adhoc

completed
2026-09-18T02:30:36.054317+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (78 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
120.2 s
total steps
144
operator
0
scenes
1
trials
1
errored
0

scene-0

completed

put the black brick into the pot of water

Reduced scores

operator=0

Trial scores

trial 0 operator=0

Termination reasons

done

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 black brick into the pot of water
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 black brick into the pot of water
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 black brick is to the right of the pot. I’m bringing the right gripper above it, open, to check alignment before descending.
move_to
right_x0.3950right_y0.0900right_z0.1500right_gripper1.0000left_x0.2946left_y0.0013left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0196, -0.0414, 0.9996, -0.0212, 0.7933, 0.6029, -0.3798, -0.0166, -0.02, 0.997] state[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0003 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997 state[joint_eff]: [-0.4991, -1.5658, 10.1538, 1.7753, -0.0757, 0.232, -0.0611, -0.4991, -1.4701, 10.2085, 1.8779, -0.0513, 0.022, -0.3248] 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":0.395,"right_y":0.09,"right_z":0.15,"right_gripper":1,"left_x":0.2946,"left_y":0.0013,"left_z":0.18},"note":"The black brick is to the right of the pot. I’m bringing the right gripper above it, open, to check alignment before descending."})
tool
executing move_to over 8 steps (0.8s)
step 8
top_cam
camera top_cam step 8
left_cam
camera left_cam step 8
right_cam
camera right_cam step 8
assistant
agent noteThe brick is slightly right of the jaw center and still ahead of the fingertips in the wrist view. I’m shifting toward its center and lowering for a closer alignment check.
move_to
right_x0.4250right_y0.0700right_z0.0650
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7986, 0.6064, -0.3897, -0.0223, -0.0425, 0.9995, 0.3283, 1.3491, 0.7372, -0.0776, 0.2367, 0.1425, 0.997] state[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1778 left_yaw=0.0029 left_pitch=-0.0099 left_roll=0.0007 left_gripper=0.9995 right_x=0.3753 right_y=0.0879 right_z=0.1242 right_yaw=0.0479 right_pitch=-0.0975 right_roll=-0.0307 right_gripper=0.997 state[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.7753, -0.0024, -0.0073, -0.0171, 0.3077, -6.065, 9.2513, 1.7314, 0.2466, 0.2027, -0.3248] camera 'top_cam' (step 8): [image omitted: streamed camera frame] camera 'left_cam' (step 8): [image omitted: streamed camera frame] camera 'right_cam' (step 8): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.425,"right_y":0.07,"right_z":0.065},"note":"The brick is slightly right of the jaw center and still ahead of the fingertips in the wrist view. I’m shifting toward its center and lowering for a closer alignment check."})
tool
executing move_to over 4 steps (0.4s)
step 12
top_cam
camera top_cam step 12
left_cam
camera left_cam step 12
right_cam
camera right_cam step 12
assistant
agent noteThe brick remains ahead of the fingers and a little right of center. I’m advancing a few centimeters and lowering to grasp near table level.
move_to
right_x0.4600right_y0.0550right_z0.0150
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8032, 0.6037, -0.395, -0.0227, -0.046, 0.9995, 0.2226, 1.6398, 0.7357, 0.1349, 0.1761, 0.0891, 0.9969] state[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0225 left_roll=-0.0016 left_gripper=0.9995 right_x=0.4081 right_y=0.0643 right_z=0.0504 right_yaw=0.0195 right_pitch=-0.1858 right_roll=-0.0512 right_gripper=0.9969 state[joint_eff]: [-0.0205, -1.6068, 7.4325, 1.8193, -0.0513, -0.0122, -0.0122, -0.1709, -8.6359, 6.2291, 2.1074, -0.0366, -0.0073, -0.0317] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 12): [image omitted: streamed camera frame] camera 'left_cam' (step 12): [image omitted: streamed camera frame] camera 'right_cam' (step 12): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.055,"right_z":0.015},"note":"The brick remains ahead of the fingers and a little right of center. I’m advancing a few centimeters and lowering to grasp near table level."})
tool
executing move_to over 4 steps (0.4s)
step 16
top_cam
camera top_cam step 16
left_cam
camera left_cam step 16
right_cam
camera right_cam step 16
assistant
agent noteThe last reach stopped short, and the brick is still offset toward the right jaw. I’m raising slightly and tilting forward to improve reach while centering the jaws around its narrower width.
move_to
right_x0.4700right_y0.0400right_z0.0550right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4061, -0.0227, -0.0494, 0.9995, 0.2081, 1.7069, 0.7338, 0.2146, 0.1524, 0.0704, 0.9968] state[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1716 left_yaw=0.0069 left_pitch=-0.0346 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4167 right_y=0.0642 right_z=0.0366 right_yaw=0.0356 right_pitch=-0.1789 right_roll=-0.0467 right_gripper=0.9968 state[joint_eff]: [-0.0615, -1.388, 6.9949, 1.7949, -0.0659, -0.0122, -0.0122, -0.2393, -7.3231, 5.9966, 1.6777, 0.1832, -0.0024, -0.0171] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 16): [image omitted: streamed camera frame] camera 'left_cam' (step 16): [image omitted: streamed camera frame] camera 'right_cam' (step 16): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.47,"right_y":0.04,"right_z":0.055,"right_pitch":0.3},"note":"The last reach stopped short, and the brick is still offset toward the right jaw. I’m raising slightly and tilting forward to improve reach while centering the jaws around its narrower width."})
tool
executing move_to over 16 steps (1.6s)
step 32
top_cam
camera top_cam step 32
left_cam
camera left_cam step 32
right_cam
camera right_cam step 32
assistant
agent noteThe brick now extends between the jaw columns, with its near end at the fingertips. I’m lowering slightly and closing around that end.
move_to
right_z0.0050right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.1223, 1.993, 0.6064, 1.0218, 0.1051, -0.0257, 0.9966] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4602 right_y=0.0415 right_z=0.0355 right_yaw=0.0424 right_pitch=0.206 right_roll=-0.0542 right_gripper=0.9966 state[joint_eff]: [-0.0479, -1.3744, 6.9812, 1.7363, -0.0464, -0.0611, -0.0122, -0.6906, -7.747, 4.9709, 2.0781, 0.0073, 0.0122, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 32): [image omitted: streamed camera frame] camera 'left_cam' (step 32): [image omitted: streamed camera frame] camera 'right_cam' (step 32): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.005,"right_gripper":0},"note":"The brick now extends between the jaw columns, with its near end at the fingertips. I’m lowering slightly and closing around that end."})
tool
executing move_to over 10 steps (1.0s)
step 42
top_cam
camera top_cam step 42
left_cam
camera left_cam step 42
right_cam
camera right_cam step 42
assistant
agent noteThe gripper closed empty; the brick stayed on the table just beyond and to the right of the fingertips. I’m reopening and moving farther forward and right for one corrected attempt.
move_to
right_gripper1.0000right_x0.4900right_y0.0250right_z0.0550right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.1242, 2.1098, 0.6067, 1.1942, 0.0917, -0.0265, 0.0072] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4645 right_y=0.0453 right_z=0.0237 right_yaw=0.0553 right_pitch=0.2615 right_roll=-0.0461 right_gripper=0.0072 state[joint_eff]: [-0.0752, -1.306, 7.2547, 1.7118, -0.0415, -0.0513, -0.0122, -0.2256, -6.5846, 4.0684, 1.2869, 0.1343, 0.0269, 0.5446] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 42): [image omitted: streamed camera frame] camera 'left_cam' (step 42): [image omitted: streamed camera frame] camera 'right_cam' (step 42): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.49,"right_y":0.025,"right_z":0.055,"right_pitch":0.4},"note":"The gripper closed empty; the brick stayed on the table just beyond and to the right of the fingertips. I’m reopening and moving farther forward and right for one corrected attempt."})
tool
executing move_to over 10 steps (1.0s)
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 brick’s near end is now centered in the open jaws. I’m descending with a small forward correction before closing, keeping the fingers around its sides rather than behind it.
move_to
right_x0.5050right_y0.0220right_z0.0050right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0578, 2.1254, 0.6468, 1.2613, 0.0273, -0.0551, 0.9954] state[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4817 right_y=0.0266 right_z=0.0451 right_yaw=0.0611 right_pitch=0.3516 right_roll=-0.0544 right_gripper=0.9954 state[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122, -0.5812, -7.3368, 5.7504, 2.1709, 0.0269, 0.1441, -0.0317] approver: 10 step(s) modified (delta_clamped ×10). 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":0.505,"right_y":0.022,"right_z":0.005,"right_pitch":0.4},"note":"The brick’s near end is now centered in the open jaws. I’m descending with a small forward correction before closing, keeping the fingers around its sides rather than behind it."})
tool
executing move_to over 3 steps (0.3s)
step 55
top_cam
camera top_cam step 55
left_cam
camera left_cam step 55
right_cam
camera right_cam step 55
assistant
agent noteThe fingertips are at the brick’s sides, and the descent has stopped near table contact. I’m closing now and will check the jaw opening before lifting.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8093, 0.6037, -0.411, -0.0227, -0.0498, 0.9995, 0.0471, 2.3398, 0.7605, 1.4395, 0.0055, -0.0536, 0.996] state[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0071 left_pitch=-0.0446 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5054 right_y=0.0264 right_z=0.0221 right_yaw=0.0698 right_pitch=0.4292 right_roll=-0.0497 right_gripper=0.996 state[joint_eff]: [-0.0205, -1.0051, 7.1179, 1.8291, -0.0513, -0.0415, -0.0122, -0.4308, -8.6222, 2.7419, 1.1648, 0.0122, -0.0952, 0.0513] camera 'top_cam' (step 55): [image omitted: streamed camera frame] camera 'left_cam' (step 55): [image omitted: streamed camera frame] camera 'right_cam' (step 55): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The fingertips are at the brick’s sides, and the descent has stopped near table contact. I’m closing now and will check the jaw opening before lifting."})
tool
executing move_to over 10 steps (1.0s)
step 65
top_cam
camera top_cam step 65
left_cam
camera left_cam step 65
right_cam
camera right_cam step 65
assistant
agent noteThe jaws remain about seven centimeters apart and the brick has straightened between them, indicating a grasp. I’m lifting a short distance to verify that it moves with the gripper.
move_to
right_z0.0900
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.4164, -0.0227, -0.0498, 0.9995, 0.0452, 2.3638, 0.7639, 1.4487, -0.0013, -0.0612, 0.7393] state[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1676 left_yaw=0.0071 left_pitch=-0.0522 left_roll=-0.004 left_gripper=0.9995 right_x=0.5044 right_y=0.0266 right_z=0.0137 right_yaw=0.0786 right_pitch=0.4175 right_roll=-0.0565 right_gripper=0.7393 state[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.7753, -0.0464, -0.0171, -0.0122, 0.0342, -12.0821, 2.6051, 1.7802, 0.0269, 0.0659, 1.033] camera 'top_cam' (step 65): [image omitted: streamed camera frame] camera 'left_cam' (step 65): [image omitted: streamed camera frame] camera 'right_cam' (step 65): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_z":0.09},"note":"The jaws remain about seven centimeters apart and the brick has straightened between them, indicating a grasp. I’m lifting a short distance to verify that it moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 70
top_cam
camera top_cam step 70
left_cam
camera left_cam step 70
right_cam
camera right_cam step 70
assistant
agent noteThe brick remains held, but the loaded arm rose less than commanded at full reach. I’m retracting slightly while lifting higher to gain clearance before moving toward the pot.
move_to
right_x0.4450right_z0.2200left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4152, -0.0227, -0.0498, 0.9995, 0.0452, 2.1166, 0.7105, 1.1221, -0.0093, -0.0647, 0.7393] state[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0071 left_pitch=-0.0514 left_roll=-0.004 left_gripper=0.9995 right_x=0.4927 right_y=0.0275 right_z=0.0369 right_yaw=0.086 right_pitch=0.2848 right_roll=-0.053 right_gripper=0.7393 state[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7607, -0.0757, -0.0708, -0.0122, -0.1162, -13.1761, 5.8872, 3.0549, 0.0317, 0.0024, 1.0281] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 70): [image omitted: streamed camera frame] camera 'left_cam' (step 70): [image omitted: streamed camera frame] camera 'right_cam' (step 70): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.445,"right_z":0.22,"left_z":0.18},"note":"The brick remains held, but the loaded arm rose less than commanded at full reach. I’m retracting slightly while lifting higher to gain clearance before moving toward the pot."})
tool
executing move_to over 12 steps (1.2s)
step 82
top_cam
camera top_cam step 82
left_cam
camera left_cam step 82
right_cam
camera right_cam step 82
assistant
agent noteThe brick is lifted clear of the table. I’m carrying it leftward toward the pot at a higher clearance, keeping its projecting end above the rim.
move_to
right_x0.4000right_y0.3300right_z0.3100right_pitch0.4000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8173, 0.6144, -0.4648, -0.0227, -0.0502, 0.9995, 0.0486, 1.4418, 0.7319, 0.2596, -0.009, -0.065, 0.7393] state[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1613 left_yaw=0.0074 left_pitch=-0.0957 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4325 right_y=0.0262 right_z=0.1524 right_yaw=0.0879 right_pitch=0.1186 right_roll=-0.0467 right_gripper=0.7393 state[joint_eff]: [-0.1162, -1.4974, 10.5778, 1.7607, -0.0415, -0.0464, -0.0122, 0.253, -9.0735, 12.3556, 2.8303, 0.0757, 0.022, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 82): [image omitted: streamed camera frame] camera 'left_cam' (step 82): [image omitted: streamed camera frame] camera 'right_cam' (step 82): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.40,"right_y":0.33,"right_z":0.31,"right_pitch":0.4},"note":"The brick is lifted clear of the table. I’m carrying it leftward toward the pot at a higher clearance, keeping its projecting end above the rim."})
tool
executing move_to over 26 steps (2.6s)
step 108
top_cam
camera top_cam step 108
left_cam
camera left_cam step 108
right_cam
camera right_cam step 108
assistant
agent noteThe pot is still left of the held brick. I’m moving to the right arm’s leftward limit and turning the brick’s projecting end toward the pot’s center.
move_to
right_x0.4000right_y0.4000right_z0.3100right_yaw0.8000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8192, 0.6151, -0.4679, -0.0227, -0.0498, 0.9995, 0.9382, 1.776, 1.396, -0.0635, 0.7937, 0.1383, 0.7393] state[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1606 left_yaw=0.0072 left_pitch=-0.0999 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3937 right_y=0.3301 right_z=0.2523 right_yaw=0.1947 right_pitch=0.2553 right_roll=-0.1766 right_gripper=0.7393 state[joint_eff]: [-0.0615, -1.347, 7.0632, 1.6679, -0.0659, -0.0708, -0.0122, 0.294, -10.7692, 11.7949, 2.5421, 0.7692, 0.0855, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 108): [image omitted: streamed camera frame] camera 'left_cam' (step 108): [image omitted: streamed camera frame] camera 'right_cam' (step 108): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.4,"right_z":0.31,"right_yaw":0.8},"note":"The pot is still left of the held brick. I’m moving to the right arm’s leftward limit and turning the brick’s projecting end toward the pot’s center."})
tool
executing move_to over 6 steps (0.6s)
step 114
top_cam
camera top_cam step 114
left_cam
camera left_cam step 114
right_cam
camera right_cam step 114
assistant
agent noteThe brick is above the pot’s right half but close to the rim. I’m turning it farther inward and lowering cautiously to place it inside the opening.
move_to
right_x0.3800right_y0.4000right_z0.2200right_yaw1.1500right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8211, 0.6151, -0.4683, -0.0227, -0.0498, 0.9995, 0.8211, 1.8149, 1.5284, -0.2119, 0.2352, -0.1108, 0.7393] state[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.16 left_yaw=0.0072 left_pitch=-0.1021 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4012 right_y=0.3758 right_z=0.2411 right_yaw=0.6786 right_pitch=0.0735 right_roll=-0.2018 right_gripper=0.7393 state[joint_eff]: [-0.0479, -1.4974, 6.9812, 1.6435, -0.0513, -0.0366, -0.0122, -0.5128, -11.6581, 11.9043, 2.5861, 0.1197, -0.0757, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 114): [image omitted: streamed camera frame] camera 'left_cam' (step 114): [image omitted: streamed camera frame] camera 'right_cam' (step 114): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.38,"right_y":0.4,"right_z":0.22,"right_yaw":1.15,"right_pitch":0.3},"note":"The brick is above the pot’s right half but close to the rim. I’m turning it farther inward and lowering cautiously to place it inside the opening."})
tool
executing move_to over 8 steps (0.8s)
step 122
top_cam
camera top_cam step 122
left_cam
camera left_cam step 122
right_cam
camera right_cam step 122
assistant
agent noteThe brick is inside the pot’s outline but still near the front rim. I’m moving it forward toward the middle before releasing it.
move_to
right_x0.4300right_y0.4000right_z0.2100right_yaw1.1500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.823, 0.6151, -0.4683, -0.0227, -0.0498, 0.9995, 0.7124, 1.8164, 1.2118, 0.1329, -0.2237, -0.2825, 0.7393] state[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1595 left_yaw=0.0073 left_pitch=-0.1041 left_roll=-0.0026 left_gripper=0.9995 right_x=0.3776 right_y=0.3827 right_z=0.1682 right_yaw=1.0507 right_pitch=0.1042 right_roll=-0.1446 right_gripper=0.7393 state[joint_eff]: [-0.0889, -1.4838, 6.9402, 1.6142, -0.0611, -0.0611, -0.0122, -0.7316, -10.0718, 8.6632, 2.9182, -0.2418, 0.0171, 1.0281] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 122): [image omitted: streamed camera frame] camera 'left_cam' (step 122): [image omitted: streamed camera frame] camera 'right_cam' (step 122): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.4,"right_z":0.21,"right_yaw":1.15},"note":"The brick is inside the pot’s outline but still near the front rim. I’m moving it forward toward the middle before releasing it."})
