZNsErXx-wN6-QYvjb-wamaC8zv77psfAjneVXDL8ODMblY6UMyxj7Swkacm8DxTDtefysQZg00Vefg4RmNQQExaQiKBMs-8sZ0pP3I_ljbIjzQN50iJ2MYu_O8p6ijiUelLAiPVqpTKdZeoe4AXz6bUbgH1199QwW4CnOyuzBX4mg6NhAM--WR-acLOX1UA6hQE8TW_9UFvpBW9XLxSjhPujFJFf8NLIu0NQFbDQ-aH0e4XEbzEutNOO9Pe0nrhDewlZNaDl1RmUZDyloOdgUu02xB2OLc4EWiDNrMCOerLI_TBFI7G92dPX8XCZPqN2ja0oD_gjRxNjyCv7HsD1i4whQ4xLinCHMsO_gScXiQpQmXl5FvX2K7VyqTOeINnJN36lSGs9sw13Kb04mOCrr-VCYB1oNiDC1EHDW3GfhTxiAftLhO9L4ObkFjH6PXPRtOHCG8UrreqTurN8MVkGUokKt94bm291HDmq3Yomzg4o9CFjqSxDuSnqmf3Wu1vFDjAu4BjML2QPo8RLfzXnQbcvU8-YzDYCmYUgzl6xLFlDm-knL4KXNm9X6NeZ3Fix_RjAh3QWkxC7bmQXzPREOaUMVt9Fk_fayJWx6RtFrRM91iixdPvgy2quS0ayueNI5ZGuaUedq-RwnlHAyyAIZcSmASOiT_7OBjV2Nj0URm7qIvyloDMa_yJLqA-8ixWXJqsKsU1oQonvoJfZRCm_Wp_b-dR8oYVb_biX1-wGrqSXx4Ew6_kRCQ0JikUhk5e6ttY4hwDRTRo52y0aHNi_PymjYM0WUwKR3TVvwgDNhooPnz8OWB1nFo=",
  "id": "rs_030e377c5e4877f8016aac69af88dc87d088b5f554bd817194",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.205,\"right_z\":0.075,\"right_yaw\":-0.35},\"note\":\"The can is centered in the wrist view but still ahead of the fingertips. I will advance toward its middle and lower the open jaws, turning slightly to match its diagonal length.\"}",
  "call_id": "call_CFknl6MXMWBlPIXIkvylWX74",
  "id": "fc_030e377c5e4877f8016aac69b35b9087d0b48aa041cc22c4c0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_CFknl6MXMWBlPIXIkvylWX74",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8028, 0.6083, -0.4282, -0.0219, -0.0387, 0.9984, 0.6777, 2.0098, 1.3117, -0.2981, 0.7002, 0.6483, 0.9996]\nstate[eef_state]: left_x=0.2892 left_y=0.0 left_z=0.1697 left_yaw=-0.0015 left_pitch=-0.0465 left_roll=-0.0016 left_gripper=0.9984 right_x=0.4352 right_y=0.2088 right_z=0.0674 right_yaw=-0.2548 right_pitch=-0.1178 right_roll=-0.0941 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5385, 6.9812, 1.8535, -0.0317, -0.0269, -0.0122, 0.0615, -10.7009, 7.2137, 1.0525, 0.5885, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be5a2dbadf6d5f23cbe9936c551d49e91628cdf5ef01aaff14e57486c000219e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f0addc540c5e9f832587372a4a3fd07d60a3993c43b919ac19828dd516d17802",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 22):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b830a2d64fb80a838840d2c535e0a413093b256118b9ccf1b460aec918e5f2a7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob be5a2dbadf6d
wire blob f0addc540c5e
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call 3 attempt 0 · /responses · status 200 · 11.55 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: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.7986, 0.6083, -0.4091, -0.0223, -0.0387, 0.9984, 0.646, 1.5383, 0.9333, -0.1543, 0.4953, 0.3489, 0.9996]\nstate[eef_state]: left_x=0.2916 left_y=0.0 left_z=0.1747 left_yaw=-0.0012 left_pitch=-0.0232 left_roll=-0.0019 left_gripper=0.9984 right_x=0.3763 right_y=0.1831 right_z=0.1308 right_yaw=0.0382 right_pitch=-0.0692 right_roll=-0.0496 right_gripper=0.9996\nstate[joint_eff]: [-0.5128, -1.4838, 7.4051, 1.8535, -0.1001, -0.0366, -0.022, 0.1299, -6.9675, 8.8137, 1.8486, 0.3932, 0.149, -0.0562]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGm8ZBLJuK1nr63eh8ADfnLOxmRpoqPBRlQvDp7IzJhRLQjHjL2YzhGvQh6ALQxO7yhrSIIZgsQ1rNIMwX6DmzXRoVyizzsyl4blQ1mVfx20Cm2ddj_e7bsy16_QD6f-tk2wGujgYPRV7O6u9N59fDWWoHWw3zkbboSF184OMMm2djfGzurjAGW7bRTRmF4bHMfSXqpE91CobJtmFDV4m0NK6C5QwUza58qAWXBu7IwKtnk9oaYLk4-p1AWFa2FbgSfb2E-i-f0VFhV5S4TpVXddkZcsRC2vsCUu4jPtvJJEw6H5XhiMI_YsFNBxIfLpShIr5LfcBKsXIFtFgpJZ3Zp3rcgpL8GH2KZVxhfCveI6KDADUdnE4lBRXYPDtQWh8oT18QyWkSFrVwOrDeThUSI18nFEjDadNaPdrtWoVNTqvZn7K_NRmazWPhKmrJvYDa-OHq2n2aWqzrYz0X3KF8WAp4Y5bjqPMwTrdC0lbcDDM8EjI_GLuqn6nNUZW6QhMBlyEyc36WOzBngfStZgeIRTqa9lK4mv0m8aatbJN0XuUeTXdU0EBAWJA_BbYnkrjXsD_yzKvYqPB5uxGel5LdogGZQszV0sjSvXIdryhG7V2oHlWaGOfKiYtfP9wP__xHXTZKApeyWVy625DuMS_kXOSUYGUtsbASQYPauxN2ofFrhOwip1bvMzRJivQhZkBOth-kLZXAwlLhVAEicn14rBKcYLBosA0ZAry6E2pEo2H4JziJTyAdoR0kbZQutbQNkTrOQhbR2iVGWVUpdis9kYjS40tqv4vqjSYh2ciDn6YdIQL_xwEBDDU39UaSJgWynrqMhYxjUalc3RP8eRb7CpNRhZaeKnrc74F27Z2xKe7rY595uPriXhAGLxJnZh-7Ujit_qndluw6PMMAk0ovdYmSu9JSBMBoyeA2BXTjut-4AHUAcgv9lho4WxZYk8UPVv1NiRGyXmh7mVkIPz1aW-SkhhRm0LLcxNsfRmLB33krDPrKc2tXKi1JC7Q2VBP0rr8sKVglIXgUlrG-6uI09SD-yAD49gSkLbXHJrV8vCqzus0_BMqJ34NT20gc_NkTin-3anpSwXMuh3Fpgxziw3LFErZ_eW2o2z9lr5drcwj_7lWi2RbRhEFEJYW0Wj3Rj8PCSmsnMtyxDc5WOE69CYYL9Wv4LC5AOCYVEuTiBwLaCnIvt6ekc37rMo_Vg699lZcOhMhDbJWoTImurH30i-khRlGJ3oxCAyAQYwIBTngfCbXKpl-p9rzGTEwzY_7L-p-H3annSMKOF8AE2_GsjZBAlJzhazxLDRUZNJRGKp0HNC6VPHWtNiAYfDKXn171MgGTzSx7CVp77HObr5O4mnMbu3NacaZCV4wsie-djMRjgq_CGGzUz54y9XucJnla8104Ltq_pkG4xgCqxMAqagD2rbPA2a1-yHv3WfFbfY54babXubowbBjXj-mEMKdqwsvvNFXcsr9Hy_8VcHgXjBhQ_Vsux2_eoJxnTCzzAmjRc=",
  "id": "rs_030e377c5e4877f8016aac69b7986087d0a982baf930ab69ac",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.212,\"right_z\":0.022,\"right_yaw\":0.35},\"note\":\"The open jaws are near the can, but its long axis is still diagonal across them. I will correct the wrist angle and descend to the can’s mid-height before closing.\"}",
  "call_id": "call_XHrZlKZxuW55K0aZyxeTsTi2",
  "id": "fc_030e377c5e4877f8016aac69ba4d9487d084ffd11adcfe5b5c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XHrZlKZxuW55K0aZyxeTsTi2",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4366, -0.0216, -0.0387, 0.9984, 0.4797, 2.0186, 1.0763, 0.0914, 0.318, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=-0.0 left_z=0.1677 left_yaw=-0.0018 left_pitch=-0.056 left_roll=-0.0016 left_gripper=0.9984 right_x=0.453 right_y=0.1775 right_z=0.0084 right_yaw=0.0854 right_pitch=-0.2162 right_roll=-0.0903 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.1966, 7.1043, 1.7607, -0.0415, -0.0073, -0.0073, 1.2376, -8.6906, 5.5726, 1.7167, -0.1001, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f9d9ec7689def50fd4f988e69304ff5175d412ed77f3960b36ba8724dc34d253",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cda404a5a47d9eee46a156e81046085564aad99a3cba444973c26812ba5b58ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 26):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:15292d9e2438b63c4b6d9cf787428e6a77a7e98bd389230b95a87437e2d9f122",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f9d9ec7689de
wire blob cda404a5a47d
wire blob 15292d9e2438
call 4 attempt 0 · /responses · status 200 · 9.673 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: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8028, 0.6083, -0.4282, -0.0219, -0.0387, 0.9984, 0.6777, 2.0098, 1.3117, -0.2981, 0.7002, 0.6483, 0.9996]\nstate[eef_state]: left_x=0.2892 left_y=0.0 left_z=0.1697 left_yaw=-0.0015 left_pitch=-0.0465 left_roll=-0.0016 left_gripper=0.9984 right_x=0.4352 right_y=0.2088 right_z=0.0674 right_yaw=-0.2548 right_pitch=-0.1178 right_roll=-0.0941 right_gripper=0.9996\nstate[joint_eff]: [-0.1846, -1.5385, 6.9812, 1.8535, -0.0317, -0.0269, -0.0122, 0.0615, -10.7009, 7.2137, 1.0525, 0.5885, 0.1929, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGnIqeNC2AnhM0IplLs95FpH9Hq8kcdiJapLV58KoXg4od9h0OjbUqYmyvbepioCCYBiWJ7CV9LzI19Jsuiw7Ibd08lPtwqb2cs_cuLe-GYrAC_YO53IuzrP_wlFC5QYdq3bPy2Kc794XseKuD3kTuMjSLpzju1DrGkY34rrW1VsxxowEUW14FULdlpZw3Bu-_Ci4quW5F8AtUF6bzU9Sp-gTuMu-mMWxtGix_wDys0LIith6a3pJk4o-fH6IFDMDKpC_KnRXug5wl4934ZG46rG6ajpBI9IRBS6YxeiMc-rXfw3Uwv8AOZ9letLMOp_4ZBic7m83pTQ1N68f8hQ_Zq7Z98FcUWyW9VOeqKVuESc-unPakukP87DRWPWPWuiXGdXFVAfCeov9BoJU4-9oz1HhgV5cQvjfDv2QCCJ9hsAT_AFjl2I9xX8n3yvXJXbEylc8GUWk41ChZHPPwYon_lnNBrzNK8jHvVWn02ZvtCCkrOsa0clEsy6Kt3s1SrFybKEaExRAsZMp8vOUZPqtkbgLbofCH2IAPwgsMdagHgqoIH0ck1bOw953o2aL0i20he4AN3KDfyS9dzETMhxzImC-lxZvF8fs348H6NPVypM1veeGBWMCzFw0mvq2t1q0pHD-3dMiYqx9i3H-JyaEPtm3RSKXAM0dgnA9S0IGaax53dKdnqKNx8ez2K0j9FjW7Empdf3APZ0Wn31HXPca48nB7bqSVYTsS5PxNUytfHiSJG96JUoTxapviS-NgOckVHQtN2RZ2TxWgX2_Op_LJ-Fi7WovyzOf9di19ZqEeXZeh9ZYR9oQFh0262xG_MfBuA1laIATtRl2N-IRyJwXpRSBshdypCj0kUBKmK7psy_nOogxZuQOhIZ4lQAOdweV6iFt54QArRYXXpTNuuNRhPsbUmPVj3ntZeJfKY85TRVBcrGfnSGM-j4y_jfHAOv_G8p8sclbzsdTvapLMiYkwJ5LLcbx4_PL0xGFxkuY_TEhdoqOMH5xFX7NlsBjs8EI6XIOLMGfynLozvBjdqkAYHpKkqf_w53V2q-XGSA-YwYWp9Tp3G_vOvNwVWQZV4Wm8uHzkPKH8ye3y-2q22