adhoc

completed
2026-09-17T21:46:26.253889+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (71 embedded)
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
116.9 s
total steps
128
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the screwdriver into the toaster

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 screwdriver into the toaster
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 screwdriver into the toaster
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 screwdriver lies to the right of the toaster, with its handle on the right. I’m moving the right gripper above the handle and turning the jaws to grasp across it.
move_to
right_x0.4000right_y0.1800right_z0.1500right_yaw1.5700right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0204, 0.7933, 0.6033, -0.3794, -0.0216, -0.0246, 0.9996, -0.0151, 0.7925, 0.6106, -0.3763, -0.0265, -0.0334, 0.9994] state[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.18 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2959 right_y=0.0038 right_z=0.1842 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994 state[joint_eff]: [-0.3624, -1.5248, 10.4137, 1.8046, -0.0073, 0.0904, -0.0562, -1.0051, -1.347, 9.7846, 1.746, 0.0073, 0.1587, -0.0708] camera 'top_cam' (step 0): [image omitted: streamed camera frame] camera 'left_cam' (step 0): [image omitted: streamed camera frame] camera 'right_cam' (step 0): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.40,"right_y":0.18,"right_z":0.15,"right_yaw":1.57,"right_gripper":1},"note":"The screwdriver lies to the right of the toaster, with its handle on the right. I’m moving the right gripper above the handle and turning the jaws to grasp across it."})
tool
executing move_to over 15 steps (1.5s)
step 15
top_cam
camera top_cam step 15
left_cam
camera left_cam step 15
right_cam
camera right_cam step 15
assistant
agent noteThe handle is under the right gripper, and the shaft is visible near the bottom of the wrist view. I’m lowering toward the handle for a more precise alignment.
move_to
right_x0.4350right_y0.1800right_z0.0550right_yaw1.5700
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.7986, 0.6037, -0.382, -0.0219, -0.0254, 0.9996, 0.0555, 2.0312, 1.644, -0.9363, -0.963, -1.3277, 0.9995] state[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9996 right_x=0.4196 right_y=0.1721 right_z=0.146 right_yaw=1.4615 right_pitch=-0.0281 right_roll=-0.0325 right_gripper=0.9995 state[joint_eff]: [-0.3624, -1.4427, 7.0222, 1.7314, -0.0269, -0.0562, -0.0171, 0.335, -11.2342, 5.9419, 0.0952, -0.7985, -0.0513, -0.0708] camera 'top_cam' (step 15): [image omitted: streamed camera frame] camera 'left_cam' (step 15): [image omitted: streamed camera frame] camera 'right_cam' (step 15): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.435,"right_y":0.18,"right_z":0.055,"right_yaw":1.57},"note":"The handle is under the right gripper, and the shaft is visible near the bottom of the wrist view. I’m lowering toward the handle for a more precise alignment."})
tool
executing move_to over 6 steps (0.6s)
step 21
top_cam
camera top_cam step 21
left_cam
camera left_cam step 21
right_cam
camera right_cam step 21
assistant
agent noteThe screwdriver is slightly to one side of the jaw center in the wrist view. I’m shifting forward about two centimeters and lowering to the handle’s height.
move_to
right_x0.4520right_y0.1800right_z0.0120
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0216, -0.0254, 0.9996, 0.0654, 2.2555, 1.6558, -0.8772, -0.9695, -1.4662, 0.9994] state[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1776 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4282 right_y=0.1776 right_z=0.0587 right_yaw=1.5513 right_pitch=-0.0399 right_roll=0.0057 right_gripper=0.9994 state[joint_eff]: [-0.294, -1.1966, 7.1043, 1.7265, -0.0513, -0.0562, -0.0171, 0.1026, -11.0291, 7.7197, 0.5495, -0.6276, -0.1294, -0.022] camera 'top_cam' (step 21): [image omitted: streamed camera frame] camera 'left_cam' (step 21): [image omitted: streamed camera frame] camera 'right_cam' (step 21): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.452,"right_y":0.18,"right_z":0.012},"note":"The screwdriver is slightly to one side of the jaw center in the wrist view. I’m shifting forward about two centimeters and lowering to the handle’s height."})
tool
executing move_to over 4 steps (0.4s)
step 25
top_cam
camera top_cam step 25
left_cam
camera left_cam step 25
right_cam
camera right_cam step 25
assistant
agent noteThe handle is now nearly centered between the jaws. I’m making a small final adjustment and closing around it at table level.
move_to
right_x0.4620right_z0.0000right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.8032, 0.6037, -0.3813, -0.0219, -0.0254, 0.9996, 0.0662, 2.3863, 1.7199, -0.8223, -0.9688, -1.4769, 0.9994] state[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.177 left_yaw=0.0005 left_pitch=-0.0114 left_roll=0.0001 left_gripper=0.9996 right_x=0.4448 right_y=0.179 right_z=0.0193 right_yaw=1.5581 right_pitch=-0.0415 right_roll=0.0086 right_gripper=0.9994 state[joint_eff]: [-0.1846, -1.1692, 7.2547, 1.7314, -0.0513, -0.0659, -0.0171, -0.1573, -11.7675, 7.241, 0.4322, -0.4908, 0.0904, -0.0122] camera 'top_cam' (step 25): [image omitted: streamed camera frame] camera 'left_cam' (step 25): [image omitted: streamed camera frame] camera 'right_cam' (step 25): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.462,"right_z":0.0,"right_gripper":0},"note":"The handle is now nearly centered between the jaws. I’m making a small final adjustment and closing around it at table level."})
tool
executing move_to over 10 steps (1.0s)
step 35
top_cam
camera top_cam step 35
left_cam
camera left_cam step 35
right_cam
camera right_cam step 35
assistant
agent noteThe gripper closed empty, and its height stopped above the target. I’m reopening and adjusting slightly toward the visible screwdriver before trying a lower grasp.
move_to
right_gripper1.0000right_x0.4690right_y0.1950right_z-0.0100
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.807, 0.6037, -0.3813, -0.0219, -0.0254, 0.9995, 0.0677, 2.3989, 1.7424, -0.7963, -1.0077, -1.4708, 0.0111] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0152 left_roll=0.0002 left_gripper=0.9995 right_x=0.4529 right_y=0.184 right_z=0.0255 right_yaw=1.5596 right_pitch=-0.0001 right_roll=-0.019 right_gripper=0.0111 state[joint_eff]: [-0.3214, -1.5385, 7.1316, 1.746, -0.0806, -0.0659, -0.0171, 0.0889, -11.494, 5.7231, 0.4127, -0.1343, 0.0806, 0.9646] camera 'top_cam' (step 35): [image omitted: streamed camera frame] camera 'left_cam' (step 35): [image omitted: streamed camera frame] camera 'right_cam' (step 35): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.469,"right_y":0.195,"right_z":-0.01},"note":"The gripper closed empty, and its height stopped above the target. I’m reopening and adjusting slightly toward the visible screwdriver before trying a lower grasp."})
tool
executing move_to over 10 steps (1.0s)
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 shaft is visible, but the fingertips are still about two centimeters above the table. I’m moving back toward the thicker handle and adding a small forward tilt to reach lower.
move_to
right_x0.4590right_y0.1600right_z-0.0100right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.807, 0.6033, -0.3813, -0.0219, -0.0254, 0.9995, 0.0746, 2.4596, 1.813, -0.7193, -1.0183, -1.4479, 0.9953] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1758 left_yaw=0.0005 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.4768 right_y=0.19 right_z=0.0195 right_yaw=1.5569 right_pitch=0.018 right_roll=-0.0853 right_gripper=0.9953 state[joint_eff]: [-0.212, -1.306, 7.2684, 1.7118, -0.0464, -0.0757, -0.0122, 0.9915, -8.4855, 5.5726, 0.5348, -0.4078, 0.0757, -0.188] approver: 10 step(s) modified (delta_clamped ×10). 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":0.459,"right_y":0.16,"right_z":-0.01,"right_pitch":0.2},"note":"The shaft is visible, but the fingertips are still about two centimeters above the table. I’m moving back toward the thicker handle and adding a small forward tilt to reach lower."})
tool
executing move_to over 7 steps (0.7s)
step 52
top_cam
camera top_cam step 52
left_cam
camera left_cam step 52
right_cam
camera right_cam step 52
assistant
agent noteThe rotated wrist is not tracking the low target reliably. I’m lifting and returning to a straighter wrist pose so the jaws can reach the handle without forcing the arm.
move_to
right_x0.4450right_y0.1550right_z0.0900right_yaw0.0000right_pitch0.0000right_roll0.0000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.807, 0.6033, -0.3813, -0.0216, -0.0254, 0.9996, 0.0189, 2.4683, 1.7321, -0.6464, -1.2591, -1.5734, 0.9963] state[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1758 left_yaw=0.0002 left_pitch=-0.0156 left_roll=-0.0 left_gripper=0.9996 right_x=0.468 right_y=0.1806 right_z=0.0346 right_yaw=1.6123 right_pitch=0.2466 right_roll=-0.1759 right_gripper=0.9963 state[joint_eff]: [-0.1573, -1.2376, 7.0632, 1.6923, -0.0317, -0.0659, -0.0073, -3.2205, -7.6786, 3.2205, 0.3687, 0.359, -0.0024, 0.1001] camera 'top_cam' (step 52): [image omitted: streamed camera frame] camera 'left_cam' (step 52): [image omitted: streamed camera frame] camera 'right_cam' (step 52): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_y":0.155,"right_z":0.09,"right_yaw":0,"right_pitch":0,"right_roll":0},"note":"The rotated wrist is not tracking the low target reliably. I’m lifting and returning to a straighter wrist pose so the jaws can reach the handle without forcing the arm."})
tool
executing move_to over 11 steps (1.1s)
step 63
top_cam
camera top_cam step 63
left_cam
camera left_cam step 63
right_cam
camera right_cam step 63
assistant
agent noteThe screwdriver has shifted, and the handle is now to the right of the wrist image. I’m centering the open jaws over its new position.
move_to
right_x0.4650right_y0.1150right_z0.0450right_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.8124, 0.6029, -0.3866, -0.0219, -0.0277, 0.9995, 0.4484, 1.7905, 0.8505, 0.3428, 0.1562, 0.0505, 0.9964] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1731 left_yaw=0.0018 left_pitch=-0.0267 left_roll=-0.0015 left_gripper=0.9995 right_x=0.4365 right_y=0.1835 right_z=0.0698 right_yaw=0.2638 right_pitch=-0.0303 right_roll=-0.0322 right_gripper=0.9964 state[joint_eff]: [-0.294, -1.7573, 7.0906, 1.746, -0.0659, -0.0415, -0.0171, 0.1299, -10.4821, 8.294, 1.746, 0.3883, 0.2906, 0.0024] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 63): [image omitted: streamed camera frame] camera 'left_cam' (step 63): [image omitted: streamed camera frame] camera 'right_cam' (step 63): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.465,"right_y":0.115,"right_z":0.045,"right_yaw":0},"note":"The screwdriver has shifted, and the handle is now to the right of the wrist image. I’m centering the open jaws over its new position."})
tool
executing move_to over 6 steps (0.6s)
step 69
top_cam
camera top_cam step 69
left_cam
camera left_cam step 69
right_cam
camera right_cam step 69
assistant
agent noteThe screwdriver has slid forward near the basket. I’m approaching from above with a forward tilt, keeping the jaws open so I do not push it farther.