tool
executing move_to over 5 steps (0.5s)
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 noteThe brick is now over the pot’s interior, clear of the visible rim. I’m opening the jaws to let it settle into the water.
move_to
right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8276, 0.6151, -0.4686, -0.0227, -0.0498, 0.9995, 0.6353, 2.0148, 1.5242, -0.1562, -0.3313, -0.3534, 0.7393] state[eef_state]: left_x=0.2854 left_y=0.002 left_z=0.1582 left_yaw=0.0073 left_pitch=-0.109 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4202 right_y=0.3857 right_z=0.1452 right_yaw=1.0994 right_pitch=-0.0392 right_roll=-0.0847 right_gripper=0.7393 state[joint_eff]: [-0.1026, -1.2923, 7.0906, 1.6386, -0.0855, -0.0562, -0.0122, -0.2803, -13.9829, 11.8085, 2.4737, -0.6178, -0.0171, 1.0281] approver: 3 step(s) modified (delta_clamped ×3). 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
move_to({"targets":{"right_gripper":1},"note":"The brick is now over the pot’s interior, clear of the visible rim. I’m opening the jaws to let it settle into the water."})
tool
executing move_to over 3 steps (0.3s)
step 130
top_cam
camera top_cam step 130
left_cam
camera left_cam step 130
right_cam
camera right_cam step 130
assistant
agent noteThe brick has left the jaws and is visible inside the pot. I’m lifting and moving the gripper clear so I can verify the final placement.
move_to
right_x0.3600right_y0.2400right_z0.2800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8291, 0.6151, -0.4679, -0.0227, -0.0498, 0.9995, 0.6281, 2.0201, 1.5902, -0.1757, -0.3717, -0.3786, 0.9959] state[eef_state]: left_x=0.2855 left_y=0.002 left_z=0.1579 left_yaw=0.0073 left_pitch=-0.1098 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4258 right_y=0.393 right_z=0.1688 right_yaw=1.1385 right_pitch=0.007 right_roll=-0.1041 right_gripper=0.9959 state[joint_eff]: [-0.0615, -0.9915, 7.0769, 1.6337, -0.0611, -0.0269, -0.0122, -0.0205, -14.1197, 10.0991, 1.8681, -0.188, 0.0659, -0.0904] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 130): [image omitted: streamed camera frame] camera 'left_cam' (step 130): [image omitted: streamed camera frame] camera 'right_cam' (step 130): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.24,"right_z":0.28},"note":"The brick has left the jaws and is visible inside the pot. I’m lifting and moving the gripper clear so I can verify the final placement."})
tool
executing move_to over 13 steps (1.3s)
step 143
top_cam
camera top_cam step 143
left_cam
camera left_cam step 143
right_cam
camera right_cam step 143
assistant
agent notePlaced the black brick into the pot and moved the gripper clear. The final camera views confirm it is inside.
done
hindsightThe brick was grasped near its end at right_x≈0.505, right_y≈0.026, z≈0.02 with forward pitch 0.4; the successful jaw opening was about 0.74. Carrying this load caused 5–7 cm height shortfalls, more than the usual unloaded sag. The pot is near the right arm’s cross-over limit; yawing the projecting brick inward to about 1.15 rad allowed placement with the grasp point near x=0.43, y=0.4.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8333, 0.6151, -0.4679, -0.0231, -0.0498, 0.9995, 0.3695, 1.5017, 1.4399, -0.5385, -0.561, -0.5472, 0.9961] state[eef_state]: left_x=0.2857 left_y=0.0021 left_z=0.1568 left_yaw=0.0076 left_pitch=-0.114 left_roll=-0.0021 left_gripper=0.9995 right_x=0.3671 right_y=0.2468 right_z=0.2962 right_yaw=1.1231 right_pitch=0.0623 right_roll=-0.1658 right_gripper=0.9961 state[joint_eff]: [-0.0752, -1.7573, 6.9538, 1.6777, -0.0904, -0.0708, -0.0122, -1.0325, -5.4496, 7.5145, 1.4676, -0.1587, -0.0317, 0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 143): [image omitted: streamed camera frame] camera 'left_cam' (step 143): [image omitted: streamed camera frame] camera 'right_cam' (step 143): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot and moved the gripper clear. The final camera views confirm it is inside.","hindsight":"The brick was grasped near its end at right_x≈0.505, right_y≈0.026, z≈0.02 with forward pitch 0.4; the successful jaw opening was about 0.74. Carrying this load caused 5–7 cm height shortfalls, more than the usual unloaded sag. The pot is near the right arm’s cross-over limit; yawing the projecting brick inward to about 1.15 rad allowed placement with the grasp point near x=0.43, y=0.4."})
tool
done: Placed the black brick into the pot and moved the gripper clear. The final camera views confirm it is inside.
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": "What you observe right now in the observation (images, if any, and state), and why you chose this motion. The user reads these notes live and in the saved transcript to follow what you see and what you decide. Write for them, in one or two plain sentences.",
          "type": "string"
        },
        "targets": {
          "description": "Map of dimension name to value. Valid names: left_x, left_y, left_z, left_yaw, left_pitch, left_roll, left_gripper, right_x, right_y, right_z, right_yaw, right_pitch, right_roll, right_gripper",
          "type": "object"
        }
      },
      "required": [
        "targets",
        "note"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Declare the task finished. The trial ends; a scorer judges success.",
    "name": "done",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "summary": {
          "type": "string"
        }
      },
      "required": [
        "summary",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  },
  {
    "description": "Stop trying; the task cannot be completed. The trial ends.",
    "name": "give_up",
    "parameters": {
      "properties": {
        "hindsight": {
          "description": "What do you know now that you wish you had known at the start of this episode? Concrete, transferable facts about this rig, task, or embodiment (camera mounting and extrinsics, table and base geometry, gripper axis and offsets, controller behavior, metric scale), written as advice to a future agent attempting the same task. Say 'none' if nothing qualifies.",
          "type": "string"
        },
        "reason": {
          "type": "string"
        }
      },
      "required": [
        "reason",
        "hindsight"
      ],
      "type": "object"
    },
    "strict": false,
    "type": "function"
  }
]
call 0 attempt 0 · /responses · status 200 · 6.416 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 black brick into the pot of water",
  "role": "user"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0196, -0.0414, 0.9996, -0.0212, 0.7933, 0.6029, -0.3798, -0.0166, -0.02, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0003 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4991, -1.5658, 10.1538, 1.7753, -0.0757, 0.232, -0.0611, -0.4991, -1.4701, 10.2085, 1.8779, -0.0513, 0.022, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3313c253697ad35cac43d93213ff942e9e89ff7a62b69752be516797762263b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dd3613329e02cfcc41dace611b26b5c7a2dc18ef50b9bc03fde5046f685c8ad4",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a3ed5142c4e213631d14ec756e25704bb7ad97dbd4d9ecf1f46a28511118b87b",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a3313c253697
wire blob dd3613329e02
wire blob a3ed5142c4e2
call 1 attempt 0 · /responses · status 200 · 4.903 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrKJfEN1xDnay7uNjoEeI3UMz0dSIeodVZdemJAK5c3vfiYuXtC-OH3OOMKDrWmGpA7sd4iBxveyxcy3QkV-_hjXqdgsHs7XIKXQWMOpDForPPS4h2w2QQXcutWt-Sk5glEvIyteTiqsqpPQfgVI49QmM42Qm9zPhJqI8EmqN7LU6fuytzCa6Ogw9FQrWDQG7ROHG9JAxZAp675r-VFz7gZXfqNTjHB7cPp7lk-7iTjWw8eX7G2xBpK2VUcRPu6R12rC2lm1lmyhcVxxXvW94gxJqygSwjUuP_NvfN4t6HC6l2u-8wNpD1jPvmw8rAyd63HEl7xnMeqeca6mpiE0gXT3mA6dgkDgSpzNrOyuyqgR6pFlSpyI6S6lDi6iambstA7PkswhrhbZqGYK8sK9dbGVyVMAwHny04Xzc0hcQEOP3VLmeoQwXhpe2yfv9cX8CLz-WsIF6sf95WbOCSQA3h6bYgDYKL5QXiuX7wh3FGXaAOJGye6z31ZhRDJAyb9GMAI-VilcxS8lnDzXD_NLhPPMIy-uQAlo_SCdJxyLWjMqfH8L6GV_wT9AKe5ozQ1UR26_w7sZ0nhkJ-hjuXWBcRZcB62qBbh-OIJYz0jhnF0pWwB0bTFnFpEs12qmkG2gFxTzL8Y_1RPO5cm6DNPMRYZiN5UfVGjNsIb2mbbnqGjQhjFB_wZuAW2AFh8SvMHKGj90AJR5lwBJ50G-G02D698QJLnc1qF4KgP7KUiKEseIKrFshhjOlBEyCQ0ln9zuaQs3-VWsEaAPEtGpL0dCk530EKBmNb6OR_tspU9i5w0kQhvo7NogpsbUsuOnTufJvOwIKM_b4DfbcS6wEI-Qv3a8sdlF9vveqcziHK5HLs-ZD-0I6FKT0D3yOlvAPM1bgg6zq1pu78rBFizPUxm6om2ZfT_F_oXIUml6vqTtEbvzFUaW1MxylqUIxQO5PRE8IfozYy4K3tsjWOM9mkTxC1aF5Ur8LoUC7ZDG9Ruzyqv5I1tVxeLegk6cTwwKN0GdpkFkGBwQrXyl0tPg871SHl3lMX5GXSBRP0eHN7-I2krOYQ8peS0Nl4kdy_rV1hCF1HY_iYoHBwOjqEMVT_qX1V3Hhur13eHSUw08byiWJgeCQw3cAR9sZ30mXW8C90SKfABPtevkKB1C-AnmubluwWHrqcaC2Xna3zo8_rWrFygtA1ng_nwnkFbG9ok1GEqCfUpwW41AQWd2qFUcXcZ-tsCagKDnB9dSAkZTCJvJtqgB6-LSMwAjV8MgMbAo7c6yy3HCyc-mYTPxYblTVGCzgWO08cF-GdypD0_KLjmbAENGhY7Ym_geOngWBv3my0bjlvj948VIelYh4wvrhoVcWv_nFn7DmDFXtEhGxP9qqqo2eChiKYe3A09Z7eDfTe_zL6rfSCGb6vda7NTCorm-UUOL-1bAM7PiSeUZqd6qH36QNqxWgZTGcm42z56gtcr88WEln4OFtUrzm2PnhoG6lbdHbf-o5DhefmDaSBfsQC7nblMvZDd9dO28wzuLryaI3dB5ERBP0pqS-9EuQOHtx3A2PbA==",
  "id": "rs_050a853e4c4e6f0a016aaca25acc5887d0a9159b88c5dde271",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.09,\"right_z\":0.15,\"right_gripper\":1,\"left_x\":0.2946,\"left_y\":0.0013,\"left_z\":0.18},\"note\":\"The black brick is to the right of the pot. I’m bringing the right gripper above it, open, to check alignment before descending.\"}",
  "call_id": "call_QczOyZeZcXhkaKP5ctoBug4O",
  "id": "fc_050a853e4c4e6f0a016aaca25d5be087d0bc09b772630cc9a3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_QczOyZeZcXhkaKP5ctoBug4O",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6064, -0.3897, -0.0223, -0.0425, 0.9995, 0.3283, 1.3491, 0.7372, -0.0776, 0.2367, 0.1425, 0.997]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1778 left_yaw=0.0029 left_pitch=-0.0099 left_roll=0.0007 left_gripper=0.9995 right_x=0.3753 right_y=0.0879 right_z=0.1242 right_yaw=0.0479 right_pitch=-0.0975 right_roll=-0.0307 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.7753, -0.0024, -0.0073, -0.0171, 0.3077, -6.065, 9.2513, 1.7314, 0.2466, 0.2027, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b8dbc9857d4d02c7702a77b9521795f00f4d3584da47dac6112702f4589b3c9",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b53396677671370cda81f2da02ee88193aa633af2ff4f1b6c389cc2eac383bb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aacf9911b5f5515ad5d2e78dc31b962c0ba1e9a7e65b344571874a3c82e035bf",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 0b8dbc9857d4
wire blob 1b5339667767
wire blob aacf9911b5f5
call 2 attempt 0 · /responses · status 200 · 5.806 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7944, 0.6041, -0.3813, -0.0196, -0.0414, 0.9996, -0.0212, 0.7933, 0.6029, -0.3798, -0.0166, -0.02, 0.997]\nstate[eef_state]: left_x=0.2946 left_y=0.0013 left_z=0.1796 left_yaw=0.0 left_pitch=0.0004 left_roll=-0.0 left_gripper=0.9996 right_x=0.2946 right_y=0.0003 right_z=0.1797 right_yaw=-0.0 right_pitch=-0.0004 right_roll=0.0 right_gripper=0.997\nstate[joint_eff]: [-0.4991, -1.5658, 10.1538, 1.7753, -0.0757, 0.232, -0.0611, -0.4991, -1.4701, 10.2085, 1.8779, -0.0513, 0.022, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKJkQzu9x8TdlrpmjDLmxAn1zvGbnpSjNJ3cNt6Ze7affjTk9tKGAWFZi2r7h4kkojlWjKYEZvBId1zpIAgcCrIr1iGyy2PtIn0bSkPD9R7zFbXglJ4VSUBQGvIZev5vjgOVSzYG0uNMAbyRQNuNo3XuKj0nARPYDPluY0aY4eWHixs1jFQ0mfmC8X_RwR0hRp-jetBGK4luP5hIrY7r0vlCBJUguLwlHkTQJxsMP32m7Nl-CMfD75kZXqnopZzJjY8rjQifRwQPnjIuVD_-zXfVN6IM-6GQCQ1CtLCE5-f47pRvivZ7U19oCGiURL9JhT7U8CrrMuDNIpqaVg7RiHWl11kVIwF0eVETxejEZxLA5M9LygKZIiiY_cwEIC9w3eQ40LwNp3VIdmnYYsrjygaVQQftF3fPeR3aA6UmQbMgpfTJ-H7Mzo-EAgaHTjU1rElfgF14obqyYasX3Ids9Nub6v3GeYNMgYLampex24uiGwP1qQW32mn5aHAfct_dYcGK23sGJHb_nP5yiLJx64OxZO-ojY5HZqT3Ju3386LcWw5Isp9QBE1GODnF4owRqVIz1CzUFmH-HcQQjEjKFLQr4yyeWupggNfaj2Bq_1q-oJV7HtOwhvKp6tYp7a6krKfKNyNfILmBsnbsUaYJqljH7nSRRRaYPdfHZgR9p95mqXAyucg5-1uiAHKwHUt118Vbtwof_5n9Ome_PR1cplfclFSiI68Zliz8_PM5BB_o33sqXimkCb5_0OwszGYxErluDu3iwKWJqHoW_AKuv16UMdJcSWfEnWqEDm2XFQixgIf3ScN2d6awlBaNsMCz1Jd3IitqilGfd6UDQcNsp-OdHIG4ansF5VIiAyGOnYfFzFx5O73d6CDSUo5vbO3DUL6aps-sfUmLr9XwdezPDszYlk83rVrca-TU5NYXLbh_UIG14SHY2nnxOhuOGG3pZrZNTa5xbkD92BXbzZyTwAtPhl_mRxbS6WFuou0JbrVAjRejjhiW-GFDDRIwv5YIyZsxV-kAFvGqZtzK1maxZr0xmWwvRTk8oxiRX34w3n0kwJx5uccMvPgRbMteIMnotZCnM1so_W0tPNh0lmghtNNANpyFXmLh_XXxl3YbzHQpx9DR1xBg0Flyojcfd5ccT06VETYBU9HC3zp8RGR4rINow78Mn1QT9soy1ZjoTS_MoUN9My9gLd9JP65E8CXI9eBpvrTsjh8_tJsmRpUDGlkfE2tDYonf2ax3rQ_RqXjzFG7IY8n6OSAkVgaGQAcRvXneseoF3wE5MReHAINWlfB8xon4XToC-4COaiC_2KS5L55B0zKw8Gd9vVdbUCyMsQb9aYMzha9fcqVHEvkTEaOJJQ==",
  "id": "rs_050a853e4c4e6f0a016aaca26112f087d0979b9fa2dd2eaed8",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.07,\"right_z\":0.065},\"note\":\"The brick is slightly right of the jaw center and still ahead of the fingertips in the wrist view. I’m shifting toward its center and lowering for a closer alignment check.\"}",
  "call_id": "call_9aMSZg0Pd6NRj40eoe9vXQnE",
  "id": "fc_050a853e4c4e6f0a016aaca263593c87d0acbf3f6228dab81e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9aMSZg0Pd6NRj40eoe9vXQnE",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6037, -0.395, -0.0227, -0.046, 0.9995, 0.2226, 1.6398, 0.7357, 0.1349, 0.1761, 0.0891, 0.9969]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0225 left_roll=-0.0016 left_gripper=0.9995 right_x=0.4081 right_y=0.0643 right_z=0.0504 right_yaw=0.0195 right_pitch=-0.1858 right_roll=-0.0512 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.6068, 7.4325, 1.8193, -0.0513, -0.0122, -0.0122, -0.1709, -8.6359, 6.2291, 2.1074, -0.0366, -0.0073, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5242d9da35fda93c268a6916645215cfe79d196bb998d8910d1959a2b8677046",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:defc9de49ad618ca616730daf9e9ee12c9ed29efcc6f634cd68d7a2010e8d671",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 12):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5277a213d1ab043fc98fdab734f98dfc1ca8676edff5a67b51c7d3edac88b245",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 5242d9da35fd
wire blob defc9de49ad6
wire blob 5277a213d1ab
call 3 attempt 0 · /responses · status 200 · 6.349 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.7986, 0.6064, -0.3897, -0.0223, -0.0425, 0.9995, 0.3283, 1.3491, 0.7372, -0.0776, 0.2367, 0.1425, 0.997]\nstate[eef_state]: left_x=0.2941 left_y=0.0018 left_z=0.1778 left_yaw=0.0029 left_pitch=-0.0099 left_roll=0.0007 left_gripper=0.9995 right_x=0.3753 right_y=0.0879 right_z=0.1242 right_yaw=0.0479 right_pitch=-0.0975 right_roll=-0.0307 right_gripper=0.997\nstate[joint_eff]: [-0.1299, -1.4974, 7.0632, 1.7753, -0.0024, -0.0073, -0.0171, 0.3077, -6.065, 9.2513, 1.7314, 0.2466, 0.2027, -0.3248]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKJr_JjBm3EX4aNWuYzZDhMAi5tQU3raYS2y4OkXV0bLZR2l6IRoOWcxnAjmCFIqP6u9oNj096gIYLYWPVYXoy_oq3KU9fBtqVNKfGLW4UXzwjl-2uW9hIONYjT9tDv42VV_iG-Qqguj2AF3EZnMvd4-tZwKKLrijk2ss3IbuiO5fQMpvMuqeiOjsej4Vf1FKDdpdBHkEsUx2AsqgdDALEuIkmnk3rHdhFQUowl_5iScpHQyab55mFUnO_jwVBpeT1rpFJV1kgIHy9Gnn2ufoVmkHQyGJdZeQ3L_Z0q12IKx4f3pQIGILMXagXRPk_YZMY6ZYZ5R-N70BlGafFlITxXcF1oIKm-uM-64MwcUnGUCxF_iiVuWxE5fbq5jxiB2kPY7IAeZca9v75_Gv1UC6fhI-8tD3MCAQRvemhz2SntJ-badsMah4VvY05sDmCPTp9s6pdSP5L2vdeQG13-WArBElGAL6CdXcvsaXT2YBYa-k-VpFSP-mFajzToGniL7wTGpRLU8bZXJBWAEjvB5R_IBUL8w_VYr8OpW6eKC4UDi53mnMKXRTY1u1N_iCL-R8o7dziWi3ARdMzcUfeQiLRwYPMb4LRBfVaaucS9gHMooFV2IlIo2q1nkJFixM-cyRCflkTmvhXPafnJrwnByalBXEvnj1kTWrykRJtZi0BpMWbGbEH-Jme00t9wgWv2r-5urKKAuLp08YlidCD2CExFC-SFV6onfMsO9s9MYLguFYURhhAgM-MDgQVWZXALcCaFJxQenrs-Hsd9ip2gmUm253L60XcCmpn1WMboeVv1m90Cf_i-5ncxBqD_RFZHxO8UtE0Dbml4yT79ddWd4TVih6HyPaOHWjMY4GOodSEdT7S7OY32c8PI6Zjlyk0YrY0_cPIaxmHNbGng_wc3hitMTowolZMHoFiQgmrnF9ap9f2_vDsoG1IXzpFrypF0ixNnfs8Ci5qCOfQSLi3upVCE9wB281lO6Ix-c15kiVpSX4oTsqTsVsmVRfCe1xPqyEmnPG3W9_PNfcHCWkXGPJYOvdwpE7Qa8PV9oyPY0yx5t1mDdUc3CSXAXKz-7xRbHlnYP1OHjIaMQFkfC-2irHn7kE_sBXFt_J6u4yVK6NFDVTpwwMCh8ibVLrZD8wyupYlmNK2x79JfY0PMwX7qtp9iu_5cBc6WDxuuqyAOxuc8ednP46TGKPCVk3b0MU7hiHUx8OS5LKnX_F-Ek1K0TTqAjF-jCGwqgOXFWhOrKBRxFeL7BPBgjOZUe1_tJlyX7X9GpvuREUzYpzjboIr_aDSU5zAbwPj7fLZypVh4SOdy6kmjeKDp0FZSz4BG1j6f8A51FyHQlicjkW3x2nncv0UFXVjmfT3gbNjsan8ydgNqkfE28hPsbI8SBB8GlPthZgy0pWFxjhIWfxx4AonLVQbyxs2_4f8q6oGPq9axK6YNCe6DXhRnfiT3DZnLkXNgafw99",
  "id": "rs_050a853e4c4e6f0a016aaca267f16c87d09f3082cf6f627cbb",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.055,\"right_z\":0.015},\"note\":\"The brick remains ahead of the fingers and a little right of center. I’m advancing a few centimeters and lowering to grasp near table level.\"}",
  "call_id": "call_MtFb3r6z6Uqmp0GPDklLh1zb",
  "id": "fc_050a853e4c4e6f0a016aaca269d65c87d0a879e12b26e32f5e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MtFb3r6z6Uqmp0GPDklLh1zb",
  "output": "executing move_to over 4 steps (0.4s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4061, -0.0227, -0.0494, 0.9995, 0.2081, 1.7069, 0.7338, 0.2146, 0.1524, 0.0704, 0.9968]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1716 left_yaw=0.0069 left_pitch=-0.0346 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4167 right_y=0.0642 right_z=0.0366 right_yaw=0.0356 right_pitch=-0.1789 right_roll=-0.0467 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.7949, -0.0659, -0.0122, -0.0122, -0.2393, -7.3231, 5.9966, 1.6777, 0.1832, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:233d7c3d7801c424bf9c54d6ad107625f22f56a34c818ec1722df0c019647f12",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:08a1a811198cb653600e75c1578cd22443c05dcba2b88543522a2964f96baeb8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 16):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9262dc752fb236d524a0e729a099b902dfec23b8b594aad389ad03ec806ff8e8",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 233d7c3d7801
wire blob 08a1a811198c
wire blob 9262dc752fb2