gieP7fr4LKrYyy1nUEn7szdgqXGCAPuMSFia84nWNP2etSAk0Oxic3YwKTmKEGfRzbkhdYc57Qhu0YJgh5rDWyCWHgfJfm16r3Nh40b2fiuVsyyed6TH6XnxBQVMjkYoDeFEO8UqXYCUu_GAwycAi_X1Px7L9tVg0iMaDVpIGD0-cr-gDOI_txIiyCcCKqVkdjPDKpfJHR_xXtaYlNN4cOVruEj_b8NAF-mh-4XYLRWu71af8l-3bX7_F2y6tZWd5KLLqhvvk6XVnvrI7eGEX-qgfZeVGJ1PPmBNLegcjO3U-9q7W8GEypZ9PNGFIxJIQiLkGH185p2rigCU6awYRjSxevqswmhpqmORq4YUOp5ulFHoUsijQ0bH2cTqBPpVXJAtDh3pc6UDSFxaHRQpxeSKrrWJlQ7gm2XQFIgftkQDGv6ldYowJ2-6JC687EHBQTNRRGkhMOKVhFC6fZXlFEPi1fbwwKjoIPxkDfDvDoSSCtJzZB-sS8P9wPXD3iflwuhKp2gzPoog6m5PmyFktUgnuGbmUivXTHWFIjnHtidMjtwRWMxR0-UecEE20DCZpTIRPA8LF5WqsVYHpWMif2P7Py9IPOIq2Agsi21tjdWljgtcaFls2iyu67R0l_h1fQdFvpXuU2SeRF-R0uxUXyoIUXfq4EvO8xojMmK6KFhsOjE-FU8t8VMp_WYlSlwOC8EBrHbbqqbLYoMmY0HRfmRfp0cfXcMQZkwKtmxHCrpjcVeO_5zTcXTnN6tC2UF0uGlKiAn51TtplqBMZio8KNcTXGs-BZPyyFrYVYqIGvqUqZ0nTTYagML3vWS8dLqJLfnKdZYofZukvvPBoLjOcLsR9ZosU6Nd4ME0CaogOkhU9qToVXQd0YoXZ8vhW18uuF-F96zeLzYvwfbpFw7iexb07-o_w282JhNSK5VR6QWSO9namkcxtJflNTEMqzdE_LQHXO3Ij1aGqYphrL4D3nldXnRJxlqv8iIjNI85_d1eEvHjZuSvy6Fg0OZSIcsSKfHHRH9g_i61VKnb0bFfGNKDoe7mkx8_u6roj6vb-JMIJ1ggV",
  "id": "rs_030e377c5e4877f8016aac69bdf3a487d0a64442871937b61f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.18,\"right_z\":0.07,\"right_yaw\":0.65,\"right_pitch\":0.35},\"note\":\"The last descent fell short of the requested sideways position, and the can remains ahead of the fingers. I am lifting clear and tilting forward to improve reach without dragging the jaws along the table.\"}",
  "call_id": "call_FuJDVgvkJB914E3FmBBGYw4y",
  "id": "fc_030e377c5e4877f8016aac69c5c25887d08f6701b5081c6ece",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FuJDVgvkJB914E3FmBBGYw4y",
  "output": "executing move_to over 19 steps (1.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4541, -0.0219, -0.0383, 0.9984, 0.2405, 2.0468, 0.7853, 0.934, -0.2951, -0.1795, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0001 left_z=0.1642 left_yaw=-0.0017 left_pitch=-0.0736 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4718 right_y=0.1723 right_z=0.0548 right_yaw=0.588 right_pitch=0.2682 right_roll=-0.0667 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2103, 6.9675, 1.8095, -0.0366, -0.0024, -0.0122, -0.1846, -7.7197, 5.8872, 2.2198, -0.2076, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c6dc75b898198ff07d3e2ec0e19130484a33244dd0158b7d5d2aee972c4de18",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d2a6204f1d86d7dac9529a90723028a796c0ba4898c7f205567dbf67331c65a4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:063bc12f02df2108de454c7e6f955d5a3cbcc038dd7a14e69071bc907a6057ff",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 7c6dc75b8981
wire blob d2a6204f1d86
wire blob 063bc12f02df
call 5 attempt 0 · /responses · status 200 · 8.219 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: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4366, -0.0216, -0.0387, 0.9984, 0.4797, 2.0186, 1.0763, 0.0914, 0.318, 0.2039, 0.9996]\nstate[eef_state]: left_x=0.288 left_y=-0.0 left_z=0.1677 left_yaw=-0.0018 left_pitch=-0.056 left_roll=-0.0016 left_gripper=0.9984 right_x=0.453 right_y=0.1775 right_z=0.0084 right_yaw=0.0854 right_pitch=-0.2162 right_roll=-0.0903 right_gripper=0.9996\nstate[joint_eff]: [-0.253, -1.1966, 7.1043, 1.7607, -0.0415, -0.0073, -0.0073, 1.2376, -8.6906, 5.5726, 1.7167, -0.1001, -0.0024, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGnT8tDalu4a_MrtVqT2-ZMTxD4C1sYcuwms7Jen4f5W2lD-3qA55jex-uBzUTeF2lpfDgo4rt_rAzStU9NEcAtkyq5vxIMUp5Eix3SuXigLRmEFXkrpieMkCY-e5t66U10JinWTVD0TgyMS-wdnJbARQzIIBtQEbasQmHlwuuhPjlpJ3vckUA1DpY1jRFuYFUIxzugUB78R-AvKvnALJwQ2AoXMuExgOy6Gy5mFX0saoTaEydueFEW8iN6ZmQgcgFzt4uaJ8LA_MbXXWT1-Ks-cdtO8H7uY2azKDTmxwnMoYEOBGr-IjMXW2m8rtDdprIvcGizrTRmAugPZc1xmLvez0U53lJESumS5jNhd24-jF6NrHkvhSVAHHioOh1xPSUwi5tgf3YDj5OeJVgT6hOtqyaLut0iwPencLZseCsNGL8C_UCcIv1yFetS0fH1RmpkmkrvRube9vq_rfP8bJMy2LrLUUzkCPsPoMPkQ49voL_T71xCb-brUeFUpeaYxhoiF_m5woWBeXiCwn8YSia2h-G1fsdu7EOkQZfAMDtc5A6KERxWTqxiwQqCLkFy10VHlJb1R-jTdwZUSyazeR8sT6qms399aDFtyBtla7NhAYipQGhk7tR8wT0ChIVcct_bibgg1LzDi_p1H1oNhsfS8cvyrq83_PIJjU0T4aUxKdxK--2b5JFF-E-VaXiaWEAG_cUW9conTlvxfqJzJ7ROQT8EeE8s3gc5YEocIA9mGWN-bZTU59zNY7YuLgvzzvvLXtUBtkF3wFLyfuijbtUrE4FnyBBgWEIugKt33I6xw2EgZfADFnquCWssYY_pjNfiQ-OAktx1URCiC0org1mBgzkgse4SCzm2rLoYeAmpi2D7NrvklQf6s-5tH5vyMAy97-gVyU_lIaHJQz5bef_Bp23QegW3Qwp4O6cQ9Q1ZS3SYaSZ4e7qGDEgaigGFPI8b-irsIImZ6o28FCrGrRN0rG53fqeg4e-KCHgNbOz0HAePEnmREOy8d6gLfHnhQDel6zUbbcwymGYdi1PZ72Sz-y9ae0IAS7Lx84DyZkGy9E8s5YtegncP3BjBWdyXl8LirQKo4ckgYAR-wCrv2lG0uaCaPCm_yzWP47F8mWlikpGej83GIss2YfmzcixdKzTWcmbB0JfFZuNwlez86c9aEm1gV9jRbyseVkWlqVAlEkBmN3qQK9Q1G_3UuD5B6S8A_Ndfx30uQIYQ1Dr1QhVZp12KXC05zGTheIX8gZ_uMlty4jmEqFr1CAAnJJEig5ppYUVMHcmqgjhtd29hobo4GIxKrTDygiM0ZusSMrn_8jNexTdNUyHazO1WZjyp--xFIgs-rNd1dIW1dyIa59eYswIrWLQl4JUJggYBMlrBmkh6f5Lmv3zM8zvuPys_XBiSfdWodgZgwNqIzzq3nefWFyXrfXkqJ07HAAJ5F5dDColY_yZKHIYJqRN-tq-k0BIWFHSrR4BIR-RiP3qToRyxkLKPHFaZT3E7cyrWSBksyNV7v8Y7K63M3eN0XlRXM8U1aB2-Gea4wTLfpAFU7A6B-u5rWqhhGD9KrYqYIbcztFLIhKcWLP-EnkJjPWXYE9fDewWuVBf25wr4-NgdnmQPYw4avZT1e6n-JlmZO89W0-VzYo3qQznac0Lt2YNneF8ZBMin3yvs3jmC5OzScJZVgRlAV5-Nb-b0-iyfahpcsHGG3HMyuKSOAH0HH96Q5MbJ17ZCw0VBMDkqQNSRwd3reqvXJyTo02TKxQTvq-e0fViTpR6mIlRWlDMRnXxFRzS7MrIYSvz7bnAu_FdQurz-b6A==",
  "id": "rs_030e377c5e4877f8016aac69cc6ac087d0ab5c7fe037e7cec5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.53,\"right_y\":0.205,\"right_z\":0.055,\"right_yaw\":1.2,\"right_pitch\":0.5},\"note\":\"The can has rolled slightly and now lies almost left-to-right in the overhead view. I will move farther forward and turn the jaws to approach across its diameter, keeping clear of the kettle behind it.\"}",
  "call_id": "call_66Qqmk7pnLrS5U8zQIaFFTzs",
  "id": "fc_030e377c5e4877f8016aac69d0a36c87d097a52ed78810d3d2",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_66Qqmk7pnLrS5U8zQIaFFTzs",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8078, 0.6083, -0.4751, -0.0223, -0.0387, 0.9984, 0.0975, 2.4462, 1.3266, 0.9405, -0.9905, -0.2428, 0.9995]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1591 left_yaw=-0.0011 left_pitch=-0.0983 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5307 right_y=0.2039 right_z=0.0573 right_yaw=1.1427 right_pitch=0.4826 right_roll=-0.0885 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -1.2786, 7.1179, 1.8828, -0.0317, -0.0122, -0.0122, -1.2786, -11.2615, 6.188, 1.5653, 0.4127, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fd7b72fab9699ad8d7d076cd2bccf2b123b2081b74904732f42fe07bd786df5c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2b4bfeeabefd095d19b1ceb57114e5c626550f71d829e8f9dbbac60808ce96d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 53):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9dcfd0cd68589408105e4f125e58452c6c9a6eac740a47fd546341b2945640e3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob fd7b72fab969
wire blob f2b4bfeeabef
wire blob 9dcfd0cd6858
call 6 attempt 0 · /responses · status 200 · 6.76 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 18 changed as sent

message 18 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.804, 0.6083, -0.4541, -0.0219, -0.0383, 0.9984, 0.2405, 2.0468, 0.7853, 0.934, -0.2951, -0.1795, 0.9996]\nstate[eef_state]: left_x=0.2854 left_y=0.0001 left_z=0.1642 left_yaw=-0.0017 left_pitch=-0.0736 left_roll=-0.0006 left_gripper=0.9984 right_x=0.4718 right_y=0.1723 right_z=0.0548 right_yaw=0.588 right_pitch=0.2682 right_roll=-0.0667 right_gripper=0.9996\nstate[joint_eff]: [-0.3624, -1.2103, 6.9675, 1.8095, -0.0366, -0.0024, -0.0122, -0.1846, -7.7197, 5.8872, 