adhoc

completed
2026-09-18T02:09:21.876424+00:00 inspect-robots 0.58.0git unknownembedded media truncated at 12 MB (77 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
203.2 s
total steps
295
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 rectangular brick is to the right of the pot. I’m moving the right gripper above it with the jaws open, leaving the left arm parked.
move_to
right_x0.3950right_y0.0950right_z0.1500right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.7948, 0.6052, -0.3786, -0.0227, -0.041, 0.9996, -0.0216, 0.7933, 0.6029, -0.3729, -0.0154, -0.0269, 0.9981] state[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2955 right_y=-0.0001 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9981 state[joint_eff]: [-0.6359, -1.5932, 10.0034, 1.79, -0.0073, 0.2515, -0.0611, -0.4581, -1.4564, 10.1812, 1.7411, -0.0904, 0.0855, -0.2076] 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":0.095,"right_z":0.15,"right_gripper":1},"note":"The black rectangular brick is to the right of the pot. I’m moving the right gripper above it with the jaws open, leaving the left arm parked."})
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 nearly centered between the jaw columns but still ahead of the fingertips in the wrist view. I’m advancing slightly and lowering toward its sides for a grasp.
move_to
right_x0.4250right_y0.1000right_z0.0550
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8001, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.3462, 1.3563, 0.7395, -0.0681, 0.2565, 0.1444, 0.9982] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1781 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.001 left_gripper=0.9996 right_x=0.3762 right_y=0.0919 right_z=0.1249 right_yaw=0.0462 right_pitch=-0.0962 right_roll=-0.0335 right_gripper=0.9982 state[joint_eff]: [-0.0615, -1.6479, 6.8581, 1.8193, -0.022, -0.0171, -0.0171, 0.1983, -6.3248, 8.8274, 1.707, 0.232, 0.1832, -0.2076] 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":0.1,"right_z":0.055},"note":"The brick is nearly centered between the jaw columns but still ahead of the fingertips in the wrist view. I’m advancing slightly and lowering toward its sides for a grasp."})
tool
executing move_to over 5 steps (0.5s)
step 13
top_cam
camera top_cam step 13
left_cam
camera left_cam step 13
right_cam
camera right_cam step 13
assistant
agent noteThe brick’s near edge is still visible just above the fingertips, and the gripper is about 4 cm above the table. I’m moving a little farther forward and down so the jaws engage the brick rather than closing behind it.
move_to
right_x0.4500right_y0.0950right_z0.0080
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8043, 0.6075, -0.3901, -0.0227, -0.0456, 0.9996, 0.3191, 1.6947, 0.738, 0.1886, 0.2371, 0.1303, 0.998] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9996 right_x=0.4077 right_y=0.0948 right_z=0.0405 right_yaw=0.0397 right_pitch=-0.18 right_roll=-0.0558 right_gripper=0.998 state[joint_eff]: [-0.1709, -1.6205, 7.0359, 1.7118, -0.0366, -0.0317, -0.0171, -0.4855, -8.1573, 6.8581, 1.8584, 0.1001, -0.0952, -0.0269] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 13): [image omitted: streamed camera frame] camera 'left_cam' (step 13): [image omitted: streamed camera frame] camera 'right_cam' (step 13): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.45,"right_y":0.095,"right_z":0.008},"note":"The brick’s near edge is still visible just above the fingertips, and the gripper is about 4 cm above the table. I’m moving a little farther forward and down so the jaws engage the brick rather than closing behind it."})
tool
executing move_to over 4 steps (0.4s)
step 17
top_cam
camera top_cam step 17
left_cam
camera left_cam step 17
right_cam
camera right_cam step 17
assistant
agent noteThe descent has stopped short, and the brick fills the space immediately ahead of the jaws. I’ll close once here and use the jaw opening and a short lift to check whether it is securely caught.
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, 0.8043, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.3187, 1.7248, 0.738, 0.2447, 0.2268, 0.1192, 0.998] state[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0045 left_pitch=-0.0187 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4142 right_y=0.0986 right_z=0.038 right_yaw=0.0551 right_pitch=-0.1572 right_roll=-0.0502 right_gripper=0.998 state[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.746, -0.0415, -0.0073, -0.0171, -0.4034, -8.6769, 6.653, 1.9414, 0.1197, -0.0073, -0.0122] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 17): [image omitted: streamed camera frame] camera 'left_cam' (step 17): [image omitted: streamed camera frame] camera 'right_cam' (step 17): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent has stopped short, and the brick fills the space immediately ahead of the jaws. I’ll close once here and use the jaw opening and a short lift to check whether it is securely caught."})
tool
executing move_to over 10 steps (1.0s)
step 27
top_cam
camera top_cam step 27
left_cam
camera left_cam step 27
right_cam
camera right_cam step 27
assistant
agent noteThe jaws closed completely, so the grasp was empty. I’m reopening and lifting clear while reaching farther forward with a modest forward tilt, since the previous low pose did not reach its commanded position.
move_to
right_gripper1.0000right_x0.4650right_y0.0950right_z0.1000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8051, 0.6075, -0.4053, -0.0227, -0.0498, 0.9995, 0.3187, 1.7248, 0.738, 0.2371, 0.2226, 0.112, 0.0086] state[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1733 left_yaw=0.0047 left_pitch=-0.0347 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4129 right_y=0.099 right_z=0.0365 right_yaw=0.0622 right_pitch=-0.1656 right_roll=-0.0549 right_gripper=0.0086 state[joint_eff]: [-0.0205, -1.1966, 7.1179, 1.8339, -0.0415, -0.0366, -0.0073, -0.1983, -7.6376, 5.6684, 1.663, 0.1685, 0.0366, 0.6569] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 27): [image omitted: streamed camera frame] camera 'left_cam' (step 27): [image omitted: streamed camera frame] camera 'right_cam' (step 27): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1,"right_x":0.465,"right_y":0.095,"right_z":0.10,"right_pitch":0.3},"note":"The jaws closed completely, so the grasp was empty. I’m reopening and lifting clear while reaching farther forward with a modest forward tilt, since the previous low pose did not reach its commanded position."})
tool
executing move_to over 16 steps (1.6s)
step 43
top_cam
camera top_cam step 43
left_cam
camera left_cam step 43
right_cam
camera right_cam step 43
assistant
agent noteThe forward-tilted pose now reaches properly, and the brick is centered between the open fingers. I’m lowering around its middle while keeping that reachable orientation.
move_to
right_x0.4750right_y0.0900right_z0.0150right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8062, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.2905, 1.8236, 0.6655, 0.8173, 0.2276, -0.0029, 0.9969] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0047 left_pitch=-0.0385 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4585 right_y=0.0992 right_z=0.0865 right_yaw=0.0892 right_pitch=0.2297 right_roll=-0.0643 right_gripper=0.9969 state[joint_eff]: [-0.0205, -1.4017, 7.0085, 1.7363, -0.0611, -0.0659, -0.0073, -0.7043, -6.8718, 5.135, 2.2979, 0.1929, 0.105, 0.105] camera 'top_cam' (step 43): [image omitted: streamed camera frame] camera 'left_cam' (step 43): [image omitted: streamed camera frame] camera 'right_cam' (step 43): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.475,"right_y":0.09,"right_z":0.015,"right_pitch":0.3},"note":"The forward-tilted pose now reaches properly, and the brick is centered between the open fingers. I’m lowering around its middle while keeping that reachable orientation."})
tool
executing move_to over 5 steps (0.5s)
step 48
top_cam
camera top_cam step 48
left_cam
camera left_cam step 48
right_cam
camera right_cam step 48
assistant
agent noteThe grasp point is now about 2 cm above the table with the brick between the fingers. I’m closing the jaws for the second grasp attempt.