call 4 attempt 0 · /responses · status 200 · 5.054 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8032, 0.6037, -0.395, -0.0227, -0.046, 0.9995, 0.2226, 1.6398, 0.7357, 0.1349, 0.1761, 0.0891, 0.9969]\nstate[eef_state]: left_x=0.2933 left_y=0.0018 left_z=0.1742 left_yaw=0.005 left_pitch=-0.0225 left_roll=-0.0016 left_gripper=0.9995 right_x=0.4081 right_y=0.0643 right_z=0.0504 right_yaw=0.0195 right_pitch=-0.1858 right_roll=-0.0512 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.6068, 7.4325, 1.8193, -0.0513, -0.0122, -0.0122, -0.1709, -8.6359, 6.2291, 2.1074, -0.0366, -0.0073, -0.0317]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKJxoeoGu2Oew-ZriV3iY5lAls-iEHnPo--NGxF1SpGr9_-rW6E46a_sKCxey0xM1zFZ6rCBb_Lq8txZg8yJ49ko6IrDu1s_sPlB1Ni0PYkoIrbnW77goZj5BCDdgFb8_croK7fkcNGJBykixgyN1AtyVmv3dldOh9OAoeLF0I6PqwlrnGnN4tBQYiLGMA-BZEQYh_ucuLNb3yXTmx5HdLfe_Wbog3mvl3-ZV7PIwqeet1W4lIuusxR_kostWrwsz7jqDoyedKuBBMKHLM5b-1TfBDpf3-JFEpvY4P4BDgPu4fwBqN1pecs0VPhkDxcHPVAAMzx4_2es9I_d8seN_78JzH0J4nENLqREt_cIl05UGnQMrlRihiugnPHztKID-YDPwjshH_4F-ndbKskUN_Y_o4dnm5_uqDwHDjUoH5YnQLKq7CpN1l7m83rxu81RERWaqV8-7c9PkeZI4HLvysuYBqwmdL660smMzXfyDEz31zDDdtDBCDuC0UAwdstoge6DUJ1xLCtnZwi_RKdo1PnkjcRrRG7M9HGVPuYMuyiP7BS3gU9YpKQQqS5IdmqHMdgIr0c6cqYACArHYjP9yy9qZoKbGbnjUBnpsZ7ngFcU0cEvF1jGRq6AaBJo4iLuO1KduxWIo8HNLzF1hV249EyoGxfFsq-42i73laiWiYVwm6GbhAvi9Ipx1RlVpleG-UoF2klGj6sEmc1jhnqEA7NGY9RC8WHwVbzxnTRy43IuGEGoR_7Fs6JQ-PO_A4uSadL46Vb_If3uOr2Tz1VgKdPiactKjzw37UCVmCZo8BF92t3MVjFGG4Qa-Kd1rCWXu0r5EYcR0pYv3ZPgks48xgx6rCTVFfK5RNp3A0KytW1Q69JqVzvuybp-amg04wdAr7ReYxrCqirFbyNwLPCA1mywkujh2rRKbmVl3IGpcyGPGsklDgssmWBReOjHmu3pbz0x7JYqsn_qKZr9FkUgGH81t5PSiGXfYLo9MBueKMxAmTWohsORML-LToFBG7EE9euTeZ0yGOQhBw-EByyn4iIGVHh2Pr3bsGwSUn670olc-jHsRIvg_pAtOt6rFPzTnaN9OpoiTEYNFAAbPMGrIvzO1kRa3c3nvJApTg0fhIS2b7R3AwglktkJmi7VLs690rjJU480_WUVpi8bKkycny9nYCTEHOHaBFTtf_5qZcnCBPRDUP0uC_G4BweJl3jrMpR2YBsppe6ctnWcYf_NG1b7KU9KSoZeAGZbrZAn4uiC241--LtGB0hj3sEP1kwP5VZrdrbA1oWK8RJ1hBzKNRmdb4uyChhRKR7IUcJUQPzczkCavcBTWw0pJfdW04pvSNMfjwHhfzeNngDpvAvVNgb3PvgxizbeXO1M6O-3ivhClr885cwwGAV0e_O5-cbrwowQNoXDLvwtiZqqv8TuJpf23jWoIQy0M1UVyainjQpCgno=",
  "id": "rs_050a853e4c4e6f0a016aaca26ce49087d0840f7a676e3e506d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.47,\"right_y\":0.04,\"right_z\":0.055,\"right_pitch\":0.3},\"note\":\"The last reach stopped short, and the brick is still offset toward the right jaw. I’m raising slightly and tilting forward to improve reach while centering the jaws around its narrower width.\"}",
  "call_id": "call_RpkOM8NxJlNnWXlV6CH3mUkQ",
  "id": "fc_050a853e4c4e6f0a016aaca26eb9b487d0bd75a3d00a145039",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RpkOM8NxJlNnWXlV6CH3mUkQ",
  "output": "executing move_to over 16 steps (1.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.1223, 1.993, 0.6064, 1.0218, 0.1051, -0.0257, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4602 right_y=0.0415 right_z=0.0355 right_yaw=0.0424 right_pitch=0.206 right_roll=-0.0542 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.3744, 6.9812, 1.7363, -0.0464, -0.0611, -0.0122, -0.6906, -7.747, 4.9709, 2.0781, 0.0073, 0.0122, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2e63be0726413fd3589bcfed7e97fbbc1d7114aea517f6190234dc93479ab685",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:93804d442e538b3140ad4c0770026b1c3ac28d2a14d4d1201c85a575176c41be",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 32):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:96fa26ae7384430d6a9760f97b83e1aa8b9a12fafb72d861b75cbf7734fc77ab",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 2e63be072641
wire blob 93804d442e53
wire blob 96fa26ae7384
call 5 attempt 0 · /responses · status 200 · 5.218 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8043, 0.6037, -0.4061, -0.0227, -0.0494, 0.9995, 0.2081, 1.7069, 0.7338, 0.2146, 0.1524, 0.0704, 0.9968]\nstate[eef_state]: left_x=0.2918 left_y=0.0019 left_z=0.1716 left_yaw=0.0069 left_pitch=-0.0346 left_roll=-0.0042 left_gripper=0.9995 right_x=0.4167 right_y=0.0642 right_z=0.0366 right_yaw=0.0356 right_pitch=-0.1789 right_roll=-0.0467 right_gripper=0.9968\nstate[joint_eff]: [-0.0615, -1.388, 6.9949, 1.7949, -0.0659, -0.0122, -0.0122, -0.2393, -7.3231, 5.9966, 1.6777, 0.1832, -0.0024, -0.0171]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKJ4yPFRNR7Hk2bdKBniRiKUI7GpzZidwBHX86kKerf1uzQLDZ9d3WDn6GNqdAefWPrsLUIc1SeLCPw6OgzSLvmIwwUlgP93xS22gc1cESEF04hoZOm51kCjSnbAdVMCmzePit5ydE1xXwebS3iwjm9pZe0vMcDveVMa7mkw0nvFQp68-2kXNY2I8MCCwHuWV48ZFxt5FK8diok_WcOemTtx7Lo1NrMKfa6qk3mittZYg9I2Hf8TGeBmsH1GafwXD5H7jcZrWtz88vJnh6FmfiKAID97w_mf7PgqUUBp9s6cNsYhe844Oe0QGyPMbbCzikhQlwZHphRutP1gHl4HdNT_xt9ZSonAmde-u1fLABKMTfCsNbiqNRp2JvB50XQlCtlQInVdov3QmiabBk5S__m3xJEtw7hYJqgL4D27zuIYGikH-VhrBKb8Yp_sAL0e7HkXxOH80_3wJhufPyVtV3NLtaoWAA86xcuC9J5JDAlEnsDFDUUJHwrnZkV06IKC7GjghelJ4Z2SPxNF9xaiztPpxdih8Seu1rpHNOeZ0LaQ-pEIPB-vqelxyT4fc0XXBbyC70w4QMI0LonEGAa00BSapRSVy_bkc3LTEJ5aTz3DPr4Ny-ambq42L2veMdylKqMFpcUWzUp9fRSshP20GcyyoGx7imN63tdH1lh0mZn66_6Yci_Vc-UFr3ST3TXdUTyEpcGdihZ2hqDivqcJJuwVUpnbtfXsdqDC2S6Cyvgo_BsV4Pl1Cw0-QGJbGcRyc10FgxWerACnUO4w2y5uRPS_5NsTCmE8PBxKXTQ9YEy1L4xEnv_nRdrdIVA77YFKK6PzL6871AwUnyIMiakU_9Bl2jAp5j-iE-0201CPQpbGxkzLZsjaLSomjIS0z_L5PabF_eI_caXy530kzkhq7Wec82fThCwthJjb5JmHQwjL47rOUzmLyMmAWziVCGuR_gdbeiaSgBezc_mcVjjUsTXegXVSthfVZ29dsO6eanZd25R5XNkDY8b7UKRAmVt6O-w87ZSw4Fc-ISLRoWOtO88-Pxqgk0NrndUrW4cuSnNxui3JAJyLCrCIthak-UxskdOgEBYb4cEty5I3XpEyRTztqxznGII7ceyV7UI_MQyhwRxsQ5n1EeVlZF3gq98X62jLLTBiOPBTKY0Py4hQ8s4K_pgxK2seBwNxNKLE8suZHvR4iqXGbgYWQWdPiLwrQC7aLUjr5feOFzNv61WZrx8N3BRzSjl6XKtr04PXO69ABoH6J6MW2kWjst6flXjiFOz6KWLzpnb6vh-INxFAe2cnE_XAI3PNWSMGt7Hx-CyPVmHKySE7DoeNtGinY8bFDAKmddo3mZGfAaXUWS5ZF_j3hNxrmaDIe-s0YWyDl1LVJsKkHUlqgUCxuB3wq3O47GWfC-_FCb0If4J__vPiqyIvwS3vnQfnaL09a0q0ci7dkUw=",
  "id": "rs_050a853e4c4e6f0a016aaca2751fec87d0a5e6263fea6daa0c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.005,\"right_gripper\":0},\"note\":\"The brick now extends between the jaw columns, with its near end at the fingertips. I’m lowering slightly and closing around that end.\"}",
  "call_id": "call_C4205nnG2AKL9vvnNUe4Zpbs",
  "id": "fc_050a853e4c4e6f0a016aaca27741cc87d0af93546b119dc25a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_C4205nnG2AKL9vvnNUe4Zpbs",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.1242, 2.1098, 0.6067, 1.1942, 0.0917, -0.0265, 0.0072]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4645 right_y=0.0453 right_z=0.0237 right_yaw=0.0553 right_pitch=0.2615 right_roll=-0.0461 right_gripper=0.0072\nstate[joint_eff]: [-0.0752, -1.306, 7.2547, 1.7118, -0.0415, -0.0513, -0.0122, -0.2256, -6.5846, 4.0684, 1.2869, 0.1343, 0.0269, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b95b135ff85b4bbfedda4425f61ba1650c81590f7f68db1a291c872c221d6a38",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d8b05f5b5626ec7ed89f8e98c4e1fb9ead9bb3e7f184b59893ee62e8b88c4547",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 42):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bed37f151492f45d7b89af839ba839cacb94d1739fc86d0726eecc64736475da",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob b95b135ff85b
wire blob d8b05f5b5626
wire blob bed37f151492
call 6 attempt 0 · /responses · status 200 · 5.654 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.1223, 1.993, 0.6064, 1.0218, 0.1051, -0.0257, 0.9966]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4602 right_y=0.0415 right_z=0.0355 right_yaw=0.0424 right_pitch=0.206 right_roll=-0.0542 right_gripper=0.9966\nstate[joint_eff]: [-0.0479, -1.3744, 6.9812, 1.7363, -0.0464, -0.0611, -0.0122, -0.6906, -7.747, 4.9709, 2.0781, 0.0073, 0.0122, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKJ-egg9TZINUs8__8MC9cWSjvObPn5PLEJraU6Zioo04OcpCPUYIGEpbOIEzmUTKhvH1qCIrvS-u20-x3A2uvpmViIu-PHfAr5XCR_3R195DLC4NR2qwBctku_4x97EsjlMoK0ykkfr0AQW_C2WTuZxsuZKFBpELVY_X8RLZxJ8BedRswQl_ed-m0TceWwrOly-HLXFmEmVNMf3y0Nfug_fVXuP40MUMlAdazLDt9ADID5gv8nuWqEW47G78wNtjcnHMz5z0dwsjvUvZtHnbWhctEl99MLocdZZHkRYXV3LQOo1NMbR5guuURZaLILklB25HeG3Xho3vpQ1Ou-iS5yccGVdHw9_yW5AvV6rnXG__wNFunaQP1SolArwljvqKXa82C62IDC__efw53vxSmY2BtI4iM1tNjLJv4TX7X7ROkmZpymOu39N6Tx2Vz6BELFCp8ELQiVzf0csi6TEf63a1ia-qp2axaUqF3sugaDY4gUMnkAcmPzXEQsf-RRsYgj96QmDZIwpckSTtVwsa6wBZJCHkKmKr5LBYera1lONvr1aEhaHHfxi50jKJUvhp3r9kgLTyzWwTGYID1hB7UA5Zsa5d-pvy97nHcyM8gm8m_nMtHg_aT71lUtUeA8Gqs-JNTCpAD5-e2aQzj8oc6NpKJiIvRfMytoOBLx2fQ58nbS9HxKoKly3ItF2udkPvd7noGkhu6Qc9o2De8XUiQQqkpZxylYRuz4rUGrtgJ8Vfnlr3ZUfgr3lZaNjGx1LTXWPipxvfnJx9nqKxghwXhpA3jWJaSq9web-ij5yid0JVguy19vRSz4yVXKAf9GnroQnZFI1xOUsQFdB5GsoiJGYCszEFupSTFWolk9SJeTFM-FJUCEiYS_m1iQE0qyTpiyIRTuyBaBb2YLmuhqxVufpKvEox_UKux-cv1AzOLbqeH9BwiEYuWp5KfgpNRKNxipNoptWT6UGuFK0LyhKNYs_fxJpdXW9sxg7GPusahb9d5nOtriHdAv1X1hKpHxHT9WhUFOab33BJSUf-1PmvBFPf-nN314Zbe5ovFgee2zS79FDADSfTCAaoNYn-sBn0VcuAZvoK0oYZnyGsSMeHIzcm35gxGpdMPtA1eHeETAkV6X7J4g4qJf_1ohaldXIZdAfDSap3OcGbwpvqdp5LcePlgRSxPydFFP1ecVcbQJe1dG_uvNLAzdH6T1erqeyy3XaNlPkzHwb-WhZ9e31mQHEjcmK_fYGb-_QIQ1EFMODyMEp--eRlKxLEoDH680VnZrXNH37Cwg2Or36pmF547du4xZM0oCUekZb_lzhgR4p0QVIRT1IjBMJ6H7BQHMBr7AVQZpanWdk2oYTCpVDinhS8xQVFYt4o8xYm0rguejODtZiCy62T0maccVc1orIq1vNAP5R0TB4ElyAprKa696pSEXeTgWpphIvQrYJehOv3yc=",
  "id": "rs_050a853e4c4e6f0a016aaca27b018487d0b06328e0e333e2aa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.49,\"right_y\":0.025,\"right_z\":0.055,\"right_pitch\":0.4},\"note\":\"The gripper closed empty; the brick stayed on the table just beyond and to the right of the fingertips. I’m reopening and moving farther forward and right for one corrected attempt.\"}",
  "call_id": "call_2VBrrmYgUPaoMwsAIf5BhRU2",
  "id": "fc_050a853e4c4e6f0a016aaca27cb83c87d0ba2e87c87646cfd1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2VBrrmYgUPaoMwsAIf5BhRU2",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0578, 2.1254, 0.6468, 1.2613, 0.0273, -0.0551, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4817 right_y=0.0266 right_z=0.0451 right_yaw=0.0611 right_pitch=0.3516 right_roll=-0.0544 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122, -0.5812, -7.3368, 5.7504, 2.1709, 0.0269, 0.1441, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:fa223507bf20ca0f1ab900ea6f76fa49022d69285c7238fd6941df60555177e0",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5642c836920817f6110706412213aa20defefe71a0d0a6123ded0085d3f9c0e",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 52):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:db7e009c042943e0d46544eca57d3770f07435c76139f5ac96cdfbee34aa1e68",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob fa223507bf20
wire blob b5642c836920
wire blob db7e009c0429
call 7 attempt 0 · /responses · status 200 · 3.857 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.1242, 2.1098, 0.6067, 1.1942, 0.0917, -0.0265, 0.0072]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4645 right_y=0.0453 right_z=0.0237 right_yaw=0.0553 right_pitch=0.2615 right_roll=-0.0461 right_gripper=0.0072\nstate[joint_eff]: [-0.0752, -1.306, 7.2547, 1.7118, -0.0415, -0.0513, -0.0122, -0.2256, -6.5846, 4.0684, 1.2869, 0.1343, 0.0269, 0.5446]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKKFMxRP9k_ZFXMcRYMBTBKI1xmGlrtij5-kQR9BgONJvpDTOShNJ1KKYb1w-r1bhbZKFOQQabZJkl-u9rIV98KY14Ji_-LMDI5GRBfA-hyFeUw7zPEN812d2zFgLPaLQ6NRSX-WzRQtCekqDFBnJn3UwWbOs3fshuOl9NNMRrNjM9Y4P2ZPzjqo1xVvsHnF0rwGsIMnfBuabaNRm4h8Ipzf5dVTGzj7R3br4Q2fiANz9tAuhLzrZzTbDvoRmHnDVy52ZNH-8bjV5bcLxJJn8hcKi775LyxAjBlzV_vpsR2mBmpBrU1KLRYl9z9E0Nwe1sTXey9kSh2bmQ6s9HE0Zo-PdTmOqdimgBbK-vZe-1ILZ7RkZhXvoyT16XMuEGksdxsM1BhjGxNmxunZG9xVg9WEd-aPuSGQTH5FsPDAfNdbOYMo27soehTXfk8AmNqKqRtoJ-TdPxqYdOYjEuZ15_YR6Gth7D2XcooqopTBQFELXzNJjDnAs6JGxIhjL12gG6qlZXA-af0iAPGzATCzRzEAG0GnfGcsa_FRKDwzQHioNo3gCsmxsCqVfyGzhQl5EAHW3bVymQyAuKq75Hk0XP7ZVEUzJEAGe13Uc4slvSb8pWqGT_E_vmIm6NvWtXptRbvnVfMg_vS7ZLpCdJuWF0PX_Jc3_r7osmQfAdPTLyYy55jbL2DnWomP-4KzgD8E8rf0EmpIkyTh8YxSrwVmss8Zcru3P5wphkFLIiyMQbtjurLyRuQyOOrGjabWipohCWSTMn-WEJK9HDY8bNZlyA5EmsWGv7BwzXwdC7mV28GibH9bEoYnH2LPcnJeLQXwvAF2IMJiM6X33g9aiduOepvbncnrlXaIJ7gJsVAyRlwKOcCgp4jZp_b1esjgrtBYcwDC90U-wc5FSMZ_0VqnlD0oboopINEC_68tgDTV3FgOymgIyAuDzhAgJRtC4hxNcAKtA9lP38zrlJ2T5uDkhcpp91l1YOhd9UA7I3XYO91XCfE5Luhh9nnHA2HSowyDRRP1XwCrKhJu7LJPGibRejt91Tr-sbaRkA1fXEddkGwR_V703mkAWlSds970eKXVNrWZPQ6_zn7M939r-ugtaTnpVUCm2qRrHHOxZndvTkSqaLqPWkoqiX-h4n8zZpGW87bq40Z9KlackocekB6sq6fA24_mNdzarq_UD4nDK1gbZCSMza58nucQQP_yz5vJVAjehOdJKpez27RLRI53MDQpmzVvQNKwzZ7vzHAcYHXtf4yIkMJS7dJgVR_p0VbTLnwniME0xHjcIdWQoEaYAagZvr_nx3vEqETKtFtxxdNb291WMbr1CAjgRua2UHuJ5pCGQH_VAx_iiKtWKa6bbNL2ws5DGA-HzXqQL_9eFnpMzhziKj2yfsTD2UFDHRk4BuYmhf0l4DCGuapULmGXd5ZjLrbdHoYxTpN5daT3t-E5UIU=",
  "id": "rs_050a853e4c4e6f0a016aaca28114ec87d0b84db0f73ee3836e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.505,\"right_y\":0.022,\"right_z\":0.005,\"right_pitch\":0.4},\"note\":\"The brick’s near end is now centered in the open jaws. I’m descending with a small forward correction before closing, keeping the fingers around its sides rather than behind it.\"}",
  "call_id": "call_rDHUKzY1sH2rzpEYo4TLCgJZ",
  "id": "fc_050a853e4c4e6f0a016aaca2832de487d097d11382633beda1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rDHUKzY1sH2rzpEYo4TLCgJZ",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8093, 0.6037, -0.411, -0.0227, -0.0498, 0.9995, 0.0471, 2.3398, 0.7605, 1.4395, 0.0055, -0.0536, 0.996]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0071 left_pitch=-0.0446 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5054 right_y=0.0264 right_z=0.0221 right_yaw=0.0698 right_pitch=0.4292 right_roll=-0.0497 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.0051, 7.1179, 1.8291, -0.0513, -0.0415, -0.0122, -0.4308, -8.6222, 2.7419, 1.1648, 0.0122, -0.0952, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3bcb9f7381c23855a8655383ac5d35823308073f6e3c9f937d56f409bc302bd8",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:975283f81df39feee2116bf400e477e56045fb043b716e3dd8ae45e1913954d8",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 55):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:430d58c08faf00bf4e1f45a1a6a14784bb114d314d5247507789d3cb99c24038",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob 3bcb9f7381c2
wire blob 975283f81df3
wire blob 430d58c08faf
call 8 attempt 0 · /responses · status 200 · 3.577 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8062, 0.6037, -0.408, -0.0227, -0.0498, 0.9995, 0.0578, 2.1254, 0.6468, 1.2613, 0.0273, -0.0551, 0.9954]\nstate[eef_state]: left_x=0.2917 left_y=0.0019 left_z=0.1707 left_yaw=0.0071 left_pitch=-0.0385 left_roll=-0.0044 left_gripper=0.9995 right_x=0.4817 right_y=0.0266 right_z=0.0451 right_yaw=0.0611 right_pitch=0.3516 right_roll=-0.0544 right_gripper=0.9954\nstate[joint_eff]: [-0.0205, -1.3197, 6.9949, 1.6972, -0.0366, -0.0513, -0.0122, -0.5812, -7.3368, 5.7504, 2.1709, 0.0269, 0.1441, -0.0317]\napprover: 10 step(s) modified (delta_clamped ×10).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The fingertips are at the brick’s sides, and the descent has stopped near table contact. I’m closing now and will check the jaw opening before lifting.\"}",
  "call_id": "call_HkvQVHSFEJUQiJCt2gU2dm9B",
  "id": "fc_050a853e4c4e6f0a016aaca286da9487d09c2dce1ffbe2f7ec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_HkvQVHSFEJUQiJCt2gU2dm9B",
  "output": "executing move_to over 10 steps (1.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.4164, -0.0227, -0.0498, 0.9995, 0.0452, 2.3638, 0.7639, 1.4487, -0.0013, -0.0612, 0.7393]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1676 left_yaw=0.0071 left_pitch=-0.0522 left_roll=-0.004 left_gripper=0.9995 right_x=0.5044 right_y=0.0266 right_z=0.0137 right_yaw=0.0786 right_pitch=0.4175 right_roll=-0.0565 right_gripper=0.7393\nstate[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.7753, -0.0464, -0.0171, -0.0122, 0.0342, -12.0821, 2.6051, 1.7802, 0.0269, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a69fddfeed3855598a3aa5b628162f81359bb653c928d57fb672f97498c87810",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b8df151ebcd61dd25382a61c61031a0d8a0a1aff60d57fe4a83f991ae449289c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 65):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b46e3c28b0cf72cfb303936a3661d5865bf07c26dd29a970b22aacad5c2a3d2",
      "type": "input_image"
    }
  ],
  "role": "user"
}
wire blob a69fddfeed38
wire blob b8df151ebcd6
wire blob 0b46e3c28b0c
call 9 attempt 0 · /responses · status 200 · 6.032 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 black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8093, 0.6037, -0.411, -0.0227, -0.0498, 0.9995, 0.0471, 2.3398, 0.7605, 1.4395, 0.0055, -0.0536, 0.996]\nstate[eef_state]: left_x=0.2914 left_y=0.0019 left_z=0.1693 left_yaw=0.0071 left_pitch=-0.0446 left_roll=-0.0042 left_gripper=0.9995 right_x=0.5054 right_y=0.0264 right_z=0.0221 right_yaw=0.0698 right_pitch=0.4292 right_roll=-0.0497 right_gripper=0.996\nstate[joint_eff]: [-0.0205, -1.0051, 7.1179, 1.8291, -0.0513, -0.0415, -0.0122, -0.4308, -8.6222, 2.7419, 1.1648, 0.0122, -0.0952, 0.0513]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_z\":0.09},\"note\":\"The jaws remain about seven centimeters apart and the brick has straightened between them, indicating a grasp. I’m lifting a short distance to verify that it moves with the gripper.\"}",
  "call_id": "call_Pv4S0NSJcDMMTL3BH4NkUw2i",
  "id": "fc_050a853e4c4e6f0a016aaca28c0b2887d0817e5de1b1a20bc7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Pv4S0NSJcDMMTL3BH4NkUw2i",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4152, -0.0227, -0.0498, 0.9995, 0.0452, 2.1166, 0.7105, 1.1221, -0.0093, -0.0647, 0.7393]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0071 left_pitch=-0.0514 left_roll=-0.004 left_gripper=0.9995 right_x=0.4927 right_y=0.0275 right_z=0.0369 right_yaw=0.086 right_pitch=0.2848 right_roll=-0.053 right_gripper=0.7393\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7607, -0.0757, -0.0708, -0.0122, -0.1162, -13.1761, 5.8872, 3.0549, 0.0317, 0.0024, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c4efc0f3fe54cd99ea83cd71783d505289dc8d6ca32e3519e91c13c396c993af",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4467e8019e00afe408f43a83ae10699c43d4d6c2c1f6f506f7efcb3990b6c2d6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f2357f4e33e22d915a8ca2ea7e47f2aa5fd5c74b293257736cad44cdb72547af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 7.204 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 33 changed as sent