2.2198, -0.2076, -0.0708, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGncx94bwPJB3FUhXwshvI4Uepoz2ln1H5a789OJ1CTzgUOrYC4GZeZSOg13ZwYx5-2tEGEktPJm5i2v9DyBrQiBltN0tkEfMhbDeOUzfCwy69jK7zJ2GAujDg3vC8NMm5jMyJZjB1nwAto76Whg7ae3G9KJeJaq9Xq-0dkU4Z2cg-K_aXC17LyhW61ZvJUT6bL9ep2erhsocsb0Nr-tEF9-l0h2PfbtBa1UvGGe2bIgntp-U3xMEarrUM8nefVuVt1rthfKIYqrqfvrHApckgJeBqjPYOFmqPpKpLEm08Dfe42sjnDUFr9PRfaobdbMDYECgpH6dWqz7BgFePhVd0gB_3V03x6r4LaRfjkLRKpJ802DO-ptZuzkAHNTujAaY_5sIg6bIkRjBOsVDM44kTUERZ0HcbTN4zAE2xctCL8jBuD0FDI0EKL6w11wi6XQmzWAn0pEESz2spDEGF0Nr4a1T4Pv6ltsc2rxAsZvUeUiYezw-YBj8Ouy1LdDLqeiC_0tKK_3cv5YSVnAdJFP8uU73kOUSKtTSXS3CCe0VrUM3RKxGD0iNNjbIQhNX5ntAfPz3UaqzbT97S1uEItOSEWDtIkra0KjPItmK3xTPPGIGRNvUn4MAvp-iBDTHQZKk2XumLvR5sjXKlA4vYOopjxq2C_-ISKGzQnCLoNuryZNrf6V8EExo8StmXotwFgFRa_ujjEHt_bmd-b6Fv2H9lzbcgE-A5twPmN2pucX1H8O_-yABj9q4z1WtGA4Xy_E1b-x0iLn_geqbgPhWb8P35GaiPeWfDkOWiMLCeIH4TyVdXYP7NxePamWLdlWFzpWHyAAMbOl0IOv4JFhtH6Q1y0E6a_gwdrLooYGIn5k7LEK4RtyINfb_vLgfry-g0Mq8TLPdLe0KU88rDB-iOLI1Xjjjo76Qj5Qo6kCIHg58CJ-ydr6LjV7Ndr5604xOmU3tmCRbQuyuvYeVbeRBXmQaNBSZBK2ZFLjCLJV2gNDPmMldEaAaILKq84HzTmW_fGK100R9CECxiLnbEiNMoCECVJluuOmxjdUX_4PDbG1P6Jk7UoLJao3OguwcAdozkFwzvqGM9Qxq2F5slQm63ZBkjCxzz1wjKJES4wzj7nLzykYNN-RcApsgU9OCCoiy4bWzoOLPdBK-ZgRr0CeQ9dWbgjIeP-Jt9PJ06bYQWJARz3sjhVjIIXC2Hi4GQQ7J27oczI0yE3-4EOMeT0iNba1h-VQjOtKjbjByErKLPSULd5MYN2yT72MeAZYJrSFiXoCzkUTKwNJXcMXxyc8rSMqQLPa8tq9UEVltadBJSmAchiN5IqmdpxDduuF9ns0yJ-F3A-tNIIV6GE645WMvehJ7KLT65w5t0AvJ5Jj2D_s2aEKU7V-50xYeuq7H8Jmo6Q13T4eyvXVOQ7au-nbwThq3VN82HJnqrfjxjHOkoDMHd0HKp9lWvkmPpBgSkx8JPbk1K3mv2BJi9ETShqWZjVfb7dz6ssNeERafo9ynro6LhzF-hkzoqGHHL-89bIVtcnSS_nUzeB84aC3WQTUt_4R9K8r1qfj1BDGfl_PBAbhOoTHyfA3Idy5MHAYyMMd0IoMuea9sQ0Cxvn_LuotKh3eTPn0szr6B7695PhNRXH7dPv_jwlTwv9VEbrPS9bfDC715J57j9AOowiXocUVEnOTCeKKNxiyS2A1T1TcAdDQgegX4ba4FYeSpXqV2zIMsJISaIVx",
  "id": "rs_030e377c5e4877f8016aac69d6c4ac87d09f7e4bfa4ae2e8b7",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.575,\"right_y\":0.19,\"right_z\":0.045,\"right_yaw\":1.5,\"right_pitch\":0.5},\"note\":\"The can is still just ahead of the open fingers and has shifted toward the kettle. I will make one smaller forward alignment with the jaws turned across its width before attempting the grasp.\"}",
  "call_id": "call_C2adb6ibke1OG10zAD9fUZH1",
  "id": "fc_030e377c5e4877f8016aac69dab7ac87d08dae5d13fc0beb4d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C2adb6ibke1OG10zAD9fUZH1",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8116, 0.6083, -0.4946, -0.0223, -0.0391, 0.9984, 0.0498, 2.7331, 1.9316, 0.4934, -1.3708, -0.4568, 0.999]\nstate[eef_state]: left_x=0.2796 left_y=0.0004 left_z=0.1544 left_yaw=-0.0005 left_pitch=-0.1216 left_roll=0.0002 left_gripper=0.9984 right_x=0.5668 right_y=0.2052 right_z=0.0509 right_yaw=1.5171 right_pitch=0.5159 right_roll=-0.1616 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.3197, 7.0632, 1.9463, -0.0708, -0.0415, -0.0122, -1.6615, -14.2154, 5.9966, 1.4286, -0.5788, -0.1832, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:522cc7ad4b24e3e34bbf16deaa531826acba730f4892908cbe8056190f7b7a7e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2640c45aecd1e81f0b8b19e506183ee191f51cabf728f043b6751b23b06e86ed",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 57):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8412625537121e25580e2bb5aa865dc89d546cef91b6b8be5ac277696f6a7474",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 522cc7ad4b24
wire blob 2640c45aecd1
wire blob 841262553712
call 7 attempt 0 · /responses · status 200 · 15.45 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 22 changed as sent

message 22 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8078, 0.6083, -0.4751, -0.0223, -0.0387, 0.9984, 0.0975, 2.4462, 1.3266, 0.9405, -0.9905, -0.2428, 0.9995]\nstate[eef_state]: left_x=0.2824 left_y=0.0003 left_z=0.1591 left_yaw=-0.0011 left_pitch=-0.0983 left_roll=-0.0001 left_gripper=0.9984 right_x=0.5307 right_y=0.2039 right_z=0.0573 right_yaw=1.1427 right_pitch=0.4826 right_roll=-0.0885 right_gripper=0.9995\nstate[joint_eff]: [-0.2256, -1.2786, 7.1179, 1.8828, -0.0317, -0.0122, -0.0122, -1.2786, -11.2615, 6.188, 1.5653, 0.4127, 