move_to
right_x0.5350right_y0.1050right_z0.0650right_pitch0.5500right_yaw0.0000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.8131, 0.6029, -0.3866, -0.0219, -0.028, 0.9995, 0.3531, 1.8748, 0.8486, 0.366, 0.244, 0.1196, 0.9964] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1729 left_yaw=0.002 left_pitch=-0.0274 left_roll=-0.0018 left_gripper=0.9995 right_x=0.4528 right_y=0.1252 right_z=0.0375 right_yaw=0.0572 right_pitch=-0.0788 right_roll=-0.0408 right_gripper=0.9964 state[joint_eff]: [-0.3214, -1.0462, 7.0769, 1.7656, -0.0757, -0.0659, -0.0073, -1.0188, -7.8564, 6.694, 1.9219, 0.4371, 0.188, -0.0073] camera 'top_cam' (step 69): [image omitted: streamed camera frame] camera 'left_cam' (step 69): [image omitted: streamed camera frame] camera 'right_cam' (step 69): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.535,"right_y":0.105,"right_z":0.065,"right_pitch":0.55,"right_yaw":0},"note":"The screwdriver has slid forward near the basket. I’m approaching from above with a forward tilt, keeping the jaws open so I do not push it farther."})
tool
executing move_to over 21 steps (2.1s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe handle is ahead and slightly right of the fingertips. I’m advancing the tilted gripper and shifting right to bring the handle between the jaws.
move_to
right_x0.5680right_y0.0720right_z0.0260right_pitch0.6000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.8135, 0.6029, -0.387, -0.0219, -0.028, 0.9995, 0.2901, 2.3314, 0.9165, 1.3285, 0.2619, -0.0463, 0.9964] state[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1727 left_yaw=0.002 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9995 right_x=0.5289 right_y=0.1139 right_z=0.05 right_yaw=0.0396 right_pitch=0.4751 right_roll=-0.0497 right_gripper=0.9964 state[joint_eff]: [-0.212, -1.1282, 7.0632, 1.7216, -0.0806, -0.0708, -0.0122, -0.9641, -9.8256, 5.1624, 2.2491, 0.1978, -0.0366, -0.0122] camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.568,"right_y":0.072,"right_z":0.026,"right_pitch":0.6},"note":"The handle is ahead and slightly right of the fingertips. I’m advancing the tilted gripper and shifting right to bring the handle between the jaws."})
tool
executing move_to over 5 steps (0.5s)
step 95
top_cam
camera top_cam step 95
left_cam
camera left_cam step 95
right_cam
camera right_cam step 95
assistant
agent noteThe handle is now at the jaw opening beneath the basket. I’m making a small final advance and closing around the handle.
move_to
right_x0.5820right_y0.0610right_z0.0120right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.8165, 0.6029, -0.3878, -0.0219, -0.028, 0.9995, 0.1791, 2.5256, 1.0824, 1.4815, 0.1555, -0.0647, 0.9964] state[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1717 left_yaw=0.002 left_pitch=-0.032 left_roll=-0.0017 left_gripper=0.9995 right_x=0.566 right_y=0.0783 right_z=0.0389 right_yaw=0.0304 right_pitch=0.5965 right_roll=-0.0394 right_gripper=0.9964 state[joint_eff]: [-0.212, -1.5658, 7.0222, 1.6825, -0.0659, -0.0562, -0.0073, -0.8684, -8.1573, 3.7675, 1.7656, -0.022, -0.105, -0.0122] camera 'top_cam' (step 95): [image omitted: streamed camera frame] camera 'left_cam' (step 95): [image omitted: streamed camera frame] camera 'right_cam' (step 95): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.582,"right_y":0.061,"right_z":0.012,"right_gripper":0},"note":"The handle is now at the jaw opening beneath the basket. I’m making a small final advance and closing around the handle."})
tool
executing move_to over 10 steps (1.0s)
step 105
top_cam
camera top_cam step 105
left_cam
camera left_cam step 105
right_cam
camera right_cam step 105
assistant
agent noteThe second grasp is empty, and the arm cannot lower enough at this forward reach. I’m withdrawing both jaws clear of the screwdriver and basket rather than pushing or forcing another attempt.
move_to
right_x0.4300right_y0.0500right_z0.1800right_pitch0.0000right_yaw0.0000right_gripper1.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.02, 0.8165, 0.6029, -0.3874, -0.0219, -0.028, 0.9995, 0.1646, 2.5389, 1.1046, 1.5127, 0.1295, -0.0765, 0.0107] state[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1718 left_yaw=0.002 left_pitch=-0.0316 left_roll=-0.0017 left_gripper=0.9995 right_x=0.5704 right_y=0.0753 right_z=0.0466 right_yaw=0.0467 right_pitch=0.6363 right_roll=-0.0492 right_gripper=0.0107 state[joint_eff]: [-0.0752, -1.4017, 7.0222, 1.6923, -0.0464, -0.0611, -0.0122, -0.6359, -9.0462, 3.7675, 1.8437, -0.0073, 0.0171, 0.9451] camera 'top_cam' (step 105): [image omitted: streamed camera frame] camera 'left_cam' (step 105): [image omitted: streamed camera frame] camera 'right_cam' (step 105): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.05,"right_z":0.18,"right_pitch":0,"right_yaw":0,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The second grasp is empty, and the arm cannot lower enough at this forward reach. I’m withdrawing both jaws clear of the screwdriver and basket rather than pushing or forcing another attempt."})
tool
executing move_to over 22 steps (2.2s)
step 127
top_cam
camera top_cam step 127
left_cam
camera left_cam step 127
right_cam
camera right_cam step 127
assistant
agent noteI could not secure the screwdriver. It slid forward beside the basket during the grasp attempts, and the right arm could not reach low enough there; both closes were empty. I withdrew the gripper. Please move the screwdriver closer to the front of the table before another attempt.
give_up
hindsightThe initial overhead estimate underestimated the screwdriver’s forward distance; approaching too low pushed it toward the basket. At right_x about 0.57 with pitch 0.6, the grasp point stopped around z 0.04–0.05, too high for this screwdriver on the table. Confirm handle alignment while above it before a low forward move, and avoid chasing it at the far reach limit.
Raw transcript
user
Current observation. Instruction: put the screwdriver into the toaster state[joint_pos]: [-0.0231, 0.8204, 0.6029, -0.4309, -0.0261, -0.028, 0.9995, 0.1707, 1.4597, 0.8986, 0.0177, 0.149, 0.0071, 0.9973] state[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.162 left_yaw=0.0025 left_pitch=-0.0789 left_roll=0.0019 left_gripper=0.9995 right_x=0.4372 right_y=0.0524 right_z=0.1684 right_yaw=0.0153 right_pitch=0.0217 right_roll=-0.056 right_gripper=0.9973 state[joint_eff]: [-0.6359, -1.4427, 9.7846, 1.8144, -0.1001, -0.1197, -0.0122, -0.1573, -8.294, 9.1419, 1.7314, 0.1245, 0.0806, -0.1148] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 127): [image omitted: streamed camera frame] camera 'left_cam' (step 127): [image omitted: streamed camera frame] camera 'right_cam' (step 127): [image omitted: streamed camera frame]
assistant
give_up({"reason":"I could not secure the screwdriver. It slid forward beside the basket during the grasp attempts, and the right arm could not reach low enough there; both closes were empty. I withdrew the gripper. Please move the screwdriver closer to the front of the table before another attempt.","hindsight":"The initial overhead estimate underestimated the screwdriver’s forward distance; approaching too low pushed it toward the basket. At right_x about 0.57 with pitch 0.6, the grasp point stopped around z 0.04–0.05, too high for this screwdriver on the table. Confirm handle alignment while above it before a low forward move, and avoid chasing it at the far reach limit."})
tool
give_up: I could not secure the screwdriver. It slid forward beside the basket during the grasp attempts, and the right arm could not reach low enough there; both closes were empty. I withdrew the gripper. Please move the screwdriver closer to the front of the table before another attempt.