message 33 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8116, 0.6037, -0.4164, -0.0227, -0.0498, 0.9995, 0.0452, 2.3638, 0.7639, 1.4487, -0.0013, -0.0612, 0.7393]\nstate[eef_state]: left_x=0.2908 left_y=0.0019 left_z=0.1676 left_yaw=0.0071 left_pitch=-0.0522 left_roll=-0.004 left_gripper=0.9995 right_x=0.5044 right_y=0.0266 right_z=0.0137 right_yaw=0.0786 right_pitch=0.4175 right_roll=-0.0565 right_gripper=0.7393\nstate[joint_eff]: [-0.0615, -1.4564, 7.0222, 1.7753, -0.0464, -0.0171, -0.0122, 0.0342, -12.0821, 2.6051, 1.7802, 0.0269, 0.0659, 1.033]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKKU3BQk54m-uKmI8yS8DMGmBZJDpA_mA42msH_lJFGiLvmKzY0MmfsKKlH1V3S2c96eJ8ps50d_MsNNqtTDIMlyGFcayt37SwLECVM9NKFNOnPz3ceLMgkxK9pE81O1nL4-VA0uOyKatRb14JwK1f42wxAMdEc4yKauKXzdi5lAN85g_WWAX4ComncFVjfZxWKy7rb-Y9J4A4ymuvpHrs9cDKRuJ_tUj_fHCeOJLyeVfF9E9NZCdo6D18g3ssGL59a8IHrkyAlSjHphEFtvshGDuLdH0QbWNjoZekj2OYWL5QyeFs1yL499pVt050eXnqpHJPLJh3FoUwyJLXZ9-KazcqvzaH9H5lnoPw37tiL_E4jY1FnAQk6DvtJ-FsAfkW08WIFjCqKenIfqCTCFcZ6qcPEv4Z6viIAttF2iCtiXH49vL6XWIft4SgoyKjfPQhVvzD_8tg7ZFokhIrQCk2BHjNWqYqYCUatIJvvnptU0mhBK2yvUZhWitqc8wRZBmDAWHQXx6fx_cPUQ9ZItIeZiAzZ1iY3kQ-9U82MpFckjasiWlYy_A5rztdxix9Ny3rVzD5VtaGbdRyxA7X_r9aConhBhbp-WSLfySRAM5PJvcb5ZSKR2j37ww8J_71o9ytrTF5BkCaUDox5EvdAAC9aoUhvs1hBP7DtUJ_7e7nn3bguhUVzPyvlsLOzKm9Tv35NtIS1IIiknni_2Sk1lpuwUuiA6yKuaYlTXT2H5Zw_n7wPW4ki1TEPef4XqavcA32iUXAA2hkG1TXyRFzFulaK-J8A2BlHSLxkUAy68ordILLgmeOzwkyYbHt_Bm4PxkVO973kTknKeNdTU9g46f2_lKcWMfsoT59opfG4BFfrss7fNz4VS5VD2KuaDpgUrRgAluGqa3YlIaNDRmA5RjEXbIoE_rvpZdn11KB2bdLxIM0Bo13olAg_22w-LvmXujaHXLfKSY4sZW33dLR5Qu2QvykJF3ASpAw521TlFhBhv-_TTU4qSD5jP5IcElAGFPim8KdFCbNlszoiFXuY_c6GuJVUUqOhxzyNVMzU9ErXwymYM6QKF49QMkJ7ajx57Gf3STQkFpoYOe4tMXjUfAB34skuxxK18KVnHsV-cN_f5uMKf1mjasXyCnCG2KWN4Sc2Wwvrx50-a_OkLM5VeY8CKatsB1eZtafis7zu91TUu8r9-Oyc7VOl55nuRih-2hyH8yYDmnfUFQTwAjvIujRcyJQ4xdQ3TbmdlRgi66xdeBGMcQyXaB7p8ODxZJsUEyrhN",
  "id": "rs_050a853e4c4e6f0a016aaca291862887d09926bc56fa95d7e1",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.445,\"right_z\":0.22,\"left_z\":0.18},\"note\":\"The brick remains held, but the loaded arm rose less than commanded at full reach. I’m retracting slightly while lifting higher to gain clearance before moving toward the pot.\"}",
  "call_id": "call_UxhrYXnxlR5dq5HfNy6rhOOR",
  "id": "fc_050a853e4c4e6f0a016aaca292125487d084af399f67dedd49",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_UxhrYXnxlR5dq5HfNy6rhOOR",
  "output": "executing move_to over 12 steps (1.2s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6144, -0.4648, -0.0227, -0.0502, 0.9995, 0.0486, 1.4418, 0.7319, 0.2596, -0.009, -0.065, 0.7393]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1613 left_yaw=0.0074 left_pitch=-0.0957 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4325 right_y=0.0262 right_z=0.1524 right_yaw=0.0879 right_pitch=0.1186 right_roll=-0.0467 right_gripper=0.7393\nstate[joint_eff]: [-0.1162, -1.4974, 10.5778, 1.7607, -0.0415, -0.0464, -0.0122, 0.253, -9.0735, 12.3556, 2.8303, 0.0757, 0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c7de330f9c3697cfa377d5e342e6e57b642df2caef87ba3f96cde5eb9a8e8d9f",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31b146d433ea3462b74c22447e21377ed508e6780a74b24638803b7c256c4b26",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 82):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e59b4e36ffa4ebb72cf4bde3ed2e8ee52c63ab3a326ea9c9208bc6b8034486ef",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 11 attempt 0 · /responses · status 200 · 13.01 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 36 changed as sent