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, 0.8089, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2565, 2.1731, 0.6697, 1.2125, 0.215, -0.0391, 0.9973] state[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1715 left_yaw=0.0047 left_pitch=-0.0423 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4716 right_y=0.0885 right_z=0.0198 right_yaw=0.0837 right_pitch=0.2765 right_roll=-0.0864 right_gripper=0.9973 state[joint_eff]: [-0.0205, -0.9641, 7.1179, 1.7509, -0.0562, -0.0513, -0.0073, -0.7863, -7.6103, 4.3145, 0.9499, -0.2711, 0.3101, 0.0269] camera 'top_cam' (step 48): [image omitted: streamed camera frame] camera 'left_cam' (step 48): [image omitted: streamed camera frame] camera 'right_cam' (step 48): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The grasp point is now about 2 cm above the table with the brick between the fingers. I’m closing the jaws for the second grasp attempt."})
tool
executing move_to over 10 steps (1.0s)
step 58
top_cam
camera top_cam step 58
left_cam
camera left_cam step 58
right_cam
camera right_cam step 58
assistant
agent noteThe second close is also empty, so I won’t repeat the same approach. I’m moving the right arm aside to expose the brick in the overhead view and reassess its position.
move_to
right_x0.3400right_y-0.0150right_z0.2000right_pitch0.0000right_gripper1.0000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0196, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9995, 0.2604, 2.1777, 0.6727, 1.2552, 0.2001, -0.0456, 0.0087] state[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0047 left_pitch=-0.0427 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4743 right_y=0.0937 right_z=0.0285 right_yaw=0.1022 right_pitch=0.3162 right_roll=-0.0817 right_gripper=0.0087 state[joint_eff]: [-0.0479, -1.4154, 7.0632, 1.663, -0.0855, -0.0855, -0.0073, -0.1299, -9.7299, 3.2205, 1.5165, 0.1587, 0.0024, 0.6178] camera 'top_cam' (step 58): [image omitted: streamed camera frame] camera 'left_cam' (step 58): [image omitted: streamed camera frame] camera 'right_cam' (step 58): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.34,"right_y":-0.015,"right_z":0.2,"right_pitch":0,"right_gripper":1,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The second close is also empty, so I won’t repeat the same approach. I’m moving the right arm aside to expose the brick in the overhead view and reassess its position."})
tool
executing move_to over 12 steps (1.2s)
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 noteWith the arm out of the way, the brick is visibly farther forward than the previous grasp points; both attempts were behind its near end. I’m approaching that near end with more forward tilt to improve reach.
move_to
right_x0.5150right_y0.0950right_z0.1200right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8249, 0.6098, -0.4343, -0.0265, -0.0528, 0.9995, -0.1181, 1.034, 0.7059, -0.1673, -0.1074, -0.1864, 0.9969] state[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0811 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3528 right_y=-0.0192 right_z=0.2001 right_yaw=0.0669 right_pitch=0.0673 right_roll=-0.0984 right_gripper=0.9969 state[joint_eff]: [-0.6632, -1.0051, 9.9077, 1.6679, -0.1099, -0.0855, -0.0073, 0.0068, -2.9333, 9.1282, 1.7656, -0.105, -0.1343, -0.0904] 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":0.515,"right_y":0.095,"right_z":0.12,"right_pitch":0.5},"note":"With the arm out of the way, the brick is visibly farther forward than the previous grasp points; both attempts were behind its near end. I’m approaching that near end with more forward tilt to improve reach."})
tool
executing move_to over 15 steps (1.5s)
step 85
top_cam
camera top_cam step 85
left_cam
camera left_cam step 85
right_cam
camera right_cam step 85
assistant
agent noteThe brick now extends into the fingertip region of the wrist image. I’m lowering onto its near end and shifting slightly right to center the jaws across its width.
move_to
right_x0.5250right_y0.0850right_z0.0250right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8303, 0.6094, -0.4419, -0.0265, -0.0528, 0.9995, 0.2535, 2.0327, 0.7895, 1.063, 0.2089, -0.0971, 0.9973] state[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1601 left_yaw=0.0032 left_pitch=-0.0945 left_roll=-0.0051 left_gripper=0.9995 right_x=0.5044 right_y=0.0965 right_z=0.0924 right_yaw=0.1127 right_pitch=0.3821 right_roll=-0.1262 right_gripper=0.9973 state[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.7021, -0.0464, -0.0513, -0.0122, 0.1162, -10.2769, 5.8872, 2.2833, 0.232, 0.0904, 0.0269] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 85): [image omitted: streamed camera frame] camera 'left_cam' (step 85): [image omitted: streamed camera frame] camera 'right_cam' (step 85): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.525,"right_y":0.085,"right_z":0.025,"right_pitch":0.5},"note":"The brick now extends into the fingertip region of the wrist image. I’m lowering onto its near end and shifting slightly right to center the jaws across its width."})
tool
executing move_to over 5 steps (0.5s)
step 90
top_cam
camera top_cam step 90
left_cam
camera left_cam step 90
right_cam
camera right_cam step 90
assistant
agent noteThe gripper has reached the brick’s near end, and the descent stopped above the target height. I’ll close here and check whether the jaws retain a nonzero opening.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8333, 0.6094, -0.4431, -0.0265, -0.0525, 0.9995, 0.2157, 2.3798, 0.8799, 1.4574, 0.1757, -0.1169, 0.9969] state[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1591 left_yaw=0.003 left_pitch=-0.0987 left_roll=-0.0047 left_gripper=0.9995 right_x=0.5258 right_y=0.0873 right_z=0.044 right_yaw=0.1098 right_pitch=0.5169 right_roll=-0.1252 right_gripper=0.9969 state[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6386, -0.0562, -0.0611, -0.0073, -0.5675, -8.3214, 3.0427, 0.7546, -0.0171, -0.0415, -0.0513] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 90): [image omitted: streamed camera frame] camera 'left_cam' (step 90): [image omitted: streamed camera frame] camera 'right_cam' (step 90): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The gripper has reached the brick’s near end, and the descent stopped above the target height. I’ll close here and check whether the jaws retain a nonzero opening."})
tool
executing move_to over 10 steps (1.0s)
step 100
top_cam
camera top_cam step 100
left_cam
camera left_cam step 100
right_cam
camera right_cam step 100
assistant
agent noteThe jaws are still empty; the last wrist view suggests the brick may have been beside the fingers rather than between them. I’m lifting and moving left of it so I can check the lateral alignment without pushing it again.
move_to
right_x0.4100right_y0.2200right_z0.1900right_gripper1.0000right_pitch0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8341, 0.6094, -0.4465, -0.0261, -0.0528, 0.9995, 0.2119, 2.413, 0.8951, 1.5276, 0.1627, -0.1234, 0.008] state[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1582 left_yaw=0.0029 left_pitch=-0.1029 left_roll=-0.0051 left_gripper=0.9995 right_x=0.5278 right_y=0.088 right_z=0.049 right_yaw=0.1197 right_pitch=0.5685 right_roll=-0.1264 right_gripper=0.008 state[joint_eff]: [-0.0615, -1.5521, 6.9538, 1.6532, -0.0464, -0.0806, -0.0122, -0.335, -8.9094, 2.9607, 1.4188, 0.0171, 0.0757, 0.6178] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 100): [image omitted: streamed camera frame] camera 'left_cam' (step 100): [image omitted: streamed camera frame] camera 'right_cam' (step 100): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.41,"right_y":0.22,"right_z":0.19,"right_gripper":1,"right_pitch":0.3},"note":"The jaws are still empty; the last wrist view suggests the brick may have been beside the fingers rather than between them. I’m lifting and moving left of it so I can check the lateral alignment without pushing it again."})
tool
executing move_to over 12 steps (1.2s)
step 112
top_cam
camera top_cam step 112
left_cam
camera left_cam step 112
right_cam
camera right_cam step 112
assistant
agent noteThe brick is clearly visible beside the parked gripper, and the previous approach was too far to its left. I’m correcting to the right and approaching its near end again, staying above the table.
move_to
right_x0.5500right_y0.0450right_z0.0850right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.453, -0.0261, -0.0525, 0.9995, 0.6971, 1.6432, 0.836, 0.5289, 0.5781, 0.0124, 0.996] state[eef_state]: left_x=0.2874 left_y=0.0007 left_z=0.1559 left_yaw=0.0028 left_pitch=-0.1132 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4137 right_y=0.2252 right_z=0.1802 right_yaw=0.1752 right_pitch=0.3259 right_roll=-0.1298 right_gripper=0.996 state[joint_eff]: [-0.0479, -1.7983, 7.1863, 1.7265, -0.0562, -0.0171, -0.0122, 0.1162, -8.8, 8.5128, 1.9023, 0.3394, 0.2027, -0.0952] camera 'top_cam' (step 112): [image omitted: streamed camera frame] camera 'left_cam' (step 112): [image omitted: streamed camera frame] camera 'right_cam' (step 112): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.045,"right_z":0.085,"right_pitch":0.5},"note":"The brick is clearly visible beside the parked gripper, and the previous approach was too far to its left. I’m correcting to the right and approaching its near end again, staying above the table."})
tool
executing move_to over 16 steps (1.6s)
step 128
top_cam
camera top_cam step 128
left_cam
camera left_cam step 128
right_cam
camera right_cam step 128
assistant
agent noteThe lateral correction has brought the brick under the gripper, out of the forward-looking wrist view. I’m descending straight down at this alignment.