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 · 10.28 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 screwdriver into the toaster",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.7933, 0.6033, -0.3794, -0.0216, -0.0246, 0.9996, -0.0151, 0.7925, 0.6106, -0.3763, -0.0265, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.18 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2959 right_y=0.0038 right_z=0.1842 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5248, 10.4137, 1.8046, -0.0073, 0.0904, -0.0562, -1.0051, -1.347, 9.7846, 1.746, 0.0073, 0.1587, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cfe257438f55302294ee4bea16f29d755996b44d06583e76e096336f46cf6434",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8561013e6f68b1308a0e5ac6817e8ac3e6457bdefec85974aaff94fc1be04066",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9747e62b1ca80a5ee3c6ba349a022a824e43f985266b140262d5ea37764dab7c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob cfe257438f55
wire blob 8561013e6f68
wire blob 9747e62b1ca8
call 1 attempt 0 · /responses · status 200 · 5.95 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrF_JJhBCiwq1XBuACdnKW8ogxGQclVLHs_F8aFeOoLsIPBvYjLrjxVoNPhg6Q5CjD3j2guY-UPft0D2Q-Ir0DWEMhSCXKah4pvkPV6NqBjqxVygpRFpwPi257dJPViCKJ1A3TXH3BsECH3HiM05u_q_melheuH53Ch7mfxbSlMp2AIkT9Bzsj5O63f_2moCiB-WKHaR-C85VQYh04MHORZeHd8VAhfOU__E94r9wldzQilhWeZQebuXed9HiGRBGMK3gzs_KJftQH7vapzWUSRp3b-ZqVc7vcBmVM-g8AgUB1nqpR0NouwAR6tZd61CHLOan8As8vetpshYXfOB4gHGpX5buxIM2pR7-TT0Nv8K273RUQCf_LKCd28RvjMr8GyGKtMP3yW28qtiWnvptwq8l2d5ItVWs0hvqunJI-bXVNW8cib5fzO0TcJHPiZiujY2zlRvK96t0CoVtQvODNoPh0BvmUGejMOl2-W74BdWq8bv7H03LdfBnJq88Wr9I43_pyrsnpr3RCC_vb1HCteonI1hzqdx3inxCyXFr1EBKU-nYgJxCkQchuRr06pipVLpWCpdKw13lvFHnGHTRUxgf1ioy9iw7QsnXAj4M6Y-vKF5f2NCgFHbhKyBcMgpBBWd4Mvp0pLDdK2bI3FswmtyUNIqZWTz-YLL-uPBaprChSP0orIyY7bNd6YjJCPmu4A4BoUORxT7iokG8QwU_GMcQTAPvUwF4XEQ6vYZFXui2QYXC_sP3bZW8X_O-lpHaXeRvMUrbBRrdMgnRRgiY6eTMlKlP8UVCmAJO8NxXCwCGJPQiuJUp2VpbR44rS7ThTfoY43G16FpLCwCRAdum-QtjcyaexzOIW_GvaXH-S2xfP2z6l6VJZUztdQXDlHi64lIDkWK756xaYszz5pMXzZTw59ABoA64jRxyu2MhSsXzCaemjLB4w-eo1us7d_hnzCye9GdB4-OvGi1ar58pyUVqgYIUEU0EUgw2zq38af-RkTluuuAxcxQWGTuNirAvwviEP1zfjMccyVsKQ4762R-jM-vbyYbegU5-WlR0FUvD_71KXRKKjG7nKlydC3EXV6_3rMdDl_L9WLu613E47fSv2RU5EMclirpwjdNqRSnYPI1BcKfE6FvjnNXH6atdGI2jYDYxIqREpGCt3vdb_edjlrP6ZXXSIRVKEe187-g4LOCnykR-bfkPZ3XntV4QF2kkC-TiqHF9w_kz0PTIvalF7KrXt3SfA6J9hk-3H_zQ4DmiMzYI-_ZDP9mzJfvkWG_2EMHrGLqCMEBIFnQgyk49PACJkegRbqikIWEhhxL4WhLkBdzqyzXagbKKqrUuowTF516yZNJrR0NHQ4BCgj5t8mRUexN5k2MPwp9cp05x_G82oLFNBtha73QOypLmTlmIeUarAqpYztjpXLnTzWymB5QR7Zy6YaxAbQAkUnCTWHGmjfdy5VG3Zl_evPk3-9GviY_vFXwGrGtw47U5PddZtZylf1v76Y0_MhNcBX2uLM-TczhJMzyxYGE7jLGluiEzf98mPn34Y-LKv_dLt23yGK1wbBqjP7HES26gDWesNiQNbon_iyEaIabYoKjSMrVV--TkjfC9vaooxRNxY5JN7GWcHOMIVJjD3IA0g9CSRHHRSxUmGzW3uEYv6Aqu3xXIaA2ZOflOWdNbwRbyOzeMh6oosUWeWpIYFGXzjMnPhk1mECz4JREIDh1UCrAztrj6fEb8qGv1C93jcpQLpye4Q_Eg-r_K3KOVo0AdTkiqyWnnJcTutZd53yb_87D9Cmm3deAZeDvQFQqWO46oadqgJY9uIr90k_jAjZtYIrSxUKjANooa9EvHZoHFYEW3FmkDNipvZPjj0aByJIgDw80KxcMKQsg-EGm5xDUiSfYUqgyLAjTjwEyiuRSI0U-Za4yCmy1ZVpf32Yn_G6TSsh2pnzsDmaYAC8_iKP3koMfq9m_NLnx2_75-MZ8TXYOmcUQRpBVgMahNDLPoxR9cKCqJIm_prLnq6CXmywcFF-mGFZQYOBmRFM5-aNV_rzsLSISm7t4z0s0lzU9LKjYSKpmNoMLN6Ua470QfMdDnx2qm8Lw=",
  "id": "rs_0cd2d0c04e92e6e2016aac5fc13b9c87d093ea9441440a0073",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.18,\"right_z\":0.15,\"right_yaw\":1.57,\"right_gripper\":1},\"note\":\"The screwdriver lies to the right of the toaster, with its handle on the right. I’m moving the right gripper above the handle and turning the jaws to grasp across it.\"}",
  "call_id": "call_2UxJjgeQCI56dTU3jCMKlpMD",
  "id": "fc_0cd2d0c04e92e6e2016aac5fc762e487d0b114f1a1cfaf1f59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2UxJjgeQCI56dTU3jCMKlpMD",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.7986, 0.6037, -0.382, -0.0219, -0.0254, 0.9996, 0.0555, 2.0312, 1.644, -0.9363, -0.963, -1.3277, 0.9995]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9996 right_x=0.4196 right_y=0.1721 right_z=0.146 right_yaw=1.4615 right_pitch=-0.0281 right_roll=-0.0325 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -1.4427, 7.0222, 1.7314, -0.0269, -0.0562, -0.0171, 0.335, -11.2342, 5.9419, 0.0952, -0.7985, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c319c96d6afe0599ff7d19390c95aa342ed216add9e5ad5f784b65b6fec0bcb6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:115a35d625d1f94bb997c860bc23ef1d4ee5517a6bf0cfe4c9eecb8eeb361133",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 15):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a5a5b2d1d6f7a52d9acf1ef5f4d1531c9cb399e4cc9eb83bfbc8289316b60b38",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c319c96d6afe
wire blob 115a35d625d1
wire blob a5a5b2d1d6f7
call 2 attempt 0 · /responses · status 200 · 7.51 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 screwdriver into the toaster\nstate[joint_pos]: [-0.0204, 0.7933, 0.6033, -0.3794, -0.0216, -0.0246, 0.9996, -0.0151, 0.7925, 0.6106, -0.3763, -0.0265, -0.0334, 0.9994]\nstate[eef_state]: left_x=0.2947 left_y=0.0014 left_z=0.18 left_yaw=-0.0006 left_pitch=-0.0 left_roll=0.0003 left_gripper=0.9996 right_x=0.2959 right_y=0.0038 right_z=0.1842 right_yaw=-0.0004 right_pitch=0.0004 right_roll=-0.0 right_gripper=0.9994\nstate[joint_eff]: [-0.3624, -1.5248, 10.4137, 1.8046, -0.0073, 0.0904, -0.0562, -1.0051, -1.347, 9.7846, 1.746, 0.0073, 0.1587, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrF_QLwcoplblXpd7-fsWuEWyOlIff_2_AAACe33aK5nCTQQj9nTanG3Tt4yVhtUayjT-PpNWdlL89W14XWDWI9X8Da1tH45Q55iF1Evn_lndc5GK7Kzo04A7xybRpfD-R-QQ3Lrfk2yGm4oYPuo0t7R0TPhQW5Q5nD66orOcJ2TbKOwB4hxd_p9CDDU2AJhI-ciXBTzn4jMORHHiiJI7q7-0ZyhDy8ZmiKX_mnizDaI76sK4gAY943jdVXDjlFbqUjYLrgIv_yEdYZnBGeimNd4jsfBniR8MN6FO4IB1I0bcKxbONL0xfj29otUt4DFmqswzia3IHNtPVsxTvl47Z51WslEVELHgHFoQQlBRZp8SA7dRlP0LfqNRqmXKdOgc9ytekh4FM-NlvJy24MjviREe5zNc5Yb1HtHH9-aejkwFQgCq7ebFqJKA7OooUG8mcoscAE2j5leJT5VHcNuDVv-9u684-n3EfRKmSgkkF8wOcOs2BPEddMQAW6wzaGta8u5pWtLsm_dhMZ7a08Hf_JwnWWsz5f3zHJb4XTts7h-AVZUvBq2739PXIdQcDxMAUkYuoDZTjxoWMlk_UAoxR-qxB6drSx7OugnR1an7QuhybWXa6_gE1s78bXcyoiuR64th5mqxvIEtOf4muJg6RSNep20ALIRhROrtW6BOsTULopFmF9lhiBr8x2SI21jk_DrwlIWEfBYBihzEyEuOO60IZOXkWrXMWCDtwvHMP3lbrqAs__6F4GjblyWFdtVmxwJ-oWaULhTyjkRH2MFQ1eeUB39Aa8zSYeM-Kc8qgXBbtIUh-aomzmW9l2dBG7Ech16e9B1Ste6t4kty8vPKQsLIMtfPaCpw6F3dQOK_093pc3D9pzcE-0x2NwbNOA8ark-p8-yD8O6j-BkY140dIRpXcaUIWDzy2v262egSa2FuGoIxrrBwzjGsG1MLxCydqUJ5ykEzw2Hb3GNY6JkUfI-Gh41Gch5m56Rih3CK4j8GHc0PabQwtQe58f7Ac5UYUOZnuDMcX2aYaClgDErC_6yAQmxOoVZOUQsxgg8l70W8M2ue6PDCHmDZ2ELExGi9Ly-cWmGTXPinV3s6Kcs2BfkaEZHbc1aQljdJO4QwSInj50Rs_K_Fk_n3FnLNjofcIt6e-dvmAGnH6tRoB_4U9k3PFuLJRPmmbjW1h3Oceur8Nj4FubxEC65Whfdoj7jBGWOTsZqQJWCvC443jYcrVoPBayH8fFHAlEB0AO9s3pXsBNw7dnEIBG3BrozXiLsxVfkk_Q0-lerS7Q7YoQ613thHcQBMiNm6ia4JQKv1sBbs5aA7VVCD_IGnUYzR5XKI1GB1QoUsr12YlntVeCkUKmsgSMMdzirDqIvr9LKFGrwVpZto57t44qXmO36WApguKz7eEzOaJSHD2xpvKa2iAk72w7w3Ebk0oCZd1UK0rfhQWF40TKbtedOnKoZjKj_tvF3K1MgfLAgfPtJlevwgzYYHjg==",
  "id": "rs_0cd2d0c04e92e6e2016aac5fcc5d9887d0a6eb1329a0023332",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.435,\"right_y\":0.18,\"right_z\":0.055,\"right_yaw\":1.57},\"note\":\"The handle is under the right gripper, and the shaft is visible near the bottom of the wrist view. I’m lowering toward the handle for a more precise alignment.\"}",
  "call_id": "call_8jF9Q5N58GPpBE5PPa0fj8Hr",
  "id": "fc_0cd2d0c04e92e6e2016aac5fcee94087d0aca637a546b57430",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_8jF9Q5N58GPpBE5PPa0fj8Hr",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0216, -0.0254, 0.9996, 0.0654, 2.2555, 1.6558, -0.8772, -0.9695, -1.4662, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1776 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4282 right_y=0.1776 right_z=0.0587 right_yaw=1.5513 right_pitch=-0.0399 right_roll=0.0057 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.1966, 7.1043, 1.7265, -0.0513, -0.0562, -0.0171, 0.1026, -11.0291, 7.7197, 0.5495, -0.6276, -0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9e5638e42477fc47f66819ff999b45e9bd96235bd7d1ff9044ed1f4e75405d05",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:501c5b82d111f22e323a4278e7211cf9bf38a25431ee668bea98c398c5c1e3c1",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 21):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:742a6f1a9f3913a613dace1ee3637341a266cf164688ca0618a3af48e8ce1824",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 9e5638e42477