message 36 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.812, 0.6037, -0.4152, -0.0227, -0.0498, 0.9995, 0.0452, 2.1166, 0.7105, 1.1221, -0.0093, -0.0647, 0.7393]\nstate[eef_state]: left_x=0.2909 left_y=0.0019 left_z=0.1677 left_yaw=0.0071 left_pitch=-0.0514 left_roll=-0.004 left_gripper=0.9995 right_x=0.4927 right_y=0.0275 right_z=0.0369 right_yaw=0.086 right_pitch=0.2848 right_roll=-0.053 right_gripper=0.7393\nstate[joint_eff]: [-0.0615, -1.2376, 7.0085, 1.7607, -0.0757, -0.0708, -0.0122, -0.1162, -13.1761, 5.8872, 3.0549, 0.0317, 0.0024, 1.0281]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKKcVILaSznjmSOMHL9-87flXI6REww6V_56JHrcDfrmFIvAkc-32PH9hNZzFij2xmYxF-npEFCKAHd3vHkkVVE1kyaeCrRPYdP-az-9hyfJS1EP5ldnpadDbmfnahzKXNAKy838i0_5Su0ZYnz3-6fPYmDtMOIEPojz0UfcqrpI8qEEWpvnf_qN0gKD3YIcWJjO3TXG9k0laghj01XzEOlX7cKZLz1HAhLj7RyE__TvnD1j7326JNk2baOM1ca4cphagnrf7fq8pAE-reC_wc5Hx01Twg6bcgIeKaoFT-H2_nlI7avvski4ttPzw9P57FsaM4mfSUeTce0HA6n8UtNUmh3mt18Zcikzao-AvHko-ouVjU-5rKEmhXii7qdyqEgR5ZU_gbxVKTeMm_OzVI4TlOTqjshg7cuOefzXHYx1b9VfwIAXZ6gFXU03PLS2wrlEJMxYliWmbdV6I4jvajTzNF7iwddzSX2skM4nUfhAu97lrqSpu-NyxgCBasl6czkpGWcCiRh0FpNB-wWaqGpXZUGzYnQOO7fwyeifc-QGh-Dt3p3fzMRQl3XZDEkbf37Xd9UNFH1EqKEwUj7eXsC-QZ1xDwH58Bz14ej5BgDAvNV130fqGltEwqnrWR5C1t0gXC5KEPbQMnjct1YIycGmGQ2idHhUo2qgeBtgsWQtP6_s_4tBfcHdYHE9mDlxTLmP4CsAUO8VYirear0h-9uGYGJrV_41XVI-2nbTndltNpvlA_6iPt727XDao9QjHtUwwdTpz9KTlFW-c2AN4A3GtLjz-UuR6Ny81VbYACmsuo94djoJEmi8Ah-WO5zmyFI7SaGLNe0q2LD6iJAQoQGsm9_ZF3h1_kYn0xITFvWLsXpqPkLusyE5bDOSrOteOOe3BqwuqAkVlKI4yMni6DoIRPE5z2z5EkqB3zwvCYB6fjjP1AFnABtqfdiNbR1sIz7KTYEueH4o-Z489MMBOSOX5K0VEPcgujrZdRuh1Pw5wl0Pu-SX_aj7OZHlLiNs195RxMP2PzmFgdFlHYSVTBV0XcEMGf0I6vTHacrF6MorB2WWLrLblu77YCCMfsDCkorJWqir5ctUMtcxOwqZRrR1QvCzYTYvihXJZ_By_z4MNgTsuc7V8yGg29t5n6XQsY4M1DlxlPJwTj1ahmHWEn0-sT-dE44YsWCxBjkaak_itI2L6JFcSU6zP0CCY8aPi1aZyUbqb6EumLXN5NyGnYutspk1XcdgGeZ_UDJHKYVKsXpiVC3sUTHt-UPIgEYYMRAG2LVBZKvop2Rajqj1j98TEYAsMRvR0mOyB8pH8Fkjp3-j0WGS4Tg5ToXYLarWlQzf-v-zFyxmiG6Lnpz4DtB3v9jtaOGMtR2wzE6qQtzzibW_PcYCCLtE48jzKWzdz5YcTs671q00bnpDBgpugA3nJaC0KZFrkmbcfq4mPBIw8qLFPzjY57570CwmOv9lgasvDgWhDNhQMePZAa4e7Xx8axLyHHR5cbnQhERKd4CbstOfuSAExJB3RsDMiOa5ZCZBWnNgnpO3bONIaoKpp2mPhg0mFOBX4yWORmCYAiGs8gp2hqZ-4pxHFMsnlz2xy0G6w8Aw7d77h3RMo0ugn-I9LuLuKvorSpUNtfEmu9HbDo0E2Zp71ACeAheZM_6lhNEMfIczh7qv7IECdQuhryHtwpiWCZMQZ65HpH_0bTxgGnEi0bj-W5jfADDa1FPM6i_D4zSiPFIVoC6Q14SluZ6E2Q==",
  "id": "rs_050a853e4c4e6f0a016aaca29690cc87d08cbe125b7249f471",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.40,\"right_y\":0.33,\"right_z\":0.31,\"right_pitch\":0.4},\"note\":\"The brick is lifted clear of the table. I’m carrying it leftward toward the pot at a higher clearance, keeping its projecting end above the rim.\"}",
  "call_id": "call_sthhipXQDxPI0TL0e2jN4tNP",
  "id": "fc_050a853e4c4e6f0a016aaca29abea487d0b1b5c223b57e5129",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_sthhipXQDxPI0TL0e2jN4tNP",
  "output": "executing move_to over 26 steps (2.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6151, -0.4679, -0.0227, -0.0498, 0.9995, 0.9382, 1.776, 1.396, -0.0635, 0.7937, 0.1383, 0.7393]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1606 left_yaw=0.0072 left_pitch=-0.0999 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3937 right_y=0.3301 right_z=0.2523 right_yaw=0.1947 right_pitch=0.2553 right_roll=-0.1766 right_gripper=0.7393\nstate[joint_eff]: [-0.0615, -1.347, 7.0632, 1.6679, -0.0659, -0.0708, -0.0122, 0.294, -10.7692, 11.7949, 2.5421, 0.7692, 0.0855, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8d720b49026618064c64b2f0520b8b348969ded7438dbe093efe0e2647bc1440",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:87aebff84c4445b755804d0503a6c4604bbafa9f4d82c556ab9a653ed81fc88b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 108):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:762090a4c544cc49a2e1445fea8485a8eea1a181e2d1ae222316fd8840190d37",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 5.939 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 40 changed as sent