move_to
right_x0.5500right_y0.0450right_z0.0120right_pitch0.5000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.8398, 0.6094, -0.4603, -0.0265, -0.0528, 0.9995, 0.0757, 2.2181, 0.8982, 1.1885, -0.0074, -0.1326, 0.9967] state[eef_state]: left_x=0.2863 left_y=0.0007 left_z=0.154 left_yaw=0.0029 left_pitch=-0.1223 left_roll=-0.0043 left_gripper=0.9995 right_x=0.5411 right_y=0.046 right_z=0.0681 right_yaw=0.1542 right_pitch=0.4271 right_roll=-0.1262 right_gripper=0.9967 state[joint_eff]: [-0.1573, -1.6068, 7.1453, 1.6923, -0.0757, -0.0562, -0.0073, -0.2393, -10.4547, 6.2701, 2.3077, 0.0073, -0.0806, 0.0611] camera 'top_cam' (step 128): [image omitted: streamed camera frame] camera 'left_cam' (step 128): [image omitted: streamed camera frame] camera 'right_cam' (step 128): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.55,"right_y":0.045,"right_z":0.012,"right_pitch":0.5},"note":"The lateral correction has brought the brick under the gripper, out of the forward-looking wrist view. I’m descending straight down at this alignment."})
tool
executing move_to over 4 steps (0.4s)
step 132
top_cam
camera top_cam step 132
left_cam
camera left_cam step 132
right_cam
camera right_cam step 132
assistant
agent noteThe descent stopped at contact while the brick remained beneath the gripper. I’ll close and check the measured jaw spacing before attempting any transport.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8433, 0.6094, -0.4603, -0.0261, -0.0528, 0.9995, 0.0704, 2.4462, 0.9916, 1.4837, -0.0326, -0.1059, 0.9968] state[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1531 left_yaw=0.003 left_pitch=-0.1257 left_roll=-0.0045 left_gripper=0.9995 right_x=0.5555 right_y=0.0485 right_z=0.0523 right_yaw=0.1648 right_pitch=0.589 right_roll=-0.1101 right_gripper=0.9968 state[joint_eff]: [-0.1299, -1.7709, 6.9538, 1.6435, -0.0415, -0.0611, -0.0073, -0.1709, -7.8427, 2.6051, 0.3834, 0.1099, -0.0366, -0.0024] camera 'top_cam' (step 132): [image omitted: streamed camera frame] camera 'left_cam' (step 132): [image omitted: streamed camera frame] camera 'right_cam' (step 132): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The descent stopped at contact while the brick remained beneath the gripper. I’ll close and check the measured jaw spacing before attempting any transport."})
tool
executing move_to over 10 steps (1.0s)
step 142
top_cam
camera top_cam step 142
left_cam
camera left_cam step 142
right_cam
camera right_cam step 142
assistant
agent noteThis close was empty too, and the far-forward low pose is not tracking its height target. I’m lifting away to avoid dragging the table and to check whether the brick is actually nearer than that reach-limited pose.
move_to
right_x0.3600right_y0.0000right_z0.1900right_pitch0.0000right_gripper1.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8436, 0.6094, -0.4606, -0.0261, -0.0528, 0.9995, 0.0719, 2.4577, 0.9974, 1.5238, -0.0357, -0.1062, 0.0083] state[eef_state]: left_x=0.2864 left_y=0.0007 left_z=0.1529 left_yaw=0.003 left_pitch=-0.1265 left_roll=-0.0044 left_gripper=0.9995 right_x=0.5556 right_y=0.0499 right_z=0.0579 right_yaw=0.1721 right_pitch=0.6231 right_roll=-0.1148 right_gripper=0.0083 state[joint_eff]: [-0.0479, -1.5385, 7.0222, 1.5995, -0.0122, -0.0757, -0.0122, -0.1299, -12.3009, 3.2479, 1.4383, 0.0366, 0.0171, 0.6032] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 142): [image omitted: streamed camera frame] camera 'left_cam' (step 142): [image omitted: streamed camera frame] camera 'right_cam' (step 142): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0,"right_z":0.19,"right_pitch":0,"right_gripper":1},"note":"This close was empty too, and the far-forward low pose is not tracking its height target. I’m lifting away to avoid dragging the table and to check whether the brick is actually nearer than that reach-limited pose."})
tool
executing move_to over 21 steps (2.1s)
step 163
top_cam
camera top_cam step 163
left_cam
camera left_cam step 163
right_cam
camera right_cam step 163
assistant
agent noteThe brick is undisturbed and fully visible. I’m returning to a shorter-reach, more upright approach, centered farther right than the initial attempts so the jaws can descend along both sides.
move_to
right_x0.4600right_y0.0650right_z0.0900right_pitch0.1000right_yaw-0.1000right_roll0.1000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8474, 0.6094, -0.4675, -0.0261, -0.0525, 0.9995, -0.0792, 1.1255, 0.7158, -0.1127, -0.1406, -0.2436, 0.9971] state[eef_state]: left_x=0.2855 left_y=0.0007 left_z=0.1506 left_yaw=0.0028 left_pitch=-0.1372 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3685 right_y=-0.0008 right_z=0.1856 right_yaw=0.164 right_pitch=0.0406 right_roll=-0.1268 right_gripper=0.9971 state[joint_eff]: [-0.0889, -1.6342, 6.9402, 1.6972, -0.0269, -0.0513, -0.0122, -0.3761, -3.9863, 9.5932, 1.7851, -0.2173, 0.0611, -0.1734] camera 'top_cam' (step 163): [image omitted: streamed camera frame] camera 'left_cam' (step 163): [image omitted: streamed camera frame] camera 'right_cam' (step 163): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.065,"right_z":0.09,"right_pitch":0.1,"right_yaw":-0.1,"right_roll":0.1},"note":"The brick is undisturbed and fully visible. I’m returning to a shorter-reach, more upright approach, centered farther right than the initial attempts so the jaws can descend along both sides."})
tool
executing move_to over 8 steps (0.8s)
step 171
top_cam
camera top_cam step 171
left_cam
camera left_cam step 171
right_cam
camera right_cam step 171
assistant
agent noteThe brick is now centered on the jaw column, with open fingers visible on both sides. I’m lowering without advancing so the fingers reach its low side walls.
move_to
right_x0.4600right_y0.0650right_z-0.0100right_pitch0.1000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8509, 0.6094, -0.469, -0.0265, -0.0528, 0.9995, 0.2138, 1.7161, 0.7071, 0.408, 0.1757, 0.141, 0.9974] state[eef_state]: left_x=0.2854 left_y=0.0008 left_z=0.1494 left_yaw=0.0034 left_pitch=-0.1421 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4366 right_y=0.0669 right_z=0.06 right_yaw=-0.0153 right_pitch=-0.0279 right_roll=0.0326 right_gripper=0.9974 state[joint_eff]: [-0.3487, -1.7573, 6.9402, 1.5946, -0.0659, -0.0562, -0.0122, 0.1436, -8.9094, 8.1026, 2.083, 0.1734, 0.1099, 0.0073] camera 'top_cam' (step 171): [image omitted: streamed camera frame] camera 'left_cam' (step 171): [image omitted: streamed camera frame] camera 'right_cam' (step 171): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.065,"right_z":-0.01,"right_pitch":0.1},"note":"The brick is now centered on the jaw column, with open fingers visible on both sides. I’m lowering without advancing so the fingers reach its low side walls."})
tool
executing move_to over 5 steps (0.5s)
step 176
top_cam
camera top_cam step 176
left_cam
camera left_cam step 176
right_cam
camera right_cam step 176
assistant
agent noteThe grasp point has reached table level, unlike the earlier tilted attempts, and the brick is centered between the fingers. I’m closing around its near end.