wire blob 501c5b82d111
wire blob 742a6f1a9f39
call 3 attempt 0 · /responses · status 200 · 6.885 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 screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.7986, 0.6037, -0.382, -0.0219, -0.0254, 0.9996, 0.0555, 2.0312, 1.644, -0.9363, -0.963, -1.3277, 0.9995]\nstate[eef_state]: left_x=0.2948 left_y=0.0016 left_z=0.1781 left_yaw=0.0005 left_pitch=-0.0076 left_roll=0.0 left_gripper=0.9996 right_x=0.4196 right_y=0.1721 right_z=0.146 right_yaw=1.4615 right_pitch=-0.0281 right_roll=-0.0325 right_gripper=0.9995\nstate[joint_eff]: [-0.3624, -1.4427, 7.0222, 1.7314, -0.0269, -0.0562, -0.0171, 0.335, -11.2342, 5.9419, 0.0952, -0.7985, -0.0513, -0.0708]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrF_YjMgc62R25GMyxeAr9L9l_vIukcvaeiOowtJQV8VYAJH_LF6dt84azXNB8XGDWbYdDpKFco0ZmKvD1q9eGwcqxsMXLZEBvdt3Vp6o9WFMMLRRkR04QMG9tdbHvC9GxXbMccAV3xOUaHw6ZfWWd7a38MvYqdMwFq9ikLQ2IfWB0XRqmxDvVLFkmRrd1pI7wr3qF0IiqjXJApdE4P2vdPLH65doC76r4taWrlXJBq2MixLe_6oXE6VbS32LLqMRRNF2NYJSepuDHwkfHoAgF-sHoeDZtDtszOiv0mcIjw5OOEqh6SwCyQ1sIWZzqDllGqaea4hfKmWQE7hzqZlDgH30TJykU8g4U_VFqaVec4yj_I-TuUQejBPKN1iJkAQPoFQb7Nb70JQnpym72kWt5jzEJk-3ntMc7sE6ANSuSBamo3XWUl4kdxUrze5AvyB9nycgwcjbq8BDT0gsi_CRPMEvYJ9AGXMNGn7JrAVS6fhT_s0-aJ2eoLn3L4rLguC-3QZh_mbYlp_2NLG9eh-leMKgcGtN-7hyf09O0W7SSdR8TTniTnymUcI5EWM0e_KyBh700Cm_e4dspy0FIKnGEpxxFBKC53IEv8vGEXAoIlWPsnF12bHr9ksAqysL07vJnTSRV8RYE08F6vVLfLOHo7hlRVSy7x5tj3fh58Ooym6vqn09U5CoTbaheDbjMz3nta61iCEyR_PZg_5nF5DZ-uHlqRNbN4Rl4tyn_GTbnlNShbewlVyI2fey-qGtQKhhMC-URhh8qjEzmb5FEbXoThEnDf652Y3-ZxjLKPZvQkNQ7uPZYH0bwvYUVXInz6ulD6PttDtsvstCLy7_Xmw6Y-3I2H6km0gdzjk_3dqqv9vnIHIg2yekGtNGaePGTVP6tZChXm2OvDFp_WUugQltSMU0dmsd2Nlct0sZwIbdqsYYgZDY2rt32ZLNlGM_0xV7o0enLYzRJpZUHBZYq93IQ1PUrRX8Qp4jT5GCs8_B1-H5nOCe7j2Aby-4wH5yufdZXpnBwZyJHyoDsAhcEu5SfFatFfQFc-HFQD-BtgeqdGwrIniUlUlNnoLxzm2PWlvC_Svg22knaOylRSoQX1XAzy_6kGguSp7UEYqybIbZ7_hHR_8GzVZFkPojYQlEoHC-73Nx6VAKMz_3qVQTM2t6SIgVk12Rr-wRYQl5rYzOMqPA8CYsGItUmCY7lQ5yA1KVlt5xerIaBZEnC7hCbCOGlOLZcvkALoRVh4LbsNoIU1XsSOn0V79IGQPsL1weajbn582gxMxowbUrN9oCvVL4maCBz50JkybUkhc5FNorrUI-CzbVdxVR72U5jFb37Gx381IrtV4i1kp-RMozfBj3Djut2943zWv6TPaCKoRbClSFIiJ-ontX0zNe1QFgwyGuKWyNeNEPHq9SF9FDDgzILzvK5ZM_I63_eWys4J3wlN2rzMnhu-u4q94VfXH08beNqqwWh1xzYle9Hsbm2PEnEI8f9kTa51hzKJLrLwItCqlB4VKKCDT1F7S7umkioWhTdYzSPwY3aBenqROsVEmwuQbtVA==",
  "id": "rs_0cd2d0c04e92e6e2016aac5fd4121087d0b09393450fc5cd98",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.452,\"right_y\":0.18,\"right_z\":0.012},\"note\":\"The screwdriver is slightly to one side of the jaw center in the wrist view. I’m shifting forward about two centimeters and lowering to the handle’s height.\"}",
  "call_id": "call_7UY6bWTSBaD5XnHuJA7TDZ1o",
  "id": "fc_0cd2d0c04e92e6e2016aac5fd78c5c87d090de60c0d6bdb221",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_7UY6bWTSBaD5XnHuJA7TDZ1o",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8032, 0.6037, -0.3813, -0.0219, -0.0254, 0.9996, 0.0662, 2.3863, 1.7199, -0.8223, -0.9688, -1.4769, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.177 left_yaw=0.0005 left_pitch=-0.0114 left_roll=0.0001 left_gripper=0.9996 right_x=0.4448 right_y=0.179 right_z=0.0193 right_yaw=1.5581 right_pitch=-0.0415 right_roll=0.0086 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.1692, 7.2547, 1.7314, -0.0513, -0.0659, -0.0171, -0.1573, -11.7675, 7.241, 0.4322, -0.4908, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6f3682bf1d46c638293c04049166500ad64c9a0286f405724aa86a4d04f24d7d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c3f6a2f8214b80a526c836dcd43db788d45bebe871f4b8810e6ab161ee894e37",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 25):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a40f0602532945ddf2e8a15ae98286f6f3c79041d30ae0d86c7d04db501ac76d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 6f3682bf1d46
wire blob c3f6a2f8214b
wire blob a40f06025329
call 4 attempt 0 · /responses · status 200 · 10.79 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 screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8013, 0.6037, -0.3813, -0.0216, -0.0254, 0.9996, 0.0654, 2.2555, 1.6558, -0.8772, -0.9695, -1.4662, 0.9994]\nstate[eef_state]: left_x=0.2951 left_y=0.0015 left_z=0.1776 left_yaw=0.0002 left_pitch=-0.0095 left_roll=-0.0001 left_gripper=0.9996 right_x=0.4282 right_y=0.1776 right_z=0.0587 right_yaw=1.5513 right_pitch=-0.0399 right_roll=0.0057 right_gripper=0.9994\nstate[joint_eff]: [-0.294, -1.1966, 7.1043, 1.7265, -0.0513, -0.0562, -0.0171, 0.1026, -11.0291, 7.7197, 0.5495, -0.6276, -0.1294, -0.022]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrF_gJqfe2dYiy7qjbuG8VJw6nCHYphlIgSAmGcyIZXrW5cFjnlc4_siePLo6e3J4nrlZfpLc9FFtF3YiWBRYaNia3d_xp6WX4YtydgGGQrAQA9nJamuG7wmW-gsxdiwhoYeCsf8F0WSSNeGNVGmw69ycujhKkR7uzfdZtioMTHWEnN3bC6IFtXA4ar0bZM9gkS8fwW9htD0DZ4AtWyUrOhYfOhrpfMKQlQpy1_2EuH7NM8b4DP3nQnCeMZsdc5xH0RUsRU4uJM4wPjVdZXaYwJqACayOjFk1IM7ZuhmbrQJc6jHPQ3vk0wqwXZKYvZYQJWiVLuzrm-9_Hv8pEO6sTUuHqXX95vfZ0utDf8Dqqz8k7Rt6uNTlvL38zUFq8THfRV1Gwd7tmrnpfro6s0ud1G4P0ZbkSrYqncnpM-uTv5SLQeWpqVrc_6oLxKTBVEsA6eaBHHy2oQGt09VNRLfIG-w4BTPcF-twA8XmgnTmF9n1E6z0yNyzPm9q18fJa4MtPQwkwxP38I5fMcXDANFAFZCx2WG7w7_ojnqiDatzJbRT6xIu5hi2dUF0eOZVdNmlVzO9GOsdBEy9bHgkrsOGfomp38n0JaBVsldctGDSg1O7K6L1VJzXL_2xQb2mkOXF1KgYMdkXXMkbtAyEJ9oMOUuVzWD-HitUCHj4zsdoKlOWegrL_jO9SSLIlOGJoqYfHuptdhRbQtV6I_2it0Gt7LNpy2jv3_EByLnX308AH7FBoMVb9YCHRyaMQiKme1qLGj3laA-P6Ms6EvBOulQgMDMXwPZCseqvrlEzl3zfX35QJTHPrjSaf-oGTpVAMBRawUOVEu49XrMI3bMrbfoqA7F0i-R-_W0hZTTC5n--LiRZq6e3KUirMDZQ7XSOGGMdZcfNo89UqVfXvJ4XoDA3XZKA4TwjgRSWBRHag7jueHhuDnvz5g-Y2SrKxtB_TKUm8NU_f74u3F4_BwVNrTloEvq4xO6xzMqoOjDisk4orApn-1op7-HKk3pVjlZPpv3c2HA9LpUFmhl9zxF-cLR2HoWEP1-CGlTOHCmPdtL6suwHYZfA2LDxzhycYdxDPa5C4T4WDa0B_9qu_z61J2ciMk6FDbEfrpppq5X7zySB4CUGlx2Wtzs5WkdlldxtP6rAUXdxFgjY5SvLOgr7VdrbdDteKH9IMSbqZz72pUBiFFz2Fu9PkxhwcnWn_Nbx28aMVhWpyWQdanz_4LaKOG87yINGqq3_Cb5MMcRuCroENbHLkFXN7nugp3G6y4erEJVa4EFz",
  "id": "rs_0cd2d0c04e92e6e2016aac5fddab5487d0ba84804bcf245336",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.462,\"right_z\":0.0,\"right_gripper\":0},\"note\":\"The handle is now nearly centered between the jaws. I’m making a small final adjustment and closing around it at table level.\"}",
  "call_id": "call_lntLluCvdayj45hr2P49i86B",
  "id": "fc_0cd2d0c04e92e6e2016aac5fdee94087d0a5513d083d272647",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_lntLluCvdayj45hr2P49i86B",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3813, -0.0219, -0.0254, 0.9995, 0.0677, 2.3989, 1.7424, -0.7963, -1.0077, -1.4708, 0.0111]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0152 left_roll=0.0002 left_gripper=0.9995 right_x=0.4529 right_y=0.184 right_z=0.0255 right_yaw=1.5596 right_pitch=-0.0001 right_roll=-0.019 right_gripper=0.0111\nstate[joint_eff]: [-0.3214, -1.5385, 7.1316, 1.746, -0.0806, -0.0659, -0.0171, 0.0889, -11.494, 5.7231, 0.4127, -0.1343, 0.0806, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c6f48bf6620cadffef61669f753c3df6e30fac31385b8c470728c0db06ecf50e",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ceadf2bc3255c3771fe439b31f42169de93f1121f0b24036a0c17523dcc70e72",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 35):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bc64e2c7b0579a0d9520acf07ce68bf17ab4c1325800d8ebc74ed16a7052294d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c6f48bf6620c