message 40 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8173, 0.6144, -0.4648, -0.0227, -0.0502, 0.9995, 0.0486, 1.4418, 0.7319, 0.2596, -0.009, -0.065, 0.7393]\nstate[eef_state]: left_x=0.2853 left_y=0.002 left_z=0.1613 left_yaw=0.0074 left_pitch=-0.0957 left_roll=-0.0031 left_gripper=0.9995 right_x=0.4325 right_y=0.0262 right_z=0.1524 right_yaw=0.0879 right_pitch=0.1186 right_roll=-0.0467 right_gripper=0.7393\nstate[joint_eff]: [-0.1162, -1.4974, 10.5778, 1.7607, -0.0415, -0.0464, -0.0122, 0.253, -9.0735, 12.3556, 2.8303, 0.0757, 0.022, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKKrTofK3zn2ikoUDvXHhOhXKekKgAJqqUJaXFNdcmNYz2C91yqHKM_A5YCbSnR6ndixNp5oLNRLa-UJR168B-bho2_rQM0oWtrzxo7rEbdChkJX1CrApYWWSpv69JcmJHkaOXK9nGPRGHnyX0P5iRC2nAT0Ld-zS03s49Q49-UUM0vs_Vx8Sj3c3NzvSHILgkm_7xP-DZ7A4c4VUEnabvSgNAkDt_mdSuJ-TTDrcayQrjH-4O2gOZlJF0ideqxdklOYNwEyS35CcCJtEzp2XWmDpBEtzbXvGgEb2FQtHfSu4oeE5_Z7uQHeMEFqlYJgtmBckFzGbOjX0PNgeeOlUOmxhgySZtuouXbXVZy1NI8HUUAgeEYTeWKrDqiXZe0bv7H-REJjRNlxKIi7ajXYn8CNtOZac09iqPvmDI60zSqvT-rh-IxaB07AU8QwlDuG2v6hvXDvY26Ne2nF_TV0goHJ6_R4IOXgCV0_ylcHIXdLVcVPa2SrENws7K-bTJDBr6YweS96j64PmBWLovy3JahdmWPsAd3olHMrT_qzBlpPxSSd8N0UPU6RgGOTydn1uXl67qyZJIjKoiexmHaITBlP_HGuHHvMoQlEylWaf6vNGsVReOlmt0GTAD0Q-gMbaw877IwTbspwb5OhiDxRSvXvplgemcDNdVYecQejOJN5Tt519LDwsXLZmdSu9Z_s7QfzJ0u6m33bBAOGumcuFFTObN74wwqS7bH8OKTuW8t9EdT7VO-V09L7799amZggR6Fc8pGaJsmuVKUEW8A7p5iffjdNtgNFQvOPKXD18fIg29FrvEWjDTRac7uRNVDhPfbOC5qM5XOcvxPm-eFxgoqe2adlqOJc_1MA2mfy8mOARyOYU86Ly2dS_01ywHSVLEITR9cIr2SKQdZXLvG1FPX3FmYoAjRLAEBWXjNxeXAOYS_Dolq3wC58TVAnxEHvuKBUha5EalUdduklOKFNmjZaJbhsobwDJBb1HhSoNuN8Ui9h-DFtixS2uZdnjzH7mbNtzDIFBm12en3oIAa7TYfTGQhWo_CgTtyIfUaP_5rE5lzO1ZtXznpApAeOFuqSwyi3cCIIehZd0lQtyzr8fymyRLp7T6XHbYWWp-tSHfoNWz9NFbLXsfJpSOcKf_5Jox5XyUJLEM2t5tfanMgU5sL9vqYK_ESbQH6czDUkY8J-KaHtrj3uG50E-4misynKn3hRETYNS_sM_wJluLgtdNMRy9tzNsmFB8Hk0LlSuszC3UjKsBg_pUz17SlFfz9GlNYouZE50UeuMb_aVrZtCrPkDYhNwXZ8qodZ3gjXkTx_KBHQre4aCuUvRQm_DcAi02I1O_TcpTibr_DeZsP_nX9Zp5GSEgturcFEGdfGrhxWn4i23nNAE_2skhOH6qNxLKw8Jg6LlBWREL84LI9W58z3y6dYIFnH1cH2f3XMts6narzCQE42NvelzEIq1ExKmQg5h94hi5srEUZghzX-_3GeuIHl69ZL4rYOH6qJrN8VRemUmtQFkuLHA1FB8kEFRzBqje6uiIpcRwth8acbRSbfoFFi1DxYVi5Bn43yHkPyli1wxayCVkP-wzhwzPyFfu9OQnOg8GCTMXJF1K3pdviiOd76M4MAh1YuoYIFqwMML2erP13UIhFlJzaccI-C-ZP6TTQfOzU7dNNJtZscfFnj6cfiXpXpquStejEglBKU7r8Bszj-9ug9VarJgbUuxcw5LNqwA2BcXI0Io7vOhIzVWjH8ADpIDigoUTYn66-WBOlSAM0f9cbnMDNedGSIwaEMXOPQVvtlnn7BVHPKqBaX6ox2u_bD84RuwNcjntmqYWQy-sFBI2Q5GJBla1nc3NT9QtM-h5XYqSci63N5GUxQ96GHoNVDN0045aBisGjlz8pS01FTP3IjYT8-B6UUnxQlfaUZ97eYHtlK5SbUoVmCezdCI3ltNy78fz1oH5COvwt-VgPQtSQTHc1P5hdNzU5ygxd_0gx9jncvxYE8723NHvq3m8Mg1CyHyeghaNVPxrGwFtZDhWXVcjAj-RF6LiHmHoQaNTebsXEcsGeNJ0f3cmZ9U06FWPQFtYgON8g90mDpBOklv2AqvMNwqg3MKL6iAAIh6apCvtkgHSCFlDYui1L-qRqZY2J_SoNM-VF-2z3xTZGFTXznL5NzeHpzmE-fSyCVbYI_O9YgK0KYRDupSOpsNlvqTpZGxkGB5my6iGM21YXoup5SKqMhAlLzssURA4zMjkAKJVKGiQrH2aJ3ekaypUJGIxUfLluJVoDLWeiToA9QLr-b6GLKzLAJwSVveO_udZbB6y-ohOLT9KWDHaWydFj1ECUoMrCD2JsTcOgNJIQRJS1ru5qd2X9bcsxAMS2UlMwr-7sSoGqPxLCvjwO0MjZRtP9vo4zkSt3j8TVjHXBAP0Di6mW8jYbZ1cxq2IOEYLpbHkgzp_l59ElOapHLnFODvMnX4RGa9qLo6yyzEZthFC-oKGSBQFNwrCf4Ys_FfhXzPHmP-H3NmwVfcGJg6ez4_RyeElXDZbHtgXnSXrIZTRq9NbDKKnju9VHStUGztjshf7omfEKqqcNGfFmP7g39hOAMeJGtmPNfU2-pyhJb06RwFEySqe5A1kbnkgws8IbyDPabFJr4dpppYdev9-AMim1yFBnV4sLR93kcOltHf55Suj3LCTMsYFtJ",
  "id": "rs_050a853e4c4e6f0a016aaca2a0a2a887d08ec404992c1dad59",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.4,\"right_z\":0.31,\"right_yaw\":0.8},\"note\":\"The pot is still left of the held brick. I’m moving to the right arm’s leftward limit and turning the brick’s projecting end toward the pot’s center.\"}",
  "call_id": "call_g8PuiLjqEuzufKmKDKDW849a",
  "id": "fc_050a853e4c4e6f0a016aaca2aa403887d0bb245fe0966bd81a",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_g8PuiLjqEuzufKmKDKDW849a",
  "output": "executing move_to over 6 steps (0.6s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6151, -0.4683, -0.0227, -0.0498, 0.9995, 0.8211, 1.8149, 1.5284, -0.2119, 0.2352, -0.1108, 0.7393]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.16 left_yaw=0.0072 left_pitch=-0.1021 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4012 right_y=0.3758 right_z=0.2411 right_yaw=0.6786 right_pitch=0.0735 right_roll=-0.2018 right_gripper=0.7393\nstate[joint_eff]: [-0.0479, -1.4974, 6.9812, 1.6435, -0.0513, -0.0366, -0.0122, -0.5128, -11.6581, 11.9043, 2.5861, 0.1197, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d5a38ede7e35bfb0bb92cd51a3460bfc1af505fe3586b2908f17984f8035b2cf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8b005c5e6bab90e5f0ee09711c916ac0d25b19ac7d7004b0ad441ef1a09ff292",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 114):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:848c9cd0eb4aeffda1d072a594fa9ce610fa1826cf697e35307ecec0966cb421",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 5.441 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 44 changed as sent