move_to
right_gripper0.0000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8543, 0.6094, -0.4686, -0.0261, -0.0525, 0.9995, 0.2062, 2.0712, 0.6655, 0.9062, 0.1997, 0.1005, 0.9969] state[eef_state]: left_x=0.2856 left_y=0.0007 left_z=0.1486 left_yaw=0.0029 left_pitch=-0.1452 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4565 right_y=0.0633 right_z=-0.0045 right_yaw=-0.0221 right_pitch=0.0741 right_roll=0.0086 right_gripper=0.9969 state[joint_eff]: [-0.1709, -1.8256, 6.9538, 1.5897, -0.0562, -0.022, -0.0073, -0.6769, -7.241, 4.1504, 0.735, -0.2613, 0.3101, -0.0611] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 176): [image omitted: streamed camera frame] camera 'left_cam' (step 176): [image omitted: streamed camera frame] camera 'right_cam' (step 176): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":0},"note":"The grasp point has reached table level, unlike the earlier tilted attempts, and the brick is centered between the fingers. I’m closing around its near end."})
tool
executing move_to over 10 steps (1.0s)
step 186
top_cam
camera top_cam step 186
left_cam
camera left_cam step 186
right_cam
camera right_cam step 186
assistant
agent noteThe jaws stopped at about 7 cm apart, consistent with holding the brick. I’m lifting it a few centimeters to confirm that it moves with the gripper.
move_to
right_x0.4600right_y0.0650right_z0.0650
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.8551, 0.6094, -0.4683, -0.0261, -0.0525, 0.9995, 0.2028, 2.0869, 0.6674, 0.9428, 0.1982, 0.0891, 0.7453] state[eef_state]: left_x=0.2857 left_y=0.0007 left_z=0.1485 left_yaw=0.0029 left_pitch=-0.1456 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4597 right_y=0.0626 right_z=-0.003 right_yaw=-0.0185 right_pitch=0.0962 right_roll=0.0043 right_gripper=0.7453 state[joint_eff]: [-0.1709, -1.6342, 7.1453, 1.5995, -0.0269, -0.0366, -0.0073, 0.1846, -10.3043, 3.7949, 1.4335, 0.0366, 0.0757, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 186): [image omitted: streamed camera frame] camera 'left_cam' (step 186): [image omitted: streamed camera frame] camera 'right_cam' (step 186): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.46,"right_y":0.065,"right_z":0.065},"note":"The jaws stopped at about 7 cm apart, consistent with holding the brick. I’m lifting it a few centimeters to confirm that it moves with the gripper."})
tool
executing move_to over 5 steps (0.5s)
step 191
top_cam
camera top_cam step 191
left_cam
camera left_cam step 191
right_cam
camera right_cam step 191
assistant
agent noteThe brick remains held at the same jaw spacing and has begun lifting, though the loaded arm is sagging. I’m raising it higher and drawing it slightly inward before crossing toward the pot.
move_to
right_x0.4300right_y0.0650right_z0.2100right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.857, 0.6094, -0.4679, -0.0261, -0.0525, 0.9995, 0.2028, 1.8809, 0.6693, 0.6128, 0.194, 0.086, 0.7453] state[eef_state]: left_x=0.2858 left_y=0.0007 left_z=0.148 left_yaw=0.0029 left_pitch=-0.1471 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4411 right_y=0.0596 right_z=0.0181 right_yaw=-0.0124 right_pitch=-0.0234 right_roll=-0.0227 right_gripper=0.7453 state[joint_eff]: [-0.0342, -1.306, 7.0085, 1.6288, -0.0415, -0.0757, -0.0073, 0.5265, -11.5487, 7.9385, 2.7766, 0.1636, 0.0611, 1.033] approver: 5 step(s) modified (delta_clamped ×5). camera 'top_cam' (step 191): [image omitted: streamed camera frame] camera 'left_cam' (step 191): [image omitted: streamed camera frame] camera 'right_cam' (step 191): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.43,"right_y":0.065,"right_z":0.21,"right_pitch":0.2},"note":"The brick remains held at the same jaw spacing and has begun lifting, though the loaded arm is sagging. I’m raising it higher and drawing it slightly inward before crossing toward the pot."})
tool
executing move_to over 13 steps (1.3s)
step 204
top_cam
camera top_cam step 204
left_cam
camera left_cam step 204
right_cam
camera right_cam step 204
assistant
agent noteThe brick has lifted off the table and is held by its near end. I’m carrying it above the pot, keeping extra height because the long brick projects forward from the jaws and the loaded arm sags.
move_to
right_x0.3600right_y0.3300right_z0.3200right_pitch0.2000left_x0.2950left_y0.0000left_z0.1800
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.857, 0.6094, -0.4679, -0.0261, -0.0528, 0.9995, 0.2424, 1.4181, 0.7677, 0.0906, 0.2237, 0.0551, 0.7453] state[eef_state]: left_x=0.2858 left_y=0.0007 left_z=0.148 left_yaw=0.0031 left_pitch=-0.1471 left_roll=-0.0038 left_gripper=0.9995 right_x=0.413 right_y=0.0655 right_z=0.1438 right_yaw=0.0188 right_pitch=0.0173 right_roll=-0.0562 right_gripper=0.7453 state[joint_eff]: [-0.1983, -1.5248, 6.9538, 1.5946, -0.0513, -0.0659, -0.0122, 0.2667, -8.9094, 11.6171, 2.7131, 0.2857, 0.0757, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 204): [image omitted: streamed camera frame] camera 'left_cam' (step 204): [image omitted: streamed camera frame] camera 'right_cam' (step 204): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.33,"right_z":0.32,"right_pitch":0.2,"left_x":0.295,"left_y":0,"left_z":0.18},"note":"The brick has lifted off the table and is held by its near end. I’m carrying it above the pot, keeping extra height because the long brick projects forward from the jaws and the loaded arm sags."})
tool
executing move_to over 23 steps (2.3s)
step 227
top_cam
camera top_cam step 227
left_cam
camera left_cam step 227
right_cam
camera right_cam step 227
assistant
agent noteThe brick is above the pot but offset toward its right rim. I’m shifting left to center it over the opening before lowering.
move_to
right_x0.3600right_y0.3900right_z0.2800right_pitch0.2000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0265, 0.9092, 0.712, -0.5652, -0.0265, -0.0528, 0.9995, 1.0241, 1.8217, 1.7229, -0.664, 0.8532, 0.4412, 0.7492] state[eef_state]: left_x=0.2884 left_y=0.0006 left_z=0.1609 left_yaw=0.0033 left_pitch=-0.194 left_roll=-0.0022 left_gripper=0.9995 right_x=0.355 right_y=0.3342 right_z=0.2747 right_yaw=0.1082 right_pitch=0.0841 right_roll=-0.1481 right_gripper=0.7492 state[joint_eff]: [-0.4308, -1.7983, 10.5231, 1.6239, -0.0659, -0.0415, -0.0073, 0.2256, -10.9333, 11.0154, 1.6923, 0.9011, 0.2369, 1.033] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 227): [image omitted: streamed camera frame] camera 'left_cam' (step 227): [image omitted: streamed camera frame] camera 'right_cam' (step 227): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.36,"right_y":0.39,"right_z":0.28,"right_pitch":0.2},"note":"The brick is above the pot but offset toward its right rim. I’m shifting left to center it over the opening before lowering."})
tool
executing move_to over 5 steps (0.5s)
step 232
top_cam
camera top_cam step 232
left_cam
camera left_cam step 232
right_cam
camera right_cam step 232
assistant
agent noteThe brick is now over the opening, though still slightly right of center. I’m making a final small leftward correction and lowering toward the water, with tilt compensation for the loaded wrist.