wire blob ceadf2bc3255
wire blob bc64e2c7b057
call 5 attempt 0 · /responses · status 200 · 9.468 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 screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8032, 0.6037, -0.3813, -0.0219, -0.0254, 0.9996, 0.0662, 2.3863, 1.7199, -0.8223, -0.9688, -1.4769, 0.9994]\nstate[eef_state]: left_x=0.2952 left_y=0.0016 left_z=0.177 left_yaw=0.0005 left_pitch=-0.0114 left_roll=0.0001 left_gripper=0.9996 right_x=0.4448 right_y=0.179 right_z=0.0193 right_yaw=1.5581 right_pitch=-0.0415 right_roll=0.0086 right_gripper=0.9994\nstate[joint_eff]: [-0.1846, -1.1692, 7.2547, 1.7314, -0.0513, -0.0659, -0.0171, -0.1573, -11.7675, 7.241, 0.4322, -0.4908, 0.0904, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrF_rG0akC3UK_eL7tYJ0o_jU3MptSx8RPBDOCOktbn10KGvUq1h-16BLK-GD9-uXcq2fFVoYpY0wDBhvkyelysqiHhjgvvR9mkZmXbxyeAn3uHe1miPMlrSL2mJAfFDAoODU3XueIz72teo0Kw4v4YhhcqHzpfS6lv-0AuYbe7vPoqUJIjlMNfw48TdqLEcOsug0-isBwC9kSLC52P9_6ibn135v8ln2TMUl_UObbSLI6XecFLH_7nYNKMAP68xhsn38-puy7AywHcUJ2Nyn6K74QeguxCs8cmzq7BC7IcIFQRUeO3mooVv8rqE2xCzBJL8dL0uxhklUYKzWJKtLH7zdvv-WftS4F1IwTClVUwXyxfonqXdmBxDx9TECnrcSEdIxBnl58zID828-QEvUwnUhbba646YLRab4TNAITMVZHsiOu6cwV5AOKXJJlsyU_DuhK6t1cpHDy9yUjSI2M-3bhMdezCTqNBL1b8o3Ydaj3c3m6vySqq14yEnQslOlPjViUQtiKbkOqpYJgsevzo5FJRu9v_jYSZevU0ol14B-n2N6-wy3AOIPoUjDWrEvptHiaq3IsVR35ZotEzAb2NPotogVMHTIcBf4BGWn3qGRmbVem81JPKgmRct7J__BFLWhHEHbiFoset4jBThAtT_dMsV4CVp4uD8Nw-pt5-By_mdL6Xf9WDpnqcZJ4gTq64F41et94eNe4Vs3IZVpX-VVHFeSRx1rzJduTTKKxnKZfW-vESkFf2u5XlRRErpPbHtdmBWPtbWvvjNesjbpaHc4gnz3U-dww5g8r9W46QVokZwKqdwoZiaXQ2eRfKvmpHrUil-2ZaHH21sFZFLDBcIVREIUhnnNhsiIkJ8xJyzZbKnBUV6ahif-Q2D_TU-uk6nkYCifYFVczNCAbPgKB1ndGe64ctZzusIvdmqnxziQWqqTYmEj5vtRIXPBA4ddmdif-eQVeKVqS7b_cAfp8IfTQZtQEL-FzxozW4x8gzRcKOCxO0UHoqpkMuYSFjJhtnknZV92R3_lRTF3TRJSw6jNeXFg_myD_Cd7Od8UgLCaBrY4gKOOfrO_zhk8OFsJvW9JBVGDaUGNw1PQAhP1_gLzK1uUyjiOoYAx1DLpFdfVrenVJztgKGiozz0WthZukbP8VjKK8OfJcltFyIoOb-Y5AEo1P3jzgbj4RqYA42wR299syyRArMi_zRoY7CQambEX5SV4Ot3F6M0Fab2JJPF-uW6QPUKxqbejwfUpqOa6Jgg-hR2ZETnn6wtwW4d0XoOar-BIW_eFogZIIEDUk9OWkuHQeUZ1DXbu-B7hjXbt71lrzPXegWB5N62QFzLty8avJbZAp-IkjDKZCSVuoje75Pfr2Zc2rXinjQ4SqV9BJtja1FkMd8Pdg1zfh9xjD74toPNl6vdH6x2zr7MeJt7OY6f9_LMfshxB5YGnEd7IVjXALc-EQFKMGFZbYWAmoVQeOfC_gHGdEvK5JwO8pUMi6-P5t3gHS1tgPLgq4HzXpnONYIUV1Dq34MtHlICqpCT1zeGxz8tSrnpacrd0EZT1_b6CnFIy8OCASmooWaPBP98J74jIMHgM-OtfcRYSov_yVei7p_ferk7fKjAiwSdKzWMZCqGFJ_xaHdJ7T_NB-vpFkSY0Mb4d_lnlsX02Ixi7jYL5Kbb1OMLKXAA05LYYJiAycZqfvONj-Fn_dxirx1p0dBtREzNlG_uxyKFHuJC2Gc4KQaIhStoCNtJh9diLbFiwBQUPDE-VjQJLj1EGP5aka_2c9eR14QV57LJL4_eeN7lC0QcMLxAOWmeNFFUq-R3ZyGUDqqkWnhMX0jLvgvLBoZ2uX19IJusnJvLxqVr0B8A0Y4sf7pGVOAp8E8omaimNecWUaIQhUr_e1wRFtXL1oMkv52FjIy9UslaayWY94P2bX8KVnyS5wgYxIGAnUtAzWudeyDM2NRoiuA1QEKEllni3-DvaYluAJhcA4difrj1RymQuQZReWAPTM6iMs91UJSov__baxVGQ-oiovP_didXKFGYDqvlbv0W0UTJUU3eKr6tuwuEpx3Sam8We7ZyCQzIFyy7TQab79N_RsQ2BLlmE-f0NwtbBVN8bCBU9QH7qCBC_UC5-c-YHs0Q0tQpWg_HZQ4prsRvmN0bu20p0_EpBWVlXsTM95sM4P2EhcPI5Dvj6TPAzlgKLpJgNhTqZrriHFd4TasyG0YqrHC-GFbjJ2QVaQBfU3fnS1zfvu9VtfxixuuqOtogbkY3MNA==",
  "id": "rs_0cd2d0c04e92e6e2016aac5fe2a53487d0a943e9890c0b1799",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.469,\"right_y\":0.195,\"right_z\":-0.01},\"note\":\"The gripper closed empty, and its height stopped above the target. I’m reopening and adjusting slightly toward the visible screwdriver before trying a lower grasp.\"}",
  "call_id": "call_kKDVVGv8lFOgdEFdZyGy3BYf",
  "id": "fc_0cd2d0c04e92e6e2016aac5fe9ed4887d08c1b56f397980f25",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kKDVVGv8lFOgdEFdZyGy3BYf",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.807, 0.6033, -0.3813, -0.0219, -0.0254, 0.9995, 0.0746, 2.4596, 1.813, -0.7193, -1.0183, -1.4479, 0.9953]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1758 left_yaw=0.0005 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.4768 right_y=0.19 right_z=0.0195 right_yaw=1.5569 right_pitch=0.018 right_roll=-0.0853 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.306, 7.2684, 1.7118, -0.0464, -0.0757, -0.0122, 0.9915, -8.4855, 5.5726, 0.5348, -0.4078, 0.0757, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79657a9efe5a4488a8bba12e1b9dac9e82e4a899f560f5da05baf23f189af1f3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bab06b8b89c0c2ee0fce65d769d80f3f30e939dd8dd850a6d480f2d0e239613f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 45):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:310319100402236b0f0f3d99630e3cdb0c7c334e9ef96c2d0cf1e4e599afe8c0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 79657a9efe5a
wire blob bab06b8b89c0
wire blob 310319100402
call 6 attempt 0 · /responses · status 200 · 5.337 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 screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.807, 0.6037, -0.3813, -0.0219, -0.0254, 0.9995, 0.0677, 2.3989, 1.7424, -0.7963, -1.0077, -1.4708, 0.0111]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.176 left_yaw=0.0005 left_pitch=-0.0152 left_roll=0.0002 left_gripper=0.9995 right_x=0.4529 right_y=0.184 right_z=0.0255 right_yaw=1.5596 right_pitch=-0.0001 right_roll=-0.019 right_gripper=0.0111\nstate[joint_eff]: [-0.3214, -1.5385, 7.1316, 1.746, -0.0806, -0.0659, -0.0171, 0.0889, -11.494, 5.7231, 0.4127, -0.1343, 0.0806, 0.9646]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrF_214ZyYVzX7Um7U0Id-LRwUOdN3CPt4llAJSILK1QUQw4n7ZxcbOqaF7HPEk-vCHs8hxDujzcgFxJx4Yb1qhm2L4AuF4LCGvwPuouZJ5x2WIKP6RYlwhTj1J7TVy855Zz233d1D-LOz05U9vM9imnMeGtBedZ7Pa7Fcxs2PkiFiItCIqGlxeMndFwTQjtWO9qfXTuxq8AOHxCzqDMoRC1pxskTtOTpf90O6-n9Jz3iGIUAtsVAOim58pnBjBYl1vlwFwLwXZnV_jbCU7EyC4nMrgxWw-nMRRUQtt7Xoz-orWYHtm3m2vF7CBZYO5BPmA9zpwFEvBYofdYo6FGjQfY9KiH-KBYYcTcLREUX40Ys-S-5pd1Js6J235g5xWyGGTDyimE6x4xCkCJ5XGbhFJYdQAPbnMgNe1PNuIKxzrqzWWkPhuqG-7G3Fuo42GxActPDjx5mVbr6DCSO7Aj7o3IU2CHNyrwWSlG7yF3UCSSiTPXkKrDlVrf7LxRkApEtTjUjFNXvtiFL6wPVP-eTwclSrILH2klxRXVwVnu9TBFEg03IViWWPZmQk7oDRW76oFbhMEhofBumVwvsDh6rxQwX9j7vg544bMJVeOv8ekjsoRtHPNlHeOZSwdNO1T-OjrN6Ksm8CNXvfs6LBciMzWbWCliBI9Lf5FqQPjFQFJFvojZcpwePe05DGmEXIFSw9u8iLEfwoYlVfrdgI29uNmYmDOOVbW-mDwO38Njtnba99MNGDjcjFrgZodVYDiiFcJsbYzO3rrLwDwGd7QbB6JWOvz6AihLEWligJAfk4viNNaAY1XngI-pbr118dtkIFCMUCTE6GnB0F06TJDa6EtiLjFgXf7KPr_lMCTPlo6zBDGC2l20SAZMGaPByKqF_0wMfh4yisnlOCMGNDnjdNsWX8df0NWv8SYyEFvG2m44kxLxTmDmFw-BlMeqmmwozMi5LVxytMDLcBB4ZhkdrqidhYRRsOi6VW1yPmjdD-rZaUICK1RDAH0l9DwFz6IfJ42sZrGUkTHQbyyfVkem2A-DMGCrzYhijATTEpzSw67lXT9Mc5bHlhJaKpdkrY8wmjd-_Kni1_qYA_M-A7diK7q3oyg6nesaUrY_Vuzz7Y0WXcCRzlBSfsKSqZm7BP1v_Yi2vmx7IGiGFDsuB6KIM0WSlPD0wrIl3j_BoS-uYTmhwhaxEmxgzjRZBtcZllrtbiRzRSY20HDbSnyuEUo0fGmfEGynAnwGHFeBX28roBstx_fD89GYySRH3z91KUsuBojhwLErgbjFfaLuFEW6NcL4AXXzPlsABICh7ALCF997rL9p9ZArdrlrWVSwR1k6P3_NvZudsGDaBqWioZAk15xOebt-B1Rw78P1iT3-zuotT7mCWmh-0Y2yBRlWfLALsMldd7ndO_XUchD5zQ4C9rAP08gyGXAIlWwMudbYXSVzr9c_V2ssUyUvcqnMcaG9M3yzRyGNRRNR-EoCt_Ar5zud17T6XF6WRTaUFFev1S0HwCCnLBHCkBbNh3urE1Ekuu4eKJwVAjNX4WybGW-cgvFN0NPgKgNLEXBcxGwvpCICUzBa1o_ygrYaPYlp2zTUc9tQB0eo65LIArakp_liHzEf3Ip2kOJiKTLU3Z9t7Eq5lC7JpNGVWXKlRtfkKRSnpO835Opt-A46Qex9wWdeFGw8J7RpYwdn0rsJJi2_VVufMinwoPzzPYeY6FEkOY18GkCu2rsdn0GNmd5RlVZpn06UxcH3sBgxL5ysv7aF7a5q__E1p6DxfVv_kBmQmpP9SB1M2_ZK-Vf1x-GTYSmOvHTL-PksBxRfVqXLtb5nUclqbf-ZuJRKbvBJ2OAfys5Sx77QtsETCiu0m1kQBWlWMkDHlBVnUzVkv6NZHB1_d48GtWMyzF3ijwrmQo01rZHdWNSEz",
  "id": "rs_0cd2d0c04e92e6e2016aac5feeb77c87d0bed57990cb63fde6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.459,\"right_y\":0.16,\"right_z\":-0.01,\"right_pitch\":0.2},\"note\":\"The shaft is visible, but the fingertips are still about two centimeters above the table. I’m moving back toward the thicker handle and adding a small forward tilt to reach lower.\"}",
  "call_id": "call_era9QYXXhGO50IfzD2B2f08l",
  "id": "fc_0cd2d0c04e92e6e2016aac5ff47c7887d095406760998d262d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_era9QYXXhGO50IfzD2B2f08l",