0.1734, -0.0171]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGnj4KdwoVCtMtxrPwTCcK27oGpWMMdnaps3as7fAv73K7-QvrdA_SHn1SJekQWzRnYLqJfs0Bm8alfGrDW5EtZ_qVX-BIjsNctnXbttIxEv3uW44vZSCs1QOF0C5tCYAUQ8XF17SSTxeM_NZbQbMV1aKKlqXdMKVY58RZS6qiaCnR1Gmhhl9kmjRLQ34cFzspj9iUa7gKkiuxi3DTs6U5nSJBL4isniDwLPX2a4goJtdAvUaBxy2QkASiwIVO48jvyNcOAkOdV51YGTvlvJtWWVT9zwwrk2uvuoTXSKnmvkV3RYOyK0th-uHCtdkS38xm48oZnQ3qPkV9lbz9NyDWjzt3ZCEKC16H_yTo0t-XIxQq9GlxSqGppU8LLpNhK8IWR51NjYLBkHDn7e92i4O7sDsTAvTOpIdBS1dH_jk7YtgndTt7EyGUZLVb6Is8uvJB_fcq_fCAAk7elxuw_stttzEa3S8AR2h5UQW8GY95GZL7cyIBlVpfoo3nbDe9gZDUOJKY9mBD95b5VYitEO8VegYUcW5UNIRpbFkB-hn1WR2ZS9M0mk9b77AJiWRFlUUGUz3rKmndx0JlJaLPcSCkAIOhyBYrTiRBg34R21eSY0ojMMxhhsg0aUlhG1oOwbhZ1qJp0TxQMa5NYk2JmzBofRb4c6oumz4pDI6BtpSv9VJVmjH-ZuqWzQoyLySkWWWnj8VKahBLxvtts0nAsx8S-tUmMu0Eh3BpYusQk_NoA-DgzITfqfHN2TPlCPHAI1frDef_hpfZEVd2B3yjt6fhUXL-Oovb1_4-Rp_PFQ9iqqvZVNR2orzGr2c0bI8ys7WOPDMycAwe6Vu0RSsmNSKRf-PgqhQjX6NZ8wZJeUzE1SkBZjkCSqIEZLhRitSRixtUuFPaXToRSIy2mjo-uExLQGMA2XZT8jRy2tuVDYiFwfsEzFlzqXcvDMhZ4LboFtm-KQ8dVi-G0Nt5tP_jVkiROxhBS_0BWvoSCGZclAPC0vgbRqrcMNQTl_k3kJxInu4PtGofjGeVSg2odJ1iIRnOwZuy7HCJ-MzEY_KXhV-WRX_7WWsigUo2PBqgZqn7GjPkjr7cewsRYgjSwO0PVnr-3peaWATwZRzqU7SDA9sxAPyPsu049DCShcf7E0qepNEcnhHxLzC6p8c1BzAFnKHq2jfDYQ5PDvImK_79DD97bqSwE0CYxRI1-_xNYghFqgim9ZES1sg1pNefwwjonwaWLYXSLEuV2Jaql50nlIHrWG5-2xeImS_n5pO-Zt6GWqXXXUUakJW7xRpGIUuVBbDXOP4rpoPBcp9d4WxC8VFtb4e4Zx2qmVPhFDEh3Cf1iA0eLKNe83BfdWi14iRLle6zT2XLsGVKrxokE_o00sSZT68qYYTPB_9HllnTf22ByA6WCR74AnWQo0f3698tbSZW8hQ7qIeiwLyMZjMIQCF8zOUTH5xLhl60OjBeWQhZXVVVCDx61FCqd78nBzu1paEm5VMXJtOHVytcHdichHsxyOefQePPnJXsz9h45QJTGU0kClWSoCK_-RYmsMpuKEmYOvoQ==",
  "id": "rs_030e377c5e4877f8016aac69ded98087d0a7765cdd809489a3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.59,\"right_y\":0.25,\"right_z\":0.035,\"right_yaw\":1.5,\"right_pitch\":0.5},\"note\":\"The overhead view shows the fingertips at the can’s right end rather than its middle. I will shift left along the can and slightly forward to straddle its body.\"}",
  "call_id": "call_QkN79JPbHsvGcYEnjWXBiiC7",
  "id": "fc_030e377c5e4877f8016aac69e200ac87d0b86fbc925cacb4e8",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QkN79JPbHsvGcYEnjWXBiiC7",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8143, 0.6083, -0.5095, -0.0223, -0.0387, 0.9984, 0.1219, 2.8452, 2.1235, 0.4129, -1.3163, -0.4507, 0.9989]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1509 left_yaw=-0.001 left_pitch=-0.1391 left_roll=0.0009 left_gripper=0.9984 right_x=0.5797 right_y=0.2469 right_z=0.0377 right_yaw=1.5342 right_pitch=0.4999 right_roll=-0.1563 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.4291, 6.9402, 1.7851, -0.0611, -0.0513, -0.0122, -0.759, -14.0376, 7.3778, 1.5946, -0.2222, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e07cae4b242bc9fd80fcac3688c35c0cdd562db70c29aefe7a34375ad9dd1cc8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba75d573da3ec673ded605aba39b6e783b1773ac8d37d52dddef0eef3a5f9df8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 61):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e985c85ec530513a5ed7f42c581e617eec2da37d714b6b34c5163fcf7b5b3b75",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob e07cae4b242b
wire blob ba75d573da3e
wire blob e985c85ec530
call 8 attempt 0 · /responses · status 200 · 4.427 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 26 changed as sent

message 26 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0254, 0.8116, 0.6083, -0.4946, -0.0223, -0.0391, 0.9984, 0.0498, 2.7331, 1.9316, 0.4934, -1.3708, -0.4568, 0.999]\nstate[eef_state]: left_x=0.2796 left_y=0.0004 left_z=0.1544 left_yaw=-0.0005 left_pitch=-0.1216 left_roll=0.0002 left_gripper=0.9984 right_x=0.5668 right_y=0.2052 right_z=0.0509 right_yaw=1.5171 right_pitch=0.5159 right_roll=-0.1616 right_gripper=0.999\nstate[joint_eff]: [-0.0205, -1.3197, 7.0632, 1.9463, -0.0708, -0.0415, -0.0122, -1.6615, -14.2154, 5.9966, 