move_to
right_x0.3500right_y0.4000right_z0.1800right_pitch0.3000right_roll0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.91, 0.7143, -0.5663, -0.0261, -0.0532, 0.9995, 1.0573, 1.9282, 1.7466, -0.6907, 0.8394, 0.4267, 0.7507] state[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1615 left_yaw=0.0035 left_pitch=-0.1936 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3497 right_y=0.3597 right_z=0.2302 right_yaw=0.1621 right_pitch=0.007 right_roll=-0.2407 right_gripper=0.7507 state[joint_eff]: [-0.0615, -1.7983, 6.7077, 1.536, -0.0562, -0.0757, -0.0122, -0.4855, -13.9282, 9.3607, 1.9658, 0.8864, -0.0024, 1.0281] approver: 1 step(s) modified (delta_clamped). camera 'top_cam' (step 232): [image omitted: streamed camera frame] camera 'left_cam' (step 232): [image omitted: streamed camera frame] camera 'right_cam' (step 232): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.35,"right_y":0.4,"right_z":0.18,"right_pitch":0.3,"right_roll":0.3},"note":"The brick is now over the opening, though still slightly right of center. I’m making a final small leftward correction and lowering toward the water, with tilt compensation for the loaded wrist."})
tool
executing move_to over 10 steps (1.0s)
step 242
top_cam
camera top_cam step 242
left_cam
camera left_cam step 242
right_cam
camera right_cam step 242
assistant
agent noteThe far end is inside the pot’s outline, but the grasped near end is close to the near rim. I’m advancing a few centimeters over the opening and lowering gently before release.
move_to
right_x0.3850right_y0.4000right_z0.1300right_pitch0.3000right_roll0.3000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.9127, 0.7143, -0.5724, -0.0261, -0.0528, 0.9995, 1.0615, 1.8877, 1.4498, -0.4107, 0.741, 0.4671, 0.7518] state[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1597 left_yaw=0.0034 left_pitch=-0.2024 left_roll=-0.0022 left_gripper=0.9995 right_x=0.3361 right_y=0.3645 right_z=0.1631 right_yaw=0.2101 right_pitch=-0.0308 right_roll=-0.1407 right_gripper=0.7518 state[joint_eff]: [-0.2803, -1.5932, 6.9949, 1.6093, -0.0806, -0.0708, -0.0122, 0.5128, -10.1812, 8.1436, 1.8584, 0.5836, 0.1197, 0.9402] approver: 2 step(s) modified (delta_clamped ×2). camera 'top_cam' (step 242): [image omitted: streamed camera frame] camera 'left_cam' (step 242): [image omitted: streamed camera frame] camera 'right_cam' (step 242): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.385,"right_y":0.4,"right_z":0.13,"right_pitch":0.3,"right_roll":0.3},"note":"The far end is inside the pot’s outline, but the grasped near end is close to the near rim. I’m advancing a few centimeters over the opening and lowering gently before release."})
tool
executing move_to over 12 steps (1.2s)
step 254
top_cam
camera top_cam step 254
left_cam
camera left_cam step 254
assistant
agent noteThe arm did not advance as commanded, and the brick’s near end is still at the rim. I’m lifting clear and increasing the forward tilt to reach farther into the pot rather than forcing it against the edge.
move_to
right_x0.4000right_y0.3800right_z0.2100right_pitch0.6000right_roll0.4500
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.9165, 0.7143, -0.5728, -0.0261, -0.0528, 0.9995, 1.0622, 1.8626, 1.1736, -0.07, 0.6975, 0.4267, 0.7521] state[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1586 left_yaw=0.0034 left_pitch=-0.2066 left_roll=-0.0021 left_gripper=0.9995 right_x=0.326 right_y=0.3591 right_z=0.1142 right_yaw=0.2636 right_pitch=0.0045 right_roll=-0.0876 right_gripper=0.7521 state[joint_eff]: [-0.1573, -2.2222, 6.8444, 1.5507, -0.0415, -0.0562, -0.0073, -0.0615, -11.6718, 6.6667, 1.9121, 0.5104, -0.0513, 0.862] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 254): [image omitted: streamed camera frame] camera 'left_cam' (step 254): [image omitted: streamed camera frame] camera 'right_cam' (step 254): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.4,"right_y":0.38,"right_z":0.21,"right_pitch":0.6,"right_roll":0.45},"note":"The arm did not advance as commanded, and the brick’s near end is still at the rim. I’m lifting clear and increasing the forward tilt to reach farther into the pot rather than forcing it against the edge."})
tool
executing move_to over 20 steps (2.0s)
step 274
assistant
agent noteThe forward-tilted reach has moved the entire brick over the pot opening. 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]: [-0.0265, 0.9165, 0.7143, -0.5728, -0.0261, -0.0528, 0.9995, 0.8776, 1.9816, 0.9787, 0.8474, 0.3912, 0.3176, 0.7558] state[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1586 left_yaw=0.003 left_pitch=-0.2066 left_roll=-0.0021 left_gripper=0.9995 right_x=0.3932 right_y=0.3736 right_z=0.1439 right_yaw=0.328 right_pitch=0.3986 right_roll=0.2946 right_gripper=0.7558 state[joint_eff]: [-0.1709, -1.9487, 7.0496, 1.5116, -0.0708, -0.0415, -0.0122, -0.3487, -10.3726, 9.0462, 3.2943, 0.0366, 0.0122, 0.7448] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 274): [image omitted: streamed camera frame] camera 'left_cam' (step 274): [image omitted: streamed camera frame] camera 'right_cam' (step 274): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_gripper":1},"note":"The forward-tilted reach has moved the entire brick over the pot opening. I’m opening the jaws to let it settle into the water."})
tool
executing move_to over 3 steps (0.3s)
step 277
assistant
agent noteThe brick has dropped inside the pot. I’m lifting the empty gripper away so the overhead camera can verify its final position.
move_to
right_x0.3200right_y0.1700right_z0.2800right_pitch0.2000right_roll0.1000
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.9165, 0.7143, -0.5732, -0.0261, -0.0525, 0.9995, 0.8757, 2.0029, 0.9649, 0.9123, 0.3836, 0.2947, 0.9966] state[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1585 left_yaw=0.0032 left_pitch=-0.207 left_roll=-0.0018 left_gripper=0.9995 right_x=0.3932 right_y=0.3739 right_z=0.1421 right_yaw=0.3393 right_pitch=0.427 right_roll=0.2879 right_gripper=0.9966 state[joint_eff]: [-0.0752, -1.5932, 6.8581, 1.5214, -0.0757, -0.0562, -0.0122, 0.1299, -10.8513, 6.0923, 1.7998, 0.0952, 0.0659, -0.1001] approver: 3 step(s) modified (delta_clamped ×3). camera 'top_cam' (step 277): [image omitted: streamed camera frame] camera 'left_cam' (step 277): [image omitted: streamed camera frame] camera 'right_cam' (step 277): [image omitted: streamed camera frame]
assistant
move_to({"targets":{"right_x":0.32,"right_y":0.17,"right_z":0.28,"right_pitch":0.2,"right_roll":0.1},"note":"The brick has dropped inside the pot. I’m lifting the empty gripper away so the overhead camera can verify its final position."})
tool
executing move_to over 17 steps (1.7s)
step 294
assistant
agent notePlaced the black brick into the pot and verified it is inside after withdrawing the gripper.
done
hindsightThis brick required a table-level grasp: right target x=0.46, y=0.065, z=-0.01, pitch=0.1 held it at a settled opening of 0.745 (~7 cm). Higher, forward-tilted grasps repeatedly closed above or beside it. Under this load the arm sagged by 5–7 cm and rotation tracking also degraded substantially. Carrying its near end to x=0.40, y=0.38 with pitch=0.6 put the whole brick over the pot for release.
Raw transcript
user
Current observation. Instruction: put the black brick into the pot of water state[joint_pos]: [-0.0261, 0.9218, 0.7143, -0.5835, -0.0261, -0.0525, 0.9995, 0.5602, 0.9981, 0.8978, -0.0147, 0.1802, 0.1596, 0.9969] state[eef_state]: left_x=0.2862 left_y=0.0007 left_z=0.1553 left_yaw=0.0033 left_pitch=-0.2226 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3277 right_y=0.1724 right_z=0.3413 right_yaw=0.2908 right_pitch=0.4431 right_roll=0.1703 right_gripper=0.9969 state[joint_eff]: [-0.1026, -2.3863, 7.0359, 1.6532, -0.0317, -0.0269, -0.0073, -0.1573, 1.1692, 6.8171, 1.3162, -0.0708, -0.022, 0.0073] camera 'top_cam' (step 294): [image omitted: streamed camera frame] camera 'left_cam' (step 294): [image omitted: streamed camera frame] camera 'right_cam' (step 294): [image omitted: streamed camera frame]
assistant
done({"summary":"Placed the black brick into the pot and verified it is inside after withdrawing the gripper.","hindsight":"This brick required a table-level grasp: right target x=0.46, y=0.065, z=-0.01, pitch=0.1 held it at a settled opening of 0.745 (~7 cm). Higher, forward-tilted grasps repeatedly closed above or beside it. Under this load the arm sagged by 5–7 cm and rotation tracking also degraded substantially. Carrying its near end to x=0.40, y=0.38 with pitch=0.6 put the whole brick over the pot for release."})
tool
done: Placed the black brick into the pot and verified it is inside after withdrawing the gripper.