  "output": "executing move_to over 7 steps (0.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.807, 0.6033, -0.3813, -0.0216, -0.0254, 0.9996, 0.0189, 2.4683, 1.7321, -0.6464, -1.2591, -1.5734, 0.9963]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1758 left_yaw=0.0002 left_pitch=-0.0156 left_roll=-0.0 left_gripper=0.9996 right_x=0.468 right_y=0.1806 right_z=0.0346 right_yaw=1.6123 right_pitch=0.2466 right_roll=-0.1759 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.2376, 7.0632, 1.6923, -0.0317, -0.0659, -0.0073, -3.2205, -7.6786, 3.2205, 0.3687, 0.359, -0.0024, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:00ab875c5c6d884fbe05723cfc63c599e83abb9af222845bf64261d969b75c60",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c44fcf969cd76c2d3b693f6e40b5dcfb52cdf66ef11bb6ae6ea539cc22901cd2",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d838be33f1c09daaf8274a40f38d6d028277e823bec579b327c7c862c5dea2aa",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 00ab875c5c6d
wire blob c44fcf969cd7
wire blob d838be33f1c0
call 7 attempt 0 · /responses · status 200 · 6.449 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 screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.807, 0.6033, -0.3813, -0.0219, -0.0254, 0.9995, 0.0746, 2.4596, 1.813, -0.7193, -1.0183, -1.4479, 0.9953]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1758 left_yaw=0.0005 left_pitch=-0.0156 left_roll=0.0002 left_gripper=0.9995 right_x=0.4768 right_y=0.19 right_z=0.0195 right_yaw=1.5569 right_pitch=0.018 right_roll=-0.0853 right_gripper=0.9953\nstate[joint_eff]: [-0.212, -1.306, 7.2684, 1.7118, -0.0464, -0.0757, -0.0122, 0.9915, -8.4855, 5.5726, 0.5348, -0.4078, 0.0757, -0.188]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrF_8k2Z0H79ivhE8EhwVY_6Oiw9gcqNwInrucy2gdfxErrynQLF_l6qZb4irudx5yoUNUUO-9SeK-Nx8LMLK88k0P6KBpgGP4WomtNxAl1iL_Q6kAyX2cEI2qV8ozsl1-El64C28AY-hQVN7u5ZVzUFioKTW2D3Tv2IOLQPCiw_mb15Bc07nJ77FxgMuDF8YPemS6ANNgSLxmhpK5huNsLl9NEKyBqTmIQk9UcD2AWa5B-7i1t1Jmg_jR2FVSeGsO40bMvqKqsukyLx5H8oB5nR8tFdZ2YRd_Lc8jf4TVPWqfGY54XhtuRWCJYw33iPC7r4OBouP7aVaExNc-FcDKteUCkSidfZ4J5yQRXvOgABM_tlnJeg6pEkmzE164VaTVxMr2VXxsU_n_zZfPZ2aNcD-T5ZAi-c-Io1bdWd7CVsp-qLSWXX5V1M5k-n1MY82mEn-7nlC0O8yB-mRTvRrsZV21uOXgm3HdnxyMu2c3TGOaFr3hxmk-8fZ0MbhPT2md4drbOB-kBy9ohDrs0q8C24zO7qTwa9fRoIsWxr-EaMi6ILzWyd-vPsh4OD6g6YbecbBIFkGe94CCCLNJE6JzCrSRk7qPBJ8CGf177lS27T_8Dq2_MzTvydlj40sVS9HqTJGEO33sOj76kkBaMpEiradI6sG0zqf5kDXW6W4AdL5R7Yh2ep1oTfG7iQqQd06x0inhEDwOweT2i61FExRq-hO50LrnfP0M1Ch4JAV4uXl59xputiOo5e56FWwTNiJDrrojClSDv_0U-TYM9y5jOJt3ayn1tMmYC6A6cR2T2aJd_4NBJ3lWpteRo8RBCUHrUwDmVSeOBlzVjfH6TpRdoM9zbGV9XDImdtzUfUbbY7yFeRubrtp4kPk0ytFh7RStm_1Hju7BsJl-7GigHJxhb7f9OSYOiEqsbaK7MS7b8cPOxUkLuFUTi-uSlPf3iKJUhYgvNAUm3nwKxTlsMwfYYmtkijlviznTEuJsvihpYRIqm8-rKPdZfs83Dq9_PgWUrCGd3kbzy8tx3JImjOWvC1RWqxMhwE3-NSf8cpVxoO96p0Jn73IL9m4qC8fGOdBb8YlSURICVJs6-rfgsfLkmMbHExiS1EkuTWcxfjeTPdK4dM05jLfioTkq93MB59z0-DuUS30wGFVzC3fJlgjDG2h4h_orhVi4zSnidrD_kIRfG9N-W5Mj__MX1XTR6sL1SC_Us0tYIQpdus0anP6OxTtR-SRP2f2FVZfMCyN9X-Am85TtP1yfyopLN2CFPWdgY2EzRs_GB8GSeTdywIVyqKARHrG1tyqwECVsxjY-HOe2PdsFn0q-RFwiaktYkRq0niMdFLd0xrzVXlrH3uOtgVHkfnjjBdt414R-H6QAEc78PAyuTEFGEiGOAxlf1CzRQ_pKK6A1mmZfhxvF_0sXY44Iw==",
  "id": "rs_0cd2d0c04e92e6e2016aac5ff8460c87d0a859bc20926f7948",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_y\":0.155,\"right_z\":0.09,\"right_yaw\":0,\"right_pitch\":0,\"right_roll\":0},\"note\":\"The rotated wrist is not tracking the low target reliably. I’m lifting and returning to a straighter wrist pose so the jaws can reach the handle without forcing the arm.\"}",
  "call_id": "call_Tcatx5lFaOUkg7E98kVyKRnA",
  "id": "fc_0cd2d0c04e92e6e2016aac5ff9e31087d0a0287bb04ae382bb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Tcatx5lFaOUkg7E98kVyKRnA",
  "output": "executing move_to over 11 steps (1.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8124, 0.6029, -0.3866, -0.0219, -0.0277, 0.9995, 0.4484, 1.7905, 0.8505, 0.3428, 0.1562, 0.0505, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1731 left_yaw=0.0018 left_pitch=-0.0267 left_roll=-0.0015 left_gripper=0.9995 right_x=0.4365 right_y=0.1835 right_z=0.0698 right_yaw=0.2638 right_pitch=-0.0303 right_roll=-0.0322 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.7573, 7.0906, 1.746, -0.0659, -0.0415, -0.0171, 0.1299, -10.4821, 8.294, 1.746, 0.3883, 0.2906, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c30f8f4f59d5804d2668073c5eaf0f0a411909b9fc06e7b672d293a827a4bb96",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d32a2fc13cd1687fb4d87fc9760b6b1594c11198f49867e29abf32d08b683e01",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 63):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:baccefd1685c68d7a2aea1e08ae608c307f8f2a9f0967815c57e37675164bbb0",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob c30f8f4f59d5
wire blob d32a2fc13cd1
wire blob baccefd1685c
call 8 attempt 0 · /responses · status 200 · 9.308 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 screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.807, 0.6033, -0.3813, -0.0216, -0.0254, 0.9996, 0.0189, 2.4683, 1.7321, -0.6464, -1.2591, -1.5734, 0.9963]\nstate[eef_state]: left_x=0.2954 left_y=0.0015 left_z=0.1758 left_yaw=0.0002 left_pitch=-0.0156 left_roll=-0.0 left_gripper=0.9996 right_x=0.468 right_y=0.1806 right_z=0.0346 right_yaw=1.6123 right_pitch=0.2466 right_roll=-0.1759 right_gripper=0.9963\nstate[joint_eff]: [-0.1573, -1.2376, 7.0632, 1.6923, -0.0317, -0.0659, -0.0073, -3.2205, -7.6786, 3.2205, 0.3687, 0.359, -0.0024, 0.1001]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGAD2zj9qT_1RqyOzCGBA1znGLTMmOH4pAE3v9gvbPS9kZdPHuJm9HXVUUHetUQF1IZDpSrgAEAeBckkFoezGw9M4oBxnd0oTa4_PH7sXaaq7UASnBMEFdfwW7Z4gfZ_TYC668ie5wYj78F4SPQUGIr5ZOUJ2ZmMTqmFVHAyjeNnrYHBnCOq2XCrWE28YQ2Pgeb2JhiUBq916vGM5G3TplPPHsy24ofz5Z_n2OvZo2PNmEHO9UvJSKlTxIQU3qbO8VKn-BQC6o-c6s_YjnB50pWJhyoTv00RuD4im6mG_RdG_2Rtr648jKaLZYd4hhmwDDidxT-uEPYbyj72aSWVfM_NNE_fF_2MQGgJdvpTJYEJWCTwqf6Br0bTxI7i54O65yE-kSjR8XCEHzpMT93aPH3GIIRZqgRyji5le3TEqKHBuN40SJu1e6jdVpCHPEFeJIdGWxbmdCUYpazvXxh-C2VvnIhjRIw77_6-3SbhFQ_W8k5Oy_3SvqMuohEiuESvlr3xsRNN4Ur72h1jjQUijEz5i2ZrCrcamuYJ174dFikoHkSD3exy1trz8mDvGwiLXylYmBEspP2f3eCfJ7cGS4jYv_OqkUmjnLzwZ_NEWr2iYr4zNGgjXipmVINFDOJG-jG4i7X38-KPi-0_a8Waw4DFYfjvPQ78rJuzWeE7teFX2QBgySxwagfqpGRsfcQe4N7LNb3zvyOK6_I9DrcxfBXtXnudwDYQMyfBaxaYWvvPsbD6Vl759BoWQwQsu9NkTNO5n_l01wPVVmt1PJwxYss2apIfVm60wNCm-0TF5eqmjV2f7CmF1Ev3TVGAagFom2B5EZktM2GuICxgbIBhtZw3XqBYUmhp9sxD-LqXUAUZA79I9QWMrY0WiWmP2LK1c-7LmXhFu7f-6oflmMxSnBg8VPKYN6VIvBFyEAUqXkeR-wzWPCNujEYy0BVqCD32Suo4aNC9yPu8i73PS25RkoC3uHk2hWStHsj0KNmBlX5js6yldbT8PUSAik5aypNfsmdyjpsU-SBVsEMz7ijsoQUwanMWSMIZkn8g2yl3MIm3q8d70G_SEud2O_kJRFoUgrg3wX80PNM48muaKAgQFln1ypBzyVBpXBnsfMLTPyFu0fyX7QPGzByMjogWrVal0DlnCJ3aC6wTecxeasZCaWFfNzcVEGPIeGIPwUgacWSfTgH9W7kFCIAcu8ysgqbNXTcWI3bbHJEimZR3FKcLy1qpzE9-G4qcm3ltkWqawUfRdSmHykHh6-dXcbBYuC84qlD_4seFPS8S7vFeKBvlLoyuHUZY82yZEm-eCOjDuacP_zw8e2vc3U_xZDyukR0ZmnhPP2NMVSGaLdHRHTfnpWt4mwcbwdvuu5yslws2pqpKUhcvI69IhR8Ec0Mcnmka93ME7Yt8lzx_mVr9fgYzpgrI6mV9HEygmU89IYHTa9cArmc=",
  "id": "rs_0cd2d0c04e92e6e2016aac5fff4eb887d0a266587ccf2c2cd6",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.465,\"right_y\":0.115,\"right_z\":0.045,\"right_yaw\":0},\"note\":\"The screwdriver has shifted, and the handle is now to the right of the wrist image. I’m centering the open jaws over its new position.\"}",
  "call_id": "call_UU5THJfDlgGsZE6jjFD40s5A",