message 44 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8192, 0.6151, -0.4679, -0.0227, -0.0498, 0.9995, 0.9382, 1.776, 1.396, -0.0635, 0.7937, 0.1383, 0.7393]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.1606 left_yaw=0.0072 left_pitch=-0.0999 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3937 right_y=0.3301 right_z=0.2523 right_yaw=0.1947 right_pitch=0.2553 right_roll=-0.1766 right_gripper=0.7393\nstate[joint_eff]: [-0.0615, -1.347, 7.0632, 1.6679, -0.0659, -0.0708, -0.0122, 0.294, -10.7692, 11.7949, 2.5421, 0.7692, 0.0855, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKKyiAarDE143M42aY9Bv9BV7u_GtfpgiCTNEu8o9KvUtLTs_v7ufo0HdGH524a-Q6_ZRZLMN98pJxYc51rh3HIauvNUX8p_rb-AKykcOSvELnWEwS1wX5OTLK_fUj2upF83SYDyMFaoJtCZduwnt3sG0uoRqZcn2E3vkvhBPOy261dA5JcwzZCu96CzJLWptnf8PEnYgpS8K8kAoAu1iRUnOSuRXxEGFd7loBM_CuJGxLOL1x-MC2rMRKLIAEZB4xmObMXfYpe7coWB5kNxSxkq4alcIXks3KiZ0LwFxuMVFapf1EOxDmHLqLTqriBQBnaQPva_YC-Uhis7jHvxR-cel19TsisJ0K1fbX5pUZtfrCLqewg1wcoj9dbRUvrjSyv_157SK2J2ABjJmTzwhygGCFpacBeFsHLKnjyQT-v7YgFT8gxXtN82juKgsYPcED0FhnWavcBX1t264f77f6Zj26DcSaeLrOfXo1OjvjtIs422ihMrfBEtavtBI1O3LdrK6DbOOeSQU3oujLLlEt6atl6zkLeIsoJj3QS3BtLY8AGfEfqYhOj0XswpQo57KERUOOe4ffhzrSQ74_9hu1iYmip3JgUlq6wcYCQ30xVYZmdEMX3dZeETyFg6RD9dFUQksjooboXz7yAnNaVbujRC21nMy1FaKvP-1e6Zhp2qHaeSV0b6jLwj_Wsysfre0qEwEYc-LWJHXI57NhT72yepq4Gw3yDNqnQ3PhuNfZhLNF2Vm4VKqvwkE7GeqxpWFQebM5ohWT21nJ9zq4uBG9kEMTEhTGiIhUKpwFYZAxcr79BjCD0xj4OZbIclmGGpUkMjVKlgxSv2DjCFxMTeIh5QegBEU_YZZFTzd6Y1tLpuOFNlS-YlWSFHMQuuBWQAN0itCmYTtFaJ7a1opZ0-nZdWelYnd49lX54PYlBXp_0j3GmFLQzO5vdss9r79v8Uay7cd3aVDH4ZWHZ7_Jrvjb4PR0vPgvduAcgzu6BnXw41E8ac2jOWkoPZPyqAzUKV5RklCm-3i05wViGqMhYpWVLpBA3WL0Cmmt9eV8jaRFAZgSXaNYFOAtFfVG2TXfKKSfJgVV0EH1kNfxdTYKejAKjVzXRf4-s-6BB5N-F-M9ORn0XTFweVYd3Z3gHl5wazb7gygdBZDTfvFhF90jDwwdjmZVzSDJPDeuHpx-BLRWyO5iyTDpXXdegQ65SV5PHTVt37Otka74iu65S_oxrYq3LMqmUutA-pBtFgnlnNPGWbpDD06cBtU7gCJp2mTaziXpSSNy9Q_5ol0CJ8M97oRVot1u14FIyX0oTFgx3Hx-DSju_H9nEkSsjY89N3m5L5IXw8SXdpYJ-eYQsf3RDJrYzN7BljGre9GJ-EpVfGxRcUsQ6NU7h53eBjMj-avgJ9zlxWA5ComJyUTKnl_Kiwas0VeZY-ujJbDHXNjEmHf6d9_GV_K7HR23lvcbTtbWccHKhfm5gUajEqnUU_z_Q65l0prYlKawXbZs--KJWS2n_xwMcy9H8_mlCdeDgi5HADXAnKla_r-c_WEK1VATSmMUabHi49cXVEyuhh7fkYsmsKGK7V6rvcQe8M213JJQ98dQLvRy0a-BltqtMqpLZwCJ50Mg==",
  "id": "rs_050a853e4c4e6f0a016aaca2adad0887d09dff067a1883ea6a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.38,\"right_y\":0.4,\"right_z\":0.22,\"right_yaw\":1.15,\"right_pitch\":0.3},\"note\":\"The brick is above the pot’s right half but close to the rim. I’m turning it farther inward and lowering cautiously to place it inside the opening.\"}",
  "call_id": "call_rExZtFTbeAC80Vk5eyycpOJp",
  "id": "fc_050a853e4c4e6f0a016aaca2b1073487d0ae73ffc7b07305ad",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rExZtFTbeAC80Vk5eyycpOJp",
  "output": "executing move_to over 8 steps (0.8s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6151, -0.4683, -0.0227, -0.0498, 0.9995, 0.7124, 1.8164, 1.2118, 0.1329, -0.2237, -0.2825, 0.7393]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1595 left_yaw=0.0073 left_pitch=-0.1041 left_roll=-0.0026 left_gripper=0.9995 right_x=0.3776 right_y=0.3827 right_z=0.1682 right_yaw=1.0507 right_pitch=0.1042 right_roll=-0.1446 right_gripper=0.7393\nstate[joint_eff]: [-0.0889, -1.4838, 6.9402, 1.6142, -0.0611, -0.0611, -0.0122, -0.7316, -10.0718, 8.6632, 2.9182, -0.2418, 0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ebce640e364148ca9ddc9d394d5075d3e4b66ebce18d443053f542418078cbc4",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:dfc6e1353ad21de274194eed51fa2c389fe44162e63bc6121bda469dd60d5c5f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 122):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c168360f8f1c4b1913be2593b0e9e8b66eae6e62cf194855c961b86c4dc9e9b3",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 14 attempt 0 · /responses · status 200 · 6.217 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 48 changed as sent