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 · 5.069 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, 0.7948, 0.6052, -0.3786, -0.0227, -0.041, 0.9996, -0.0216, 0.7933, 0.6029, -0.3729, -0.0154, -0.0269, 0.9981]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2955 right_y=-0.0001 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -1.5932, 10.0034, 1.79, -0.0073, 0.2515, -0.0611, -0.4581, -1.4564, 10.1812, 1.7411, -0.0904, 0.0855, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:923913f779d1f5bfc6d379bf8fe60a85aff47546823659691ae2f7c0d98b24b3",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c73e00a2e545d0afbd062ac8cda8756adb650e8e5c8d7146601ee15d3fff231",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 0):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7ea6cf14402d71a86095e78d0e65e20513e9d7733bbfedd780e63907e3b23159",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 1 attempt 0 · /responses · status 200 · 4.539 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ1jncAZZIND9e6RTVEAm9Uvdd14meA4ovzSONAtxP_tb8zeGpjYSQFZL6KXCefLed53qMA5L6wmYQWTVgF3DQRikINrDiECUogGhy5qaRMcUc7uTBaWc7PlybrgjRW0fHuM-Gm88MLxPTxQncolubPIlH_fBtL92I5hY2TLTwl17HVp2pDJfjMOPiMNLf7VTOQ-Ye4wEXSOns0vc05ZEFbSIoqDkURaU41Yx3AYZjFsAdJx9X-C7ZYr8E3Y24jQ9JdrM0AR1A7EV-H750tn86gwO6tSsaIxqPKJf3jwG5j_PxZL5kc5jiDFUzwllH9sPTrkzvDNoF4tzyV1SVeHgLZY4W-ZQLHen_a4npvacoeEw8EqeEtL9d73i-bIUlUYzXOfUfMRHH8bGf-Xf7Bcr4uYrG-evuTsqEO_q3SvXagTwyIJ2ZyBnIr7-5dQROAaq6KY3-Gl7iyVLOkaGjBhL-5dQKXED4a7QHP6Su5zYwg-gmNyyoy4sI0nN_n5_CygbUXq6bI4asj1_4-s6y-_JVCEkVIHa-k2sW0jpmc0lvP3rSRUWPKKEhuW1SSyk03IhXKZVPfi9-u872TwKM6HKmeSSHjr000_wPkZfB-62dfwGfE3_fvy0xFuVf55Bwh4B5JowRl5Sp-BKpzz8ObkjnUhCeHkkxiRDrNRB9EU1ktdWx45koSp3ugiiaTJiW1YLyH7s-kzC9yDDNXjDWii030z9jQiH_9xOODYYERo00x9HBFpPQgf4VG2Aufb8tJF5YOYmcjWa5Kl33xZIDp4QbBr0i9I09ZuL_pmo62kcfcVQ71HG8T8wgPWiNVlKouOzfeSAkZJIU56ApOly3pU_q1Me1tLQatwftQIf2fN5e0NrhUswQOrGEwvMWWeFJuvLYIuCUPlRFVgYzCS2qGPJ-XoTWk7IA5bqXa42OMTYTIMn_I1Vi2b4LSe-w19bvbR1Ob_psfIDAYJs8elvFCbwc1qsbEPEWlNCWsmt8x4LLyfnpwLq_Q8e5u6yKdqLdBsvLdc1WAuA3ftlNayJx1XfdzIMARH2yrlBR6WYqPh4OTYcEm6DLQXdWC96HDNr-VjYa_yxnKlpkdyAg5K3c21Tq8MLM5RU8X_eaP9qw8xl70ecgzDvGzW5IYVfr6Bcgi7-zJSTaHybjTqaY4KLpb9UrDpYt7BbVKwtZfVY1kEz4TvoAJ9Uo7kX5Qd1INGM-R99g-OSBhPAYMuswLnMHgPaVL52Ze9b3g09USi8gUb0UcAT7WA8VlJVuNs4e_LsHrxTXQNTvv3NWLD7mHY1hajGm1fHTWND5iJKgfM5bvhGcvZs5r5xB8dYd5CUstVOax-InjtJTOIyLZyOFTz-cQptWZ3TVqKn3wNhU-EmjPmsyfKnwKwCi5CUvkz2QL_zk72WCmIH00jZsi-Z5iiyZ2AsqgoI3TKDGwsuXQK-07WDB21is_Db61iPq-X4mI0Ox0BzVyu_SqvgdiVqC_ogZX4vej08Lumpw5CAw6NkZ4kWTwLRGrTfiP894R3egbPMjK_Qoo9",
  "id": "rs_09335d39bb264a4d016aac9d5fd2a087d0aa1f7455bf6882b3",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.395,\"right_y\":0.095,\"right_z\":0.15,\"right_gripper\":1},\"note\":\"The black rectangular brick is to the right of the pot. I’m moving the right gripper above it with the jaws open, leaving the left arm parked.\"}",
  "call_id": "call_DBhqzeNBtfPssFF0I9PeuiXz",
  "id": "fc_09335d39bb264a4d016aac9d62786c87d09b5794aa23451e44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_DBhqzeNBtfPssFF0I9PeuiXz",
  "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, 0.8001, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.3462, 1.3563, 0.7395, -0.0681, 0.2565, 0.1444, 0.9982]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1781 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.001 left_gripper=0.9996 right_x=0.3762 right_y=0.0919 right_z=0.1249 right_yaw=0.0462 right_pitch=-0.0962 right_roll=-0.0335 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.6479, 6.8581, 1.8193, -0.022, -0.0171, -0.0171, 0.1983, -6.3248, 8.8274, 1.707, 0.232, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c46e4b10dfcb3c9e6a6ac62e2c7d4e5934daad6a6661c9c68982575641ad7f40",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d01e63638b9421e44509a3f585c0e797502967490eaf3dbc7cce4e8b2c6bb3c",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 8):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:33da79ac7cdeb78b544ee4dac116826d75f55424d3807f6b0cc7da93832c40af",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 2 attempt 0 · /responses · status 200 · 3.895 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, 0.7948, 0.6052, -0.3786, -0.0227, -0.041, 0.9996, -0.0216, 0.7933, 0.6029, -0.3729, -0.0154, -0.0269, 0.9981]\nstate[eef_state]: left_x=0.2952 left_y=0.0018 left_z=0.1806 left_yaw=0.0 left_pitch=0.0 left_roll=0.0 left_gripper=0.9996 right_x=0.2955 right_y=-0.0001 right_z=0.1811 right_yaw=0.0003 right_pitch=-0.0004 right_roll=0.0002 right_gripper=0.9981\nstate[joint_eff]: [-0.6359, -1.5932, 10.0034, 1.79, -0.0073, 0.2515, -0.0611, -0.4581, -1.4564, 10.1812, 1.7411, -0.0904, 