  "id": "fc_0cd2d0c04e92e6e2016aac6001b2f487d09fb5c1dd1e741f0a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UU5THJfDlgGsZE6jjFD40s5A",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8131, 0.6029, -0.3866, -0.0219, -0.028, 0.9995, 0.3531, 1.8748, 0.8486, 0.366, 0.244, 0.1196, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1729 left_yaw=0.002 left_pitch=-0.0274 left_roll=-0.0018 left_gripper=0.9995 right_x=0.4528 right_y=0.1252 right_z=0.0375 right_yaw=0.0572 right_pitch=-0.0788 right_roll=-0.0408 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -1.0462, 7.0769, 1.7656, -0.0757, -0.0659, -0.0073, -1.0188, -7.8564, 6.694, 1.9219, 0.4371, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f012a4a2826e81a4b236e70a98a2c1a5db92b233db19c9a94b31132897da9a57",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba254ba6477d2603744cdab3304ca60e93f3ac3b39c0d4fe71c80a7aabc240be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 69):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a02481570ba6b131d6b81ca334fc0c3ab9e3be7d002425554d7cb279f26ca8f5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob f012a4a2826e
wire blob ba254ba6477d
wire blob a02481570ba6
call 9 attempt 0 · /responses · status 200 · 4.793 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 screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8124, 0.6029, -0.3866, -0.0219, -0.0277, 0.9995, 0.4484, 1.7905, 0.8505, 0.3428, 0.1562, 0.0505, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1731 left_yaw=0.0018 left_pitch=-0.0267 left_roll=-0.0015 left_gripper=0.9995 right_x=0.4365 right_y=0.1835 right_z=0.0698 right_yaw=0.2638 right_pitch=-0.0303 right_roll=-0.0322 right_gripper=0.9964\nstate[joint_eff]: [-0.294, -1.7573, 7.0906, 1.746, -0.0659, -0.0415, -0.0171, 0.1299, -10.4821, 8.294, 1.746, 0.3883, 0.2906, 0.0024]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGANL-wI7T8TTpvpA1q7jNeNFuifUDfrRCIiWiJKY0WuT2SekT25eOPuXoI2c_BLhShbRGBgoEd9RBZqNP59J5mEM-xbGz4UeYpSOw9b2j2e2pFOSCf2XaYfMmAAzuyvlBOIJnH8gKAnmj45MwvO32K7FI-MHsDf_feeFhE6Kditjld8P4z8xQgnvX5ternlD-ijR9VAVUDQ5j9VgoP0DNwDFdR49gMav-y_Q5MWPa4tdAPY0v06oDzVjDbgvSR-1rSzlzrjBGjAYgNv6Y-6iyuerMdbDW129EJV6RU5fKCS7meoprTNISbScYFbIwz7R0M4i57wId5c7ZY9-KdstenWVYP5tq6Bdd5q4CqXOGSAxffZluI4oXZbtklqNog0fs-c2u4xQSn6YTouQECnL1YsZyrzAZs1dCjbRa3OKNAo78EJtHMm0ssY1eCFHg2t-ezU5D2ZNw0OiW3x7-ksyhO0En31gs-pNt-OWh47vRfzue9Kcak0Cb-QS23E5KdNYk4npkyMGYbO2_bte4VxfEefSNBtOH6zZy32XDzyeCE-rNtsRw_BJg_OYSW1uW5UzMGpUkZ7lh6TDFURUBKpXtf-ULb87FZmQuAG1bTUyxb3t0RljCd3l5z7s8n3RuVWYaurxP9VGnW6reAHscJeFhjfKtfFsW2VrKqCLPihZTVU1PanftxFVvHaVcckt83MkccFVG5izqB-rCA3gyN1pHoSrJvP61xDRoJxM-XMz_8TUazg-53dGUjH2FniDAU49y81N1z9w8JbS2Y_y09OWYazAI2iAzti5BccbL7Ykv8MqtryVjljV3MVGfQHU5ipQNP_iUeNH6Mtn9Lv0VFDtJ08eg5hgwfL8GgZcmQyLTYAG6_4YNc-bNaW47xkyE3KM0NB7zOWOU9iSawP2IqxJ3JR7VqfbWYFmuVsUDeBE48HHj5e8GayYecyAqsjeVBO6hfXr2HOcCHuOj3SPBLaW0kQlFyjne9jT2iLwCJXAD-UzULM8d7UjzGXicmNPd71W6oboGcbQwWaeK2H3PAeEBcKVKR3ODEOlnAsYb5965b-R--WLCR23Oo0X4NqLx3EnysiYguoyRavJytlVtPcnmLSXQpTVd3p8gueRfXyjtC07hYZ0JLYSg44MFwIQXmtc5u9u9KDUX9ot6mJx631v4QFYFKzEFQR6tNOgvVwiTx-yXA8ibmGRi6temkuQYHMXZYVouLnE5BvBOcv5gFGJaCc2mG3DfSKYKvnQfezYXYaFV_y7udJgGoabqmw0eGy_JqXmxNmrp9YTqlvaOzD0atLLCRtKaTyANrg9o028fIkd6_G4pENHNlEi1vtaBGVIwA73Xqax7-8XFsEUF13zM8w9IffCxxJqtYMaj4WpLyKaAGZj-mCeIWeUHUTs2RUSXiHAx0dHLteoiXoXattaP4PVwnTV0_af2M9SXXbTzGFAZ-FRrS-BIJKLwVj_fTA-nzZwJMisCE4Aj80-U8cmwpMInlFIotwfoJEByBcuqsOeWrgul6JlBkOBFXV39blQzJi641MPcYpZYnuz6I7yGyLltbfDSM0aguaIIU6X89Ezam7utLoIA0hXQW7dn4iWkUaQgZaD5ol0Ea-hiu9ZYevNVdClSWl_zBI8nVlKnu3e9KG5Bxv2OMxh8GGXEUfBdWX7YpfNBx7fKTui31BucSZTAIs9QHT2u6IZW6zsmGzzXCijEHsqqkhYmTyQ5PNuQ0XhrbUXlC0vd2EqSw4APj9CkNkZSTnEbMhdsE_z8fc2r8F1KotJXPdoyhziV61Je8WglQY82iyNE8YJl_ZE21uiKZDMZjYOXnyuGohVl6i9jCdsz_MunQUZ6p0u3p1rDz_xZqO5AvVimpj3PfPcYSXWfk3EiH-yyhtzhk0GrKGFig=",
  "id": "rs_0cd2d0c04e92e6e2016aac6005fac087d0b1a918f3da8bcc0b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.535,\"right_y\":0.105,\"right_z\":0.065,\"right_pitch\":0.55,\"right_yaw\":0},\"note\":\"The screwdriver has slid forward near the basket. I’m approaching from above with a forward tilt, keeping the jaws open so I do not push it farther.\"}",
  "call_id": "call_VMbX7wby4Pefpwh4oYXjypCn",
  "id": "fc_0cd2d0c04e92e6e2016aac600b5b8487d0bc286c8bca15a3b0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_VMbX7wby4Pefpwh4oYXjypCn",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8135, 0.6029, -0.387, -0.0219, -0.028, 0.9995, 0.2901, 2.3314, 0.9165, 1.3285, 0.2619, -0.0463, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1727 left_yaw=0.002 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9995 right_x=0.5289 right_y=0.1139 right_z=0.05 right_yaw=0.0396 right_pitch=0.4751 right_roll=-0.0497 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.1282, 7.0632, 1.7216, -0.0806, -0.0708, -0.0122, -0.9641, -9.8256, 5.1624, 2.2491, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:be585d1fda6925f7cc7ba64e9a0ea07ae5af79681739d173e13ce0fe44376deb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a7ba59ff284b345f6f36a0b69531f48209fd66c6cf5e1c4316c3733662a93eb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa2af3235cd52f6248311d3d328ccc0f90ba58334d749035af74d68f47f38361",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob be585d1fda69
wire blob a7ba59ff284b
wire blob fa2af3235cd5
call 10 attempt 0 · /responses · status 200 · 6.521 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8131, 0.6029, -0.3866, -0.0219, -0.028, 0.9995, 0.3531, 1.8748, 0.8486, 0.366, 0.244, 0.1196, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1729 left_yaw=0.002 left_pitch=-0.0274 left_roll=-0.0018 left_gripper=0.9995 right_x=0.4528 right_y=0.1252 right_z=0.0375 right_yaw=0.0572 right_pitch=-0.0788 right_roll=-0.0408 right_gripper=0.9964\nstate[joint_eff]: [-0.3214, -1.0462, 7.0769, 1.7656, -0.0757, -0.0659, -0.0073, -1.0188, -7.8564, 6.694, 1.9219, 0.4371, 0.188, -0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGAUd-JsL9wR1OrciBmUuYCcq45PRWAne6g0RtCnl8IYoHNY9wUjX6O1BUsEUwsxs1ZbNLUuM0Q9cfXAJ-X3X38SMW0377Z9jNsucxuEfcmLV0BW3p-odtw7b0wVKabcWJt4yPMfmnTK8TgF4KuYUq07c0T0NufWXty_OlYAHZQioT8yf5MRxfdJ9-MciacV8FspGgfAcyeXCtQo8zkOkjILSy5TElx0ug6YTgWF-LCi91LfQ4q7SLWqp05L8qvY6WSxVLKO-BTA0uoFgMoGqQNNnsWBHa2uXLjkNNmIvwQfWvPR_T-W8jUXAfp0HXzbQTt6y2vrA6qxs9VdE6oRVzOCfWD0tVu3VUn6JW4kjf_CR3YLd-Exs3Kj252VixsyF58RDNCsqWAkOtCl_5vCA8XkDGr9u4igLp_9iIbj-3kYrV04tJGi6UfPmY8_R9vDwL9DwIUg1p1NSyWIn2NiOrH_gX_dp1wgdG4to_8RMrFNxJMUcoZmXZZAAN0ju6dRa97TTUcadpkAaoZz_3MX8nkiu303L9pg1q5TKZ0pWgLTMQe5B-rIQ2gv71cn_NPUu4t5hYewgaZwhVmmUD47hZAxSeE4R2jqqygfQursqetLOGU_La5YKmOvUuNUTKjJiqAHQUS5pjVf06Q10pDhA-7Wb3MkJzweAw-vP3olfFzoYxodrWvU7WwlxQZnjjCj6KF-660AYT4MF76d9aAF2szb3f-aJyMuWFsHj6ePxhvoag0yiCXuZtrrFg5_9JAYFktDWnCb4S7hSPl3UsFZ49uPNn4qrsCbD9sA3eLIH8u_1emLqGJR_GCyTmShMB2EkxF5DS3IZerVPUUqbISzd1JBTx4T3gNYOwvQm4cnAAWTgzf9_PdnuT08aQ0qAvLGsr6bj8AnGDBEmIUUCKY4KPdZUxdegeeuBIV04tvnSNQO3qKCpjBoWypIphJlx6a5ZrvvX_2_mJAEOiB1Y2m0jq2jW6zjnRWbGzjVFDK1ynlQCxUsEUpCm_gyel3IMVcesCbXwGtCn1BVTvO3SIpzb-YzHn1tkyPraxL6SuBs3k7XJwv4CUpq0e6LlKH_AZeKsDPmZn96BKhlQ1YSO33ZUHGEBJXKixNgher55rzA_XlNyZCfSDpMN_6CZCagsrBrwqSrLdx8hLod4jRRUPMZnaoHgEvQ1q48w26KB7gG9TkWEDvhbAuvmaAxgJ9UksFIyjW8qHtC31XFRHcqd2gzYKW-jKyoVbccNd4kryOeYLK4a_bMqeVT99iP3SDTsuNvvqpKMeOuuOPAQDJZhkPiCgh1OBKLCFbOv4NtI5SypSp6lPb3NtekxrsHDMRXhSih23pZxPe9r7Lq2qQkAC09vTnujYsyThOm2iqBg8BeQMCtDRo=",
  "id": "rs_0cd2d0c04e92e6e2016aac60112ef087d0b0e843c64739dc58",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.568,\"right_y\":0.072,\"right_z\":0.026,\"right_pitch\":0.6},\"note\":\"The handle is ahead and slightly right of the fingertips. I’m advancing the tilted gripper and shifting right to bring the handle between the jaws.\"}",
  "call_id": "call_rTbzPbM7eKxOQ6LU9JDxXkXt",
  "id": "fc_0cd2d0c04e92e6e2016aac6012b01887d0a291841d7c9f066c",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rTbzPbM7eKxOQ6LU9JDxXkXt",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8165, 0.6029, -0.3878, -0.0219, -0.028, 0.9995, 0.1791, 2.5256, 1.0824, 1.4815, 0.1555, -0.0647, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1717 left_yaw=0.002 left_pitch=-0.032 left_roll=-0.0017 left_gripper=0.9995 right_x=0.566 right_y=0.0783 right_z=0.0389 right_yaw=0.0304 right_pitch=0.5965 right_roll=-0.0394 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.5658, 7.0222, 1.6825, -0.0659, -0.0562, -0.0073, -0.8684, -8.1573, 3.7675, 1.7656, -0.022, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94e373a0a252170559a0ab19e392582fb5bab10d2aa55cb7263a2b2351657404",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:328c3962f7b453011d9b80640c40d089fd1c2b1a5398319fc2d4a993e4a8be6a",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 95):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5e5fdc1476e9006d2b888a2d0b33d6675f6c999a1d9e862a9fbee8773aa8b2de",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 94e373a0a252