message 48 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8211, 0.6151, -0.4683, -0.0227, -0.0498, 0.9995, 0.8211, 1.8149, 1.5284, -0.2119, 0.2352, -0.1108, 0.7393]\nstate[eef_state]: left_x=0.2851 left_y=0.002 left_z=0.16 left_yaw=0.0072 left_pitch=-0.1021 left_roll=-0.0027 left_gripper=0.9995 right_x=0.4012 right_y=0.3758 right_z=0.2411 right_yaw=0.6786 right_pitch=0.0735 right_roll=-0.2018 right_gripper=0.7393\nstate[joint_eff]: [-0.0479, -1.4974, 6.9812, 1.6435, -0.0513, -0.0366, -0.0122, -0.5128, -11.6581, 11.9043, 2.5861, 0.1197, -0.0757, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKK4VKy29rGnToTBu2souojP-fFeatewNR5xbpBNWa2wFfcPq9c7kTUQZL-Z0ZfcM2kTa_gO6aN0LXctRui3jdjAoaHbNavFTQ2LdvnpRY1YoMdes3i-kexYQMVoLVjjx21vSWJI9_8fu1gdNb7ST3txDizYHH6bF-JWzJ65jTc1kcvQjhMNeU7k07RbQtFu7rryBo4zVnkxkk3lVmArZkO_LO9PBNzmbGnSNxajLcvSzBWMD-Aa-UOrzNyE8DRNN3IErTZeq4kVE2pTwgIMsEBeX1JfKoXu5cLDMmd4Q0mzUgQuDk0nFgXj4xGBAqxkOZqPOWrPcZCAHrgJ62zlkwPlJYDFPq-PxbNp_Kc_F9cZBRtexCWO4_i2C486pUUYJ8AUEvjbXV9HqP9PPol-UVpsEiqo3hShIh5V4L3svvBjfeinjEvvnBQKVe98JQGr3nyqFyvm455TJuyBpW6tmK3-GXIbm-MVIgC3ZOoxNLFYoACaFMLYWsWbIGJ3yb40SXjHsK5IjH8MX-7kDJ7boSMvfGnxPOpXx9ljnb-8dXL7FNiwSWuU-facyZM08Msb4ZrVoX6W6kgB3AXGyOUPEweTiSc1l2w0_hKoqgspn7W1ZIjYgw0tQIRV3t5dyw-ZjIP0dt4XUB82ErEQJ76HQOblOXvBj8vakHd7KTDxnmHACRgGjrlVmhk4bs6wWEktHgPJ1f3mBf2HQ_Oig1d_YCtXwG-esaNxqfQS6uFlgNgKqXnQ7x2qi5iX0UutE3CXCpDceV7CnYpj5cxJcVlMgSyYpLGBFCxn8mTLhyR3llhaLkJb0UpwMCQjYpwaMjOkrrMrg-ODu3EmeXKxBel2cYPCpIvKLB9TJKZaCz5DbDzrU3xgcpisnQk-SJtGEAw24AYbuoBnwgFq6KYRyD3-Y7jY5rj1Qt1_QCDbD1Qio3u6j5IEa-mD7D21YMwJw9HEmdK6AKuitIMWrO-0mjrZr4FEPuvTJSXG9-PX8rU059tIaiBa2zB-mnaT790uDId1TifzWW0_3gJGsU-sEcKGRn7lUtSnBqqG6JMDK0eTbyQyW9Fy2YjTfpUqeGtkYGcWSG_PGc-Lv3ggNr-3chLPVzVWd1V5LsRQxwKxqoI6RQ1LLt0cYpbqPZ15OJUOasIcc7Quituf_7oO_vqq2GndC6eymRNwo7VXJBTk7CXY7rGLt2Lgn_ZbPoLCQ7l4o8SZKHAITz9BYkxqr1aBkNkJm_obbnVOgZ3ICIlVXUoBYCyx9PcRXcR8SXsbr9_rhGQ_TZPCBqa90BKLCvY8W_JlykDgvk79k1aICbqodGmXRQXeTuRQGrqQ_ADDXdOKi2d9RS81IhzskrKXgtOWSKpcV4ZUzRvWI-1JW3EpqSe84RATXZng-SqIdHAhLfCsM968FXXM3gtNv4yINmfgRw43XUDoFkyCC-s2oizIHQpqMbhhIYbCyAF4jSWzyau9ecS6NWSgltXo3XIQxyao1EFS1PdOXBb4Kdid6ZTOfKo4DUmWMVE2swzkGhZ9Kg9M5l-nFNjeWJocWVb-kdpAkPTvx0O5aSlasTxn327p9QKd-ew2figRvEiLDSjM0nt1iqxdUJd1",
  "id": "rs_050a853e4c4e6f0a016aaca2b4954487d0918a4ac77b7b0efa",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.4,\"right_z\":0.21,\"right_yaw\":1.15},\"note\":\"The brick is inside the pot’s outline but still near the front rim. I’m moving it forward toward the middle before releasing it.\"}",
  "call_id": "call_18tEluMIVFshrRzMqOQX5QPz",
  "id": "fc_050a853e4c4e6f0a016aaca2b7053087d0a5287d23257505d9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_18tEluMIVFshrRzMqOQX5QPz",
  "output": "executing move_to over 5 steps (0.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8276, 0.6151, -0.4686, -0.0227, -0.0498, 0.9995, 0.6353, 2.0148, 1.5242, -0.1562, -0.3313, -0.3534, 0.7393]\nstate[eef_state]: left_x=0.2854 left_y=0.002 left_z=0.1582 left_yaw=0.0073 left_pitch=-0.109 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4202 right_y=0.3857 right_z=0.1452 right_yaw=1.0994 right_pitch=-0.0392 right_roll=-0.0847 right_gripper=0.7393\nstate[joint_eff]: [-0.1026, -1.2923, 7.0906, 1.6386, -0.0855, -0.0562, -0.0122, -0.2803, -13.9829, 11.8085, 2.4737, -0.6178, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ff2400e45d44085e52b6b56139c58e6b859d8e3d0f7bc6fd17eb229522866fd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:94010af0b5d5b111273b3a7b1c677c950074f39733de52bb76d8e2e5896a3eeb",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 127):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d4f5ec851936e28ad08f701c7288ab23fe38111a90794f53ed732ee80b681658",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 15 attempt 0 · /responses · status 200 · 2.695 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 52 changed as sent

message 52 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.823, 0.6151, -0.4683, -0.0227, -0.0498, 0.9995, 0.7124, 1.8164, 1.2118, 0.1329, -0.2237, -0.2825, 0.7393]\nstate[eef_state]: left_x=0.2852 left_y=0.002 left_z=0.1595 left_yaw=0.0073 left_pitch=-0.1041 left_roll=-0.0026 left_gripper=0.9995 right_x=0.3776 right_y=0.3827 right_z=0.1682 right_yaw=1.0507 right_pitch=0.1042 right_roll=-0.1446 right_gripper=0.7393\nstate[joint_eff]: [-0.0889, -1.4838, 6.9402, 1.6142, -0.0611, -0.0611, -0.0122, -0.7316, -10.0718, 8.6632, 2.9182, -0.2418, 0.0171, 1.0281]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrKK_RuckDSpa4naCGAf7hUH4WkLImznGDqoyEKJOM_oXg-AcIQCq_kJ3DKKU7QptXJXf50CFaXJ9ophiREVrNO0G0JDXcV07sm5HtMjuWqtiXntIHulk1AbpJsSKbpvfQ_8r0VkBWN-bF9CuxMkpXGNCWShRq0xMdZYqqS3lqdRR-U7wNV-yzQ5zEQGQ1XUGLrfLKQFQ9rDgQtmz3KHsTAsVKKh921NRo8M-de0cpRRCJOy7L3P9poKi5jaQ5pcqjSnyO99fBg23w5dqXcbVEsr7pWz9VTILkajsj_QA0HrEyS2l7fC6O5vquEuZw3kWSTvfogsIKBBeqYHjTx0c-mVLv6Ddxv0OwOfB3Q_Jtiw3lOOcR9vPGoys4Hpac758Dq3qqcKcaRkvI3u3wQIzMwBc9qma-H0E5SNna9M9B5Vv7715FH5Z9SIHzHK-RylH5QqboQG5lNBNEpXemXzY1-NDidj-XbVjHzAXDebxMzivcv11UA1qpXO12jX-N0tDB0k2ugyxKZmKlknGTXIQ2YhOGKp29WckQ1hv_Zf4x5bks28r7mU-3hveDBf3qwuEeFie3KVK64bUESpeijeFRa1541J6YlEZW8te-VEQYiQ_ZsH-wJ5FrenlZHchKIlodUjeoeRacaeOqcQ538pAKryUabRU8FWMo7QoePfYR0UPVn8tqQrzhsAWf-8H5rJ39PaA9Q6zH8G9Uz74uCnYS-kQgnEt1BJeYN0Vcfs5mOLLQkqb3G-Vl8PVEBaQQHY6fX27SCcYopZ-E6ou61bKdLTpuKciWh2tYZ8NI_KOra9K7n7zx1FDT12nQX1Y3hgBbSTV3CtIMf3wkT4yLziI0L3jTEODKdWxNSMF8XW9VrgI9Js340h4gfH_vpnci46N4ky3uNurvebJlbaEfjJLscw77DuNLgboJ4HRC72AZuzjSlmfT3cPdwDyIxXMDySytODI8cN7gqLZwIhDNlKIYBEu4-tPIWJEvplx5UZiKkVkeNqyWtS_cn3cvEMacobCtjEonqSky9D_vsyzsEFAILyABqZsoOCcUbk91zL9votWMUK-la6OImz0nwpat6Ht3mcEZs0DWJKdC7755iBfoicwCNlwPnKbNoSUlrYvR5iXZXGEQc2l-CnWCXioVlE1TwVLddQKhY2kupmJABM1bjTDgJ0BOyLeLrPiiolLkzG5VZW02l0K4Q7F9x_s7ejg8j3RF9gr-h-VqizCe5LOHXGB9UoPTNUXmhwYtGzckasW7-EoRcmWDDtCSHYptGV_R1mvzF_yaI1PtmPltwaJXkkEJrvX7lo-FMW9oPuIq2byg1q3IYCRNVQTLfCo5wIMewvxFfmW8ohyDVL9wV46QZsyXqOt10_1OvfTpZEzv3vI790Irud7bOZ3OjnByFjm3ncXZHO8JsjIEx0xgnK8bMwvUGlwSgItTzbzEGDYyXfVp1n1NqxHRaqvyIh9Fx7HHWmH_ilbxqZstzCyB6_yi8rgH_ODOOLFirkuby3SvKLMRKRPLnIHO559b3P1UhRo_2wb8EYnhE95iVSsrt1uCR_dbg==",
  "id": "rs_050a853e4c4e6f0a016aaca2bca21487d0b4921afad8e72d12",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The brick is now over the pot’s interior, clear of the visible rim. I’m opening the jaws to let it settle into the water.\"}",
  "call_id": "call_f6PDig2dUbLJNdeVnOsIdKkU",
  "id": "fc_050a853e4c4e6f0a016aaca2be2df487d081c343f954a933a7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_f6PDig2dUbLJNdeVnOsIdKkU",
  "output": "executing move_to over 3 steps (0.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8291, 0.6151, -0.4679, -0.0227, -0.0498, 0.9995, 0.6281, 2.0201, 1.5902, -0.1757, -0.3717, -0.3786, 0.9959]\nstate[eef_state]: left_x=0.2855 left_y=0.002 left_z=0.1579 left_yaw=0.0073 left_pitch=-0.1098 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4258 right_y=0.393 right_z=0.1688 right_yaw=1.1385 right_pitch=0.007 right_roll=-0.1041 right_gripper=0.9959\nstate[joint_eff]: [-0.0615, -0.9915, 7.0769, 1.6337, -0.0611, -0.0269, -0.0122, -0.0205, -14.1197, 10.0991, 1.8681, -0.188, 0.0659, -0.0904]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0b1ceeccea8a4a2d28f6b8d02f70cbb6d5f49bb968f47c0f2d5ac961569774b",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2721c4b40e8ece1df599eddef017070e50ab750612bfa814893e9e50cf92028f",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 130):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c59a2c2aede393b708970abd763b479522c662a981549918d43864c7350b5b67",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 16 attempt 0 · /responses · status 200 · 5.874 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 56 changed as sent

message 56 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8276, 0.6151, -0.4686, -0.0227, -0.0498, 0.9995, 0.6353, 2.0148, 1.5242, -0.1562, -0.3313, -0.3534, 0.7393]\nstate[eef_state]: left_x=0.2854 left_y=0.002 left_z=0.1582 left_yaw=0.0073 left_pitch=-0.109 left_roll=-0.0025 left_gripper=0.9995 right_x=0.4202 right_y=0.3857 right_z=0.1452 right_yaw=1.0994 right_pitch=-0.0392 right_roll=-0.0847 right_gripper=0.7393\nstate[joint_eff]: [-0.1026, -1.2923, 7.0906, 1.6386, -0.0855, -0.0562, -0.0122, -0.2803, -13.9829, 11.8085, 2.4737, -0.6178, -0.0171, 1.0281]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.24,\"right_z\":0.28},\"note\":\"The brick has left the jaws and is visible inside the pot. I’m lifting and moving the gripper clear so I can verify the final placement.\"}",
  "call_id": "call_RdlzHwMxKFPEReRTBQZa3DNj",
  "id": "fc_050a853e4c4e6f0a016aaca2c0da3087d08f4959f483f1ef80",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_RdlzHwMxKFPEReRTBQZa3DNj",
  "output": "executing move_to over 13 steps (1.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0196, 0.8333, 0.6151, -0.4679, -0.0231, -0.0498, 0.9995, 0.3695, 1.5017, 1.4399, -0.5385, -0.561, -0.5472, 0.9961]\nstate[eef_state]: left_x=0.2857 left_y=0.0021 left_z=0.1568 left_yaw=0.0076 left_pitch=-0.114 left_roll=-0.0021 left_gripper=0.9995 right_x=0.3671 right_y=0.2468 right_z=0.2962 right_yaw=1.1231 right_pitch=0.0623 right_roll=-0.1658 right_gripper=0.9961\nstate[joint_eff]: [-0.0752, -1.7573, 6.9538, 1.6777, -0.0904, -0.0708, -0.0122, -1.0325, -5.4496, 7.5145, 1.4676, -0.1587, -0.0317, 0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:66a9aceb5a61e95832904b47804f82751c203d76ddbfd224f38cf34dafdd25de",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4b980829d8dc1f7dcd6616475e6aaab071c173117892f3f5527f57b6577ec820",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 143):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bdef75915d17deb5f492a7584548c45c82be94d039ba240f81b0818cc33ec4a4",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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