0.0855, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ1pDDpYlJK4NRiK1YRrCEZGt0eNAo0ma-abaGJzh4LBIBG4dUy0sxRd7qpEet50hW8PbballVibTXAeb2io_JIwvYg1qHFU6Nscu_Ehz16cJehseQPC5p9TkTlTGHpIdATEotEDcVpz0LdYW8SkNCs0LILaEy6xUeLCPIh5yv1biyfHwlcNmd119NV2DqQNlnlN0n8ESzBwyUPCpZLTeZ0hVgX3tQZl4l4lzdKBC7vPIrGiuhG-mz9h2JvUOyM7EkKENtdrGVXOvIJZjUk82d54xgqSdALma0uEHTXWhDoJ9Dfa_blaH9xdhVPNFkZhUFcOt_JgmltoDiF-0GRw0W_FcXlhs9GCAOAHT0CVonhHPn6uaVFQ-OtG_ok8PDMHw1FmCa8gblas6olR8JEDQ9lwMyIesbmHZdgns_T71EJpjMGovEZ0zmXGiVZ-uvZW5d2Mact3F6lUEINTAnLJ-jKx0JdpbZI-clugRu_fDDbbWcOW78z3RBIZpjzmu--oRw9lRfaKHF5WPKDnbnwTcfVfZARzdUKGm_eoVt_RFj9x9g9_AWQo3eFN3P64y9dfE4gvyGjaYF-BMnw8Hl_TiwPM7KH6HdUOQpEpqt5VO2r-bT5ujiC1AfOiPve_joSzvRMBu3JfezCJOld_gDbOiS2vIZWl3Ss0U-_ESsPVulvygfpfIOKtX78mBhj78xTgjS1609clS51CLFztZ-EbS9XjNnH9F4XPRnHRyX_V5aT-WWw3lAdCrwbgtHfWrFMh3Y-kzVQM4qCvJBeZpG2R5RtOHIabJX7-yWXdtvitya3fa6P2rbm3_3oE-jiLVZWqb0IYVSESHuhVZ8KAyfNTo6TfNXjcQVi2KGhfHdFkWnScddkfSMOq7pmhu3BtitDtP9a9Iu6eM0VnVHSXdRms-7w3ZRPHpsCkeMob1KvDoX5-obd39QWAzAYb0Q4XaSwps0NZGWu_3qEHxQkD2DL5EGqZOH80GK59V5HTjW2vBubYuTRDP07ZkeLux7XfJclIcx5RdfOJ4plqC_A1XW7Y4BVtESyQbSK19CVgYXtkQO3C-JwvJaMs27Tx6JU_c-seAAmR9ly4YuBRct7BlFABga3V7NQvyYPDEibIyyzJmX6gBApBZw2Hrc2GuSWAF5BDEgpjU8IZNCnV2qD1OiL9PQ450MXj1AHVFkqxtiXp8emgwzVGj162Qlrc4HFPG1RhN_BZjkrVe_J73Lgj7_AoME4w9L9iTiaUDID_yn5xa5E6bLoJwmNp1qeNCCtHYGaQ1qrGVu9fNuOPVgLNIvmMjhXnHV1oJBnpqE2HWlHtyoFZAVTJgLFcSEGcEOU3x7LpkgeVUea_U4n5HB0J39kIZYB3ciMgyJEsqbpyRzC_Pe2Vqb89FvX01O7ysHxFx9IMJRrw",
  "id": "rs_09335d39bb264a4d016aac9d664f0487d0815b4d8b3585295e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.425,\"right_y\":0.1,\"right_z\":0.055},\"note\":\"The brick is nearly centered between the jaw columns but still ahead of the fingertips in the wrist view. I’m advancing slightly and lowering toward its sides for a grasp.\"}",
  "call_id": "call_vZs6fBg6UYSKUK6KBlJf6Ry9",
  "id": "fc_09335d39bb264a4d016aac9d67678487d0b53d69eaf7b9bdec",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_vZs6fBg6UYSKUK6KBlJf6Ry9",
  "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, 0.8043, 0.6075, -0.3901, -0.0227, -0.0456, 0.9996, 0.3191, 1.6947, 0.738, 0.1886, 0.2371, 0.1303, 0.998]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9996 right_x=0.4077 right_y=0.0948 right_z=0.0405 right_yaw=0.0397 right_pitch=-0.18 right_roll=-0.0558 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.6205, 7.0359, 1.7118, -0.0366, -0.0317, -0.0171, -0.4855, -8.1573, 6.8581, 1.8584, 0.1001, -0.0952, -0.0269]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:de8bd1583c86a07e1b5290348747ceafa60772a4901c76aa62e8af9acf757799",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:4ec9032b7ed1bffcf4ec069445a6ae7de6c6aada2070c91938f2302288185cf9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 13):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c35887655a5de3fc246b822adfe8f925e609116cfd9a58b826440f1e703e3648",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 3 attempt 0 · /responses · status 200 · 4.956 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, 0.8001, 0.6075, -0.3885, -0.0227, -0.0425, 0.9996, 0.3462, 1.3563, 0.7395, -0.0681, 0.2565, 0.1444, 0.9982]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1781 left_yaw=0.0008 left_pitch=-0.013 left_roll=-0.001 left_gripper=0.9996 right_x=0.3762 right_y=0.0919 right_z=0.1249 right_yaw=0.0462 right_pitch=-0.0962 right_roll=-0.0335 right_gripper=0.9982\nstate[joint_eff]: [-0.0615, -1.6479, 6.8581, 1.8193, -0.022, -0.0171, -0.0171, 0.1983, -6.3248, 8.8274, 1.707, 0.232, 0.1832, -0.2076]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ1tI7RGqVKv8qEViyBGF1sl_DWSXlnf3doG3TdoMs6teIRYGqjRR9kZ5yU-u3R_eMUN--e20jY1RA9DOAM6mgX8FRBxPq1TPOhr6vNr8MDi2xu0j5DLO3cMs0pm15KRRaE8E3m16lKG2G_cvTlJlyZ5NljLCzp5OWT8F24MWDWKweO2mCHaR6uknZ1cBmyxQ3DaeGrfpF4MsLNNR636uu1l9Y_zK9TJ5tlx7ungV3R1V3JQQ1ol4VasJUCsdcjNXj3Gk4pGAfpx4oniUnka9Q-xoypMDE89qEAor_MWT2xBhPhANWa-8PABrIrZ7luwDmSETHIT9ERiaDQ2IYWLtWuO2xsTjrhKS7AMw8O4BCDKg2MWm1a9G6SjX_ojSw0nqxdnNLmEWjQriPaiy3IzoMpa1ZhWZ3VTsE3CMbyByQPHHIbVOJfPh2PMihfBWgW7VGWLWb2xp6XAanGq_EaQzUSN4YZ9yZr4xNl9Y7uRHDxI6ku7IbSBVF3C7QbcO93zujgJ4L-07Xs_wpPFFMihdVbZ2Q-h_stgynJahAi9z2QjmiW_oxdIaqJU2BXhoEzSwAGBd5M5NwpC_WBF8E2lsm9dSKI2eALyYillrR3U5z3h4ausfDMhNUx4C67gfb4BDjs3o5HESnMPq9OwGZ9HbaDfsycQch9yDY4ZOvix-iZrXNDoTkkcSg0nYcJQu-PW_TnqE9_loxHO8NislvE4aGISGKO1v5fja0epesi3hL_jLCEcfmiZxY6C_UZ1wQO-hPeO0BnRC4fXTKlVZMejTHxppLGNG0ErNHk9A8z6WyJdMkw5vM5mrRvIbzd3bDa5YTwhUqr4Qa6a0jLFM_hbkMyhk2IdSL8rGozrMjraq13yC4LA3oJijI5qwFTdc7XE4kRiwxp4U6LQR7CnCknCEMrNata-3dVTz5RJ0ocYRk4FNrJt6R1GA___1HGzNXSnnW3jNw1AbcN37TRLAHbKMlFMwUxbSDxXu8fzgy9fGuqWd9SklhwoWWEWIOg2uym98H5_ah5Ua8-t3IiEYK3M-cjIsuB8A3kBJv2juHKn7tPayiTos-gZkKSl2Ru8SkKWUo_kNRaSTsmOVcWHAZz0-3zrVMLPby7W3kmesH33BaPdSbr9VkfP88fyAiVrmwiw6KIo_BDBdqh-mAyH1GVY5ihTkxvSvw0-VHM9YNT44ACWZxknu92RPdq_39pPsAOFXq_5MgrpxvRODkVCanDCkCDNmqUaI1Hqi4Z5ip6VGNwFG736lIMp3whXqJ9jpO31oR9NIt2wKB89FXJZ6U8Ebl7at1rj4P8HvjJ16C7INHNh7pEOD1lNu1W4Zpqf8Y29kfXUin7Kl-viKi5Tw3r8Ae0T8m8d-rcLifVJBWUSFdHS9zo=",
  "id": "rs_09335d39bb264a4d016aac9d6ac45487d0979c41e8196f9aba",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.45,\"right_y\":0.095,\"right_z\":0.008},\"note\":\"The brick’s near edge is still visible just above the fingertips, and the gripper is about 4 cm above the table. I’m moving a little farther forward and down so the jaws engage the brick rather than closing behind it.\"}",
  "call_id": "call_Fv1k419X3HjA4cjrWeIqaAKZ",
  "id": "fc_09335d39bb264a4d016aac9d6bb08487d0ac9a68375e7fa888",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Fv1k419X3HjA4cjrWeIqaAKZ",