1.4286, -0.5788, -0.1832, -0.0659]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGnzbcu5-ts66otsBgpf8rxhxbHOGDbBNV6I-bHYxPory900F1ZIdK7CcDMm54BlabIm9mxoOuG8aCRf_T7nwFDIKinsK4sOv1dbNKw5jB5mJQzu9gCWzc11criAfTqiurT8xhzo6FmGiuv4anWmTVDVgkQTXHccOc0uUMsFyhORaWsCDI4Xxt5hYNqi3njB98bp6Tz11-TtEBzmOJTOSm7-Xxkbu-tu9MAmWeD7lmlk1n9bLMpXKuDG2F0FC3EYYrvTbGrWMGrS69mKKZ1x94M5q08j-Ph46BKA9qDNRbPqdDGOyVC4RU--aEDldyQlNuwPy2wd8GZTy3sekzRJp6ymaZVP3S3q9oMucou7OSWHz76NjFhQeiC2mpved5nNHKVdhUgW3Ty6W559iboHq8BwV1gmsntdGg8S7-gHpgWN_1p_OYXN8jCqgLlrtLFd30-wcBEQXyEsCo0XB344A8nOQ11tNjOm2n1GC1mSJBd_8GqrYbtaq8hRMxDI20Z2qICGfcOGUF3yJGxOiUUYX6L1G_e-UPV96YD52enW5ftVBnb0jkFY3pd9lQK8itnsCGbKpbzHMFbm2NrB630v82Wq1f20fww-fwDGFIchNKkx0O9kxnQM4xctcDH0EVev63h_hgMaCNz-CTRHcHehb1y2YbmGADTTyc50PfpVSIErSq7ac1xtLIIfrf_AD0LW8CFbHLyEe-m1UsYe_86hslcA0XN3qt0_QK2Vc_uf9Iytt_nNXjqm6X-kkzec9x7lUI6O6W4jHcj9xMHjtD9wAwW-kJIu8c-S_g4BgZ376DmGFhXyx9p4a1sfbjIAPpiI5xnRnTW4JcdrEjFgYPFnseGB7R4eSgFuSX6WoCoTiFKVzUZImS0UrEbVTTDeMfXrTt5PWG289mZu48U8lRwG_eL7iCnCa5fUN8IRxbYvi37PtFl5MvEq_DBFSBMf85FuIZU0BQ1Ze87_l11_mrdMQ9AC2S6yh_QJm6lC5Z9UP8LQlpE4VoqevxHyloyslbvgri-bWzG5eZY3WHMffFoisLtJWyFKBAIzG5P-O_rf6s9VAA6bpNRhttE8sXz2EKSmRJte4WPS3CVEsb64aQhOd5vz6U2abgHAuYOMLuBHnBiVvv03wvVvW1F0kLyLnzLqPVQEw5vi8zjTMwOAn-B36jtzZkcL6BNWKwEtxDJzK33NLJv-PYZlzTUoYzMI0jeMJBo2ShiEg5-ESW1V2YHpgSnDdZCka5PJzZSgRf91IvKc0y4X4KZLMj2SLxY1081WAmxTqBnb-NbNlfMHb3sPxwbL9-_hx2mySeiEe1u_E4KbW8GhPV0q1Ya8hqDVj2Ewkop3-rte1ruofaE7GnQpkKR9rNJmHm2yp69YjEHV6u4RMLQc7OTdyg-u9SHGJ2QWdrPZqNPuieYCe6SlDkMLJBemglUn7xkFwsMRmopWGOJBvwh58u5EbIvmdC-PJua-0omId_xmsa461-Ta0K8AHxj_dkwPSJHQZeEX0Uyj44pFyXYMYnj9cqi7sNgH5XJtibG-mImi9JdhkEo1Lo3SLULNohBTTGLZXGWLQV6qNuJVLn4noABqXPRfH1ayPMj-KJ_bketZ386iVurDqqq1G9exIImrMA_Ga_f7oWV-hY9S_RENyShjoiTovZGemhms4a-4O8UhjWgU4UHfqWdy3_rZUZZGgsmMqlWeSpHAVbvFMX7uqmHFAu60_InP0z04z7Q5twq9FIgt2iS0WQCx7Kk0ll4uVLucTBNQXVh64ex2bOsiAvrXnu4iIm6-676XiLVQ6F7SDd7s5ffzWmTUIBQrMDctnEPvI8MSDHD4xy0XDjIzTdkGsECwBia2EdhdBOlfLxXDM4jU0qlKa4yWnMm1llV5VVPCwMAnNC-Pmaw-odC0M-EqsS2qy5UhIXuKwUDTteP-h8V773muNM57dEotGRi_2wkx_uTTLH5qJHKUFcadFTi6EaV5VbKGYs1JprRD5S3DJGcBxQ-JeSILuaE6_QyS6nOEA0nIthukdhFfjbV7S6OUXKGAxvhtcHXkMa6iVF_LGfOGt9wv7p-ILlUrS5uVZeF0IIMgsaGRzD9Xo54BIrbtpwn80Zuz175Bx1a-BGZJiJbrEMfEKZVlUf2UKqmWhIe5wymSRb051dAP9_FdCLY9_BbICoWaYgo944JBpPCTqoLT3oGp7WTj99jQm-4LT36IvtFHRDRk_ucoeKdEWBzFEsgv7KJRNcdeNYRM3w4IiFG4EN_T7cvZ-OU6Cns-HCaBGwXcIsfJ8QyvDhhIHG7NaiIWRrl7felC7y6C22guqlkc9zUb0eUlIXjR2sOEnbEm2rdt8yJh1jqnrfqwHTCKuHeaECnkZC53vXvu08pHDA5xnwSFblSUjQg8c45XinLV6WR2n69UMzYh0xnj6W8qV3egyg8KKZ4r3H4ZdyXFBMTGgsBEHFMtgwqEac2Cr2RgDMJFrTgf53V6NqGx5koI78V3TDqlEap1lFBBVMAa-7ZJRr7k2oyUbhGV4U9xXTZ7rydxJLsJcn4F65lkUGFvH-Xr-_DBk5dk5gWdko0JBGwahU2AxZ-zzv3zeS7Eu7JkvL6VRQbB7cWus13vx0bQSQAgYLbqzdQagdyUORuJUVKUqMOkclEfs4fAFkamOFmjrkRGyErTzCwdelv6gxWTfBVLdYR2o6gSvYEFE3mNVdaMmC-rUjierCn6dWl3ROhZsR4V22BOSECVlvKcZn0OcRjnUb201ityhXapXgVrPFDtJGl_5WLEgF697RJtRmPyCdUJDk3WlM_68JAYlMvoxKO0sp5V54WorewPT7fKh8sXI_hqZsHvHcJ-k5TcvEQdDJ8aazI5dx0-ugzP-117zFyhA4eiY1gqrxmSi48oIi2R6hAKSy_cmMYEDtJpRp8_eHJIyqyIqYqidMlLGRfTUc_QbBf-maElAC-G21VIlWIwzGBtlIpjZIFKTdzWJMt-HR0ll5g0S5snj5c=",
  "id": "rs_030e377c5e4877f8016aac69e5929887d0b6595e87a6b8d7e3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.6,\"right_y\":0.30,\"right_z\":0.14,\"right_yaw\":1.45,\"right_pitch\":0.3,\"left_x\":0.294,\"left_y\":0,\"left_z\":0.18,\"left_pitch\":0},\"note\":\"The can has rolled farther away, close to the forward reach limit. I am lifting the gripper clear and moving toward its near end so that any final grasp attempt comes from above rather than pushing it farther.\"}",
  "call_id": "call_52IRfc6XXZQDahYl8DxdTQdp",
  "id": "fc_030e377c5e4877f8016aac69f157a087d0898853cdfed4bb4b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_52IRfc6XXZQDahYl8DxdTQdp",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8066, 0.6083, -0.4526, -0.0223, -0.0425, 0.9984, 0.1295, 2.8578, 2.1391, 0.4217, -1.2942, -0.4179, 0.9989]\nstate[eef_state]: left_x=0.2858 left_y=0.0002 left_z=0.1638 left_yaw=0.0009 left_pitch=-0.0747 left_roll=-0.0037 left_gripper=0.9984 right_x=0.5832 right_y=0.2509 right_z=0.0354 right_yaw=1.5073 right_pitch=0.498 right_roll=-0.1337 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -2.2359, 7.0769, 2.0781, -0.0562, -0.0024, -0.0122, -0.3761, -14.0376, 8.4444, 1.6532, -0.0513, 0.022, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c9736178a87ae1c76060437248c001f15aa31f92cb1b71c913bcf2ff461f5c35",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:14417551fda8627fc6728417ac8f9935b6031a5b4ae36c38278b46152208d8d5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 68):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:616c1a0617783c2e529a593b56fa595c70e8ece0f341fe753219ab1276ccb6bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c9736178a87a