wire blob 328c3962f7b4
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 5.308 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8135, 0.6029, -0.387, -0.0219, -0.028, 0.9995, 0.2901, 2.3314, 0.9165, 1.3285, 0.2619, -0.0463, 0.9964]\nstate[eef_state]: left_x=0.2949 left_y=0.0016 left_z=0.1727 left_yaw=0.002 left_pitch=-0.0282 left_roll=-0.0017 left_gripper=0.9995 right_x=0.5289 right_y=0.1139 right_z=0.05 right_yaw=0.0396 right_pitch=0.4751 right_roll=-0.0497 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.1282, 7.0632, 1.7216, -0.0806, -0.0708, -0.0122, -0.9641, -9.8256, 5.1624, 2.2491, 0.1978, -0.0366, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGAbf9ZIRGELPtdiVttCmQC67Cp932bU_FJ_QgDdlRkYDumrX-Ae7IM6WyHpNdDciSbGLEzxcjTXQrfYWE_zrb_EWwRAiYUR1gGoUas_pTPViJTgIY1Rt9_WPQeoYLSNB843t0M-GWjkkUGbLohdPlW7PpECvA_Wz03UxkCVQuOstej_hJUOqH1r9pQRYVjMTu8kc0qNvRw-p1-UD6baoViAHDOoC0sOgVrCZBl8_75toLNw6i5RM-KTcS32SVu52swbdG8RUnLY_vnGy3I9h8n3HhcPR_t0OAYN0FD_TWw_pQkKR11fm9KR-fF14sawNTXgOrw_kYPQV6VEk5bPvov4Vx37V2PzK83GLaw1GEH2DAdlQLvQ-8Iuxwcaws-AMgdHv8DKEi4VEjSWoslDJvy9nizwKzYicPv99kcL0GFCNAwbMks7krhLh9VjePBmhhpM3vQLfbGihXWSuoMG548mslHbIkwHyxl5K99MIhvuUqKpaP-inMdUeBtNC7dneZRd67nOQtcb9FytCu24PdkshFVxXcHaimH2jL_3f41k8ukg9wmhNyjvDf6F9Gyh_11eIpTcy7DubS3cwT01YN6OBfkpliFvtufTKw7wgovY19jUdq3DyAQIe9m7GQewpT_f9Kd3-7073S9iHe-rUN171wYSen6fszoq4b8GCFmbDMgnkLKHSBYZ1lSA9e8XFLUHwGpkQfdZ7JXZL-iFqn2acI_jnVUhz4cUlX4Ms38h7BZKQMMB445Z8hgVUPqRcTkKfkErZSSsU0DjcYIlJU3DzpDejchhBbk51sXHg7wtPYRmCffXQ0h09OiuanmiShdkLCzxAn5pBO5_YcCCTJkL-qv7Ub64EbE5I2Zyeyejad8vlkxe-PjRrGH9HSYOTmn-6DmHwESqzPaJCBYWYJOwqa9stoF-6VplsS3FNlR03caw0-QNXSrXyL13wY5v8bnwGLkPsQfA3kkdvo7nUz79AL3K02KUClsmWk1wfFqFpDix_hAQ6dJOq4jnSrbqencNdhZfRP6TY71_iG-cn8XbdOcyNgqITkxbh3Hul7iPs-R228zGZzLpib9u9TeI3MaBixoyJurZXjJiWXcupHJBO4FA0R_MX__QS0v7Wi4rAzySZ2IpHufTsFnuKxZ6OrzcrSy2B5KSNrrV6hWU2uyzYyr14XwxS-N0A9MHkh93-Yg6IfFZsrNyGZIo2DxPKdwPet2rK9sZwhexbrZaTgL4t6scXIATPD1XOXUZwOC3VanwO6E1E7ZQ0vTZtUh4tMy-B7JOt-vCgYQSDwpPbbmg99su2rwv4IbC_Fdv29UgiyZMaX8-Ja0Luk0zNMwT560A",
  "id": "rs_0cd2d0c04e92e6e2016aac6017b51c87d0a394c70c1647f7cc",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.582,\"right_y\":0.061,\"right_z\":0.012,\"right_gripper\":0},\"note\":\"The handle is now at the jaw opening beneath the basket. I’m making a small final advance and closing around the handle.\"}",
  "call_id": "call_kZMVAdpFTdDB6locDm9cBSTk",
  "id": "fc_0cd2d0c04e92e6e2016aac6019fd4087d0ae44e9cdf3e3a6e0",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_kZMVAdpFTdDB6locDm9cBSTk",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8165, 0.6029, -0.3874, -0.0219, -0.028, 0.9995, 0.1646, 2.5389, 1.1046, 1.5127, 0.1295, -0.0765, 0.0107]\nstate[eef_state]: left_x=0.2951 left_y=0.0016 left_z=0.1718 left_yaw=0.002 left_pitch=-0.0316 left_roll=-0.0017 left_gripper=0.9995 right_x=0.5704 right_y=0.0753 right_z=0.0466 right_yaw=0.0467 right_pitch=0.6363 right_roll=-0.0492 right_gripper=0.0107\nstate[joint_eff]: [-0.0752, -1.4017, 7.0222, 1.6923, -0.0464, -0.0611, -0.0122, -0.6359, -9.0462, 3.7675, 1.8437, -0.0073, 0.0171, 0.9451]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c025031d0a33423b04bdf5fe702234a734719c4a6fdaedca661504928a0a4cc6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b83d5eea61e440fcfa5e6efeea38df291e87d5e3a9249bee0846add137ccd1fc",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 105):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1aae24d78fffac7b8822cb9a101251cf2813bdb35f829f7ea680228e8936a828",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 12 attempt 0 · /responses · status 200 · 8.494 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.02, 0.8165, 0.6029, -0.3878, -0.0219, -0.028, 0.9995, 0.1791, 2.5256, 1.0824, 1.4815, 0.1555, -0.0647, 0.9964]\nstate[eef_state]: left_x=0.295 left_y=0.0016 left_z=0.1717 left_yaw=0.002 left_pitch=-0.032 left_roll=-0.0017 left_gripper=0.9995 right_x=0.566 right_y=0.0783 right_z=0.0389 right_yaw=0.0304 right_pitch=0.5965 right_roll=-0.0394 right_gripper=0.9964\nstate[joint_eff]: [-0.212, -1.5658, 7.0222, 1.6825, -0.0659, -0.0562, -0.0073, -0.8684, -8.1573, 3.7675, 1.7656, -0.022, -0.105, -0.0122]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrGAhdRyrjjnP9G9c_Ksuf_a5EUGXVebSOKbQryS-LLmBH8NYjbPUQTzSdb6-IWM0vulm9tkF6ImQwWJIf_fJI3iYgMUaTNS5FuKLuMM5s_yKRd-DCGuYNlRvarUPhTgulCPuz127zxIE0SKRS_NLs0CduahlXbFoKkEPUhGbmFxjhpZU5YxFUfPzoWOtY4W8RZDRMTGyotMfG6ziV7XP_8sFtgC2rm3ZXCXfZzhdRFmHODTn4F7YfC8_9Vq-iK2Wjfd1l7jXj3J-wUU-bGMjlTO_gKhsSIMGea8D8XTmTBf6BWE0oak43GYCP591KYini_hdOfTpu85Oq01LrQptKkAlHkqBmHpm-_xsMtymTKdVvB6Jt8bn3HgGRNHFFMwAOWC0f9Wc4TnIgSyLe5h5ZeeSH7JoSpR0I5zKhsmIjCAksKpDT1oRhcoMHh2O7fEjNPBegOBWZNBScUsyItZD_SrJ1aGH_bTOIhv50TLIsahVczXAUbO1X3BneFmNLXaMHc5rVXvniSlnIz24wHz5BVu4j57PMWJrNOy01OoJDC479WszzQ2oETH5iPBHhNfXxAVY2sBran51qUG8NycvPpRgEyJ0F0mktu3oaJdY40O33T0wUVfKh2PMYe4G-Q9-0MEvmh_L8vGfDeZVZ2j-zl0Rrp-vgGCXGPv326oRXB5I376Nb1GEWC5AS_WZqCx9Q6TtVQ8hFB_Hrw5muAbdsdCyiBDxybNdqIDXGraCaTJj0G2ytMm2depmJusfIs8rpVvGs_oQRXqklDAqmn3UhNyxSBqxRormqKIXVhyhZBdJMJY2OCYcJ2zRkqcqHf97LVODFBBwCgn_GjDOg-k0-rEOxPgXhrIkqJvQJeAeOtt1wrrjKZfLU9EMjPzroHBEZTvOiVjb1uS8MHgsMd95OVMvO86RKFABcIPXTMXaf0MkqYwKXlPNXNmxXELZPuFL6JWxiL56rIta4HRfBW3Ls5DodzvLRMCFHh8HkzVBTcgn79H03lmN5eGCYMJ0LiSviedWOJfChahtZtLFQuCIBxwBnbT1G7Z4f8WAbR9O-O4G2zuK1jed4iqNiEvRJuslxfbEdflCq7gfJNBE9itHSCdL1t8Uf-M3az169OSzupANGnC__atuoX2oN8GlrU9PzhUgDZ2l97OyNQqmAlQ9JaF3Wb9WVBk4BfXYse2g22pR2cM5qx1HqVISbF7u29-eB2_vxLC9WgEaVgRhZPirRs1PMDY0jBbskcBT4WQPf4-peE8LpIFte_OSXBtbYlcxMNH-5m6eqb1rllXE6VaVpPhuSmgJ__OtFfog2KDS_Lq7ZXwhillsM1V8z1FjlkcLbqOI",
  "id": "rs_0cd2d0c04e92e6e2016aac601dfa6c87d0b276dc41baa0ec7f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.05,\"right_z\":0.18,\"right_pitch\":0,\"right_yaw\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The second grasp is empty, and the arm cannot lower enough at this forward reach. I’m withdrawing both jaws clear of the screwdriver and basket rather than pushing or forcing another attempt.\"}",
  "call_id": "call_OtvDJcTC7jeLQJ2RX34GBUsH",
  "id": "fc_0cd2d0c04e92e6e2016aac601ebe7487d0b32b97598fff0519",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OtvDJcTC7jeLQJ2RX34GBUsH",
  "output": "executing move_to over 22 steps (2.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the screwdriver into the toaster\nstate[joint_pos]: [-0.0231, 0.8204, 0.6029, -0.4309, -0.0261, -0.028, 0.9995, 0.1707, 1.4597, 0.8986, 0.0177, 0.149, 0.0071, 0.9973]\nstate[eef_state]: left_x=0.289 left_y=0.0015 left_z=0.162 left_yaw=0.0025 left_pitch=-0.0789 left_roll=0.0019 left_gripper=0.9995 right_x=0.4372 right_y=0.0524 right_z=0.1684 right_yaw=0.0153 right_pitch=0.0217 right_roll=-0.056 right_gripper=0.9973\nstate[joint_eff]: [-0.6359, -1.4427, 9.7846, 1.8144, -0.1001, -0.1197, -0.0122, -0.1573, -8.294, 9.1419, 1.7314, 0.1245, 0.0806, -0.1148]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e17a3c5fa5829c08dd0aacc5b95937374c001c4aeafe496fa53d7c20e9f31055",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fc344ebb51c6c72447832489c3c47a022c313e07a5a3a49a61069b7b3b553ac4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f1bb247ac9f5d11a61e07d5776fb4a9aaef76da32ebe616e8a3a2843faae3c45",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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