wire blob 14417551fda8
wire blob 616c1a061778
call 9 attempt 0 · /responses · status 200 · 7.407 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 30 changed as sent

message 30 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8143, 0.6083, -0.5095, -0.0223, -0.0387, 0.9984, 0.1219, 2.8452, 2.1235, 0.4129, -1.3163, -0.4507, 0.9989]\nstate[eef_state]: left_x=0.2773 left_y=0.0004 left_z=0.1509 left_yaw=-0.001 left_pitch=-0.1391 left_roll=0.0009 left_gripper=0.9984 right_x=0.5797 right_y=0.2469 right_z=0.0377 right_yaw=1.5342 right_pitch=0.4999 right_roll=-0.1563 right_gripper=0.9989\nstate[joint_eff]: [-0.0615, -1.4291, 6.9402, 1.7851, -0.0611, -0.0513, -0.0122, -0.759, -14.0376, 7.3778, 1.5946, -0.2222, 0.0171, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGn4BxQkoTZb9j59OUzEk8NEGPMNe6M7R6ryTKa0NVhk8huFgoetm8HGgVktPkKJT1boBu_OaOJh3b_OLvlqdel8osIz5o9apDoFOlgQ2mTfxhrJZVVEPTsccEwnT849l5pQuCb7RnoceOs90QvnYDHNLbdu5VfUSLFV6pme3oK2iwZ6gdJIfsyTnfdXsdIe_GnH6gYeWbJb4uP_OChtMUoRKv9pE9kgVeE8-LakXKkDp45VbrlsNaux1EvXMwCCQPtQpsVyrF4TQpYtJAypEsGwvuSyxth9lutPDBVKoHZq--147UJruF7DiI_SjBqT_3rVaT1_mdhzJvg6nfWLdso9Dl-j0rhl2_-JkWyRxVRicV9jmwFfSaYeqr1UxtYnMdptPpjaKo9RJpYqrLrEcsWSR1HEDoVg0pyPBCgEBaQ9b5kadfh70iO4mRnxHwAgOugLZxDn1AYr_KIcA2vIG5blx-humDWsAoOGDUoEiBaHydi70wfgASY7kYw53oV067DxMNjT52uCTY_h8G9cFcOykgyRppc7Vr4SGt37rpPT7Abygyrk8vBTwvhSRu8XqGO_5z3LjDHGOEgjN75Uo_DZWF3iJFtGZfIpnMr5T8Pb2Oap9J3VUZzh_BcXadRzYt4LQe2TgOEwiXvrencEnNr5J5GGn5bam5g8fay82cNJ7gAtIDdj8dTWHb6nyK18nMkZY_6Lccg2p7_vABdqWi1aaagl4ZNixarkILwBdIMMyj18zHDNdSm_-Q6H3HxpsY3XEpvrYfh4U86THz6tzSxxEF9olLuQ7M_ysW2YvDzyNUXuDpO1B-9G_GmNoglZZs0S2YdRbYJqpVYvyFv4LqnT1DguLkTcJDHw2pfvZE1DmmzOJzMKyt2L0KAmkBbWVB8SEdq9b-YCs8BNNqQlplqri-p0636vSbGtJg2BWTrB87QT79jarJFzgf1VIjMPZ5LAUPN7V1w_eOoDgndSv8aB8IoAR7oPQ1g2sTd8UfJbIWmR99YX8pPNDbWuoGLpd8l4bEsFQWpO-BMuoA1IcqmwAeTA0y6QdDmnAzuppgwDrBgq8LNOzWMNOfvER9SOFVxhE8Q26fkBr4hbvcxTJ6RsJM7RfisJGA_tT3EPP1-GRpbRPnrX8UCVLZZBnqDwUoKm9SpGdKx3EFbEMjtlztSlhhpXlQcHMQlwAZQS5BZWoiOfp415f1mpEYGNz2SxNJXPss37Q_Og_FsXqJfNSkOUMQ==",
  "id": "rs_030e377c5e4877f8016aac69f584f487d08030621c10b5657f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.5,\"right_y\":0.2,\"right_z\":0.17,\"right_yaw\":1.2,\"right_pitch\":0.5},\"note\":\"The arm did not follow the lift at the extended target, indicating a reach limit. I will retract while raising the gripper to clear the can and leave the arm in a safer pose.\"}",
  "call_id": "call_huNcjUjkXiZDZMeE0EP6TSxW",
  "id": "fc_030e377c5e4877f8016aac69f6140887d0938d36108d7e2cfc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_huNcjUjkXiZDZMeE0EP6TSxW",
  "output": "executing move_to over 9 steps (0.9s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the can on the burner\nstate[joint_pos]: [-0.0257, 0.8101, 0.6071, -0.4725, -0.0223, -0.046, 0.9984, 0.0834, 2.085, 1.3052, 0.7052, -1.0805, -0.2897, 0.9989]\nstate[eef_state]: left_x=0.2828 left_y=0.0002 left_z=0.1585 left_yaw=0.0029 left_pitch=-0.0991 left_roll=-0.0057 left_gripper=0.9984 right_x=0.5043 right_y=0.2021 right_z=0.2011 right_yaw=1.2971 right_pitch=0.5333 right_roll=-0.2444 right_gripper=0.9989\nstate[joint_eff]: [-0.3761, -1.265, 7.0496, 1.7509, -0.0464, -0.0024, -0.0122, 0.0752, -6.4752, 5.3402, 1.0672, 0.2955, 0.0757, -0.0122]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:703e99152d03ad3dea06becf4cd3aa4f2f66e49d3c8bb9a81df9be99d049626f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a15dc841465398d9024906051ddbf73f1fc7f8e3bc70e7188adccb41be416650",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 77):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92c695776b9f41df6c128b356685a4b58d5dcf77f2215136a6c9b22b8a0b789f",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 703e99152d03
wire blob a15dc8414653
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