  "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, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.3187, 1.7248, 0.738, 0.2447, 0.2268, 0.1192, 0.998]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0045 left_pitch=-0.0187 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4142 right_y=0.0986 right_z=0.038 right_yaw=0.0551 right_pitch=-0.1572 right_roll=-0.0502 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.746, -0.0415, -0.0073, -0.0171, -0.4034, -8.6769, 6.653, 1.9414, 0.1197, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6e8f11cb95a3215238f0e9f98bb9f5ecce4f629bfa8968e72416cd219f8974c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:334e4d1cba85907b03b0bcf682ee2cf7b19d80c89f7af83f43bc4993e4fd0ac3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 17):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6216c1a999825211adf8955f1de7d87156d713b6a65e7bd409932f3c7e800a15",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 4 attempt 0 · /responses · status 200 · 4.259 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, 0.8043, 0.6075, -0.3901, -0.0227, -0.0456, 0.9996, 0.3191, 1.6947, 0.738, 0.1886, 0.2371, 0.1303, 0.998]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0025 left_pitch=-0.0187 left_roll=-0.0034 left_gripper=0.9996 right_x=0.4077 right_y=0.0948 right_z=0.0405 right_yaw=0.0397 right_pitch=-0.18 right_roll=-0.0558 right_gripper=0.998\nstate[joint_eff]: [-0.1709, -1.6205, 7.0359, 1.7118, -0.0366, -0.0317, -0.0171, -0.4855, -8.1573, 6.8581, 1.8584, 0.1001, -0.0952, -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": "gAAAAABqrJ1ykYp0V6QRRItIeQpssxicCjKYrppaOu8x4UOJTNlOu7f63m-rzHMzdamsQV83LBva3ZpQKwqgr4XZZ-12sGpujW1Xz0NE277vBJI6EFJPrAv4A_AmnlMasT0UHHdSaqCoDF2SMt58BG_LETZiSfNZOthu7pZGBBBhPDmrxDIVpjps_CR8PE4aJBwZTL1MdT1ka1dsFFwL8_Pd7t_MYKYMuH7TfsY0J01XMONqopn5BnBph8YTEu6feOvi-7ZuaYxhdmQFBhX2DXzvwzOpzjenM1EE4Dy86F_RLrvVsQ68kRWOOjpiOACtbRBbnWec2zUJU_Jdnbdi22l9xkXX0o7bTe2kLTc0MH9uYo2bPLkXOnss-y-fI3pFUtpngEGtgeYiMjDb30hoG5O6oF_bPTPXM0Qv3JXVPzbgRLuwLNYvzB-tFF29bfPkBA0555rWmDvXAW2Ar0Jh0HZNTgZ-vaaDlcFVcHkS9Hx_hr1JLlKkD2bBgaVxVRZRbsbieHaGFqazzfS81gaoESBoOSL_YNeG-QjOvmggnv_uGZf1C4E5CsCGLkU94Aj8nqFLy9A3OGG3WHKOaF0WMsUoyvP76tLEBpxqn-l-dryc6Dlm_j_nJqXqBQnHaaX62EqWwIQ05NJS1r_cXXNwYN9XdoRw-6EQDVInMGi4xvATxxIjGHNz-RrEVjKghtA5DS7vbynvCePHMmZBXencEBtcIfL-kOh2qPPpW0duvoilWvu0mb0ZkIL0bOjYjzvWO0Rnt7D48owCndkLfFON7JjFT0xQXF0dgpgLJXAa7Hr03GL1luWaA5eAK36n3VYtEZdXxfC67PS7n8LIhsyVz02lo3XZ_8Wd95R1COx6U5vG-ZwCoTgdtdgo0Wn6FjEJOKaQ2Q4SxxFX2sugy6QXmWDdeAZLEJ06bOzWZldGYdMyx27oYjJUlQe4TOZa7Qyjpd5jWbUKwX1vGQfMfIoE_GiXOOs5OwEOVyaiQaxo6N6KVYRl-ShrKsLnaOXdgqtaveQqMVsGTBqsOO9wYHurULxgYdZR8eyydhIxWppvh-Kd8iDtT0SujT79HL0rcuHjyhGMsuA31lw7_PZQpEppdRybR4u1dFUMlZEsy9dtuW1hkKRxndbKzxdK64gdbsr2ftv-beWOxaD7qepwKI63SI6jlJ1HuQAX6dlWyK1Ugl14PMNQuwWDmwz5PMJz-6qQ8FOseLs1NcH9_PJXYDbXnoIGLpc389Y7-Eja3sEdiC77k1_l2vyhoIZHR0eVvcBOTfdlGmAIhV3hBEeVqAmxDvn1PMlSOSeYXoj0n4hbVclPOwAqWx7S7ree8kWLHLgpDm8m8gNia8WpNSOCUbOPWYlwS9G2WEXbbjR1R7vfvVSYxSUm70rgjNZc3QiZNype3o-fir1od55P5oczzVpQREwf3ZtPc38BckmSnFu1P7wPfuaOw3hgGtqhzVhaYRSDD33fbFGpH-0jGkxq9PJuT17Klm3lVTOF4TJwtTKwOAc7MGorr8lMknR4w4p3zj_4iKN4i15yrMsJUZOaTzI1zHrKtcOBZS1g2vDLU4LIcwfO_BH0Okb3YhW7s23UGWBGKDYfWdNXj4YRc-B4PBOWmM37oX9wi7c4ooh8w7rIZhgBHcDZChy0jV_iaOMpeP8I_X3SlCSURwg9SYLh6TFVxlTseeh12CZBWNUr6XdqyYlxlW6GcLW4Vvg=",
  "id": "rs_09335d39bb264a4d016aac9d6ecdc087d082afc4d27db9612e",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent has stopped short, and the brick fills the space immediately ahead of the jaws. I’ll close once here and use the jaw opening and a short lift to check whether it is securely caught.\"}",
  "call_id": "call_jNWBnE6Q2gk0YiiFvv3exoqj",
  "id": "fc_09335d39bb264a4d016aac9d71278487d0b4b89afd75e402d3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jNWBnE6Q2gk0YiiFvv3exoqj",
  "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, 0.8051, 0.6075, -0.4053, -0.0227, -0.0498, 0.9995, 0.3187, 1.7248, 0.738, 0.2371, 0.2226, 0.112, 0.0086]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1733 left_yaw=0.0047 left_pitch=-0.0347 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4129 right_y=0.099 right_z=0.0365 right_yaw=0.0622 right_pitch=-0.1656 right_roll=-0.0549 right_gripper=0.0086\nstate[joint_eff]: [-0.0205, -1.1966, 7.1179, 1.8339, -0.0415, -0.0366, -0.0073, -0.1983, -7.6376, 5.6684, 1.663, 0.1685, 0.0366, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6b33eda63b182fbaa94df65af4301dd1e6a567cf7c70a0a7a0e816fb897a5ea",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f86780d682165291b1d15760fc54d0f04bde30a560a97979e6b754aff9f05150",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 27):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cf2d35939dfaa968796f9b428c562160b257c6b84b7cb2a991d83bba1b645741",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 5 attempt 0 · /responses · status 200 · 4.053 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, 0.6075, -0.3901, -0.0227, -0.0494, 0.9995, 0.3187, 1.7248, 0.738, 0.2447, 0.2268, 0.1192, 0.998]\nstate[eef_state]: left_x=0.2945 left_y=0.0018 left_z=0.1767 left_yaw=0.0045 left_pitch=-0.0187 left_roll=-0.0066 left_gripper=0.9995 right_x=0.4142 right_y=0.0986 right_z=0.038 right_yaw=0.0551 right_pitch=-0.1572 right_roll=-0.0502 right_gripper=0.998\nstate[joint_eff]: [-0.0615, -1.3197, 7.0085, 1.746, -0.0415, -0.0073, -0.0171, -0.4034, -8.6769, 6.653, 1.9414, 0.1197, -0.0073, -0.0122]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ13SsAE0zfPIO_VQAHUdhBfRG4Bhb8ir-ihkXWCs8IcqJyFYy7S22sH3MLJB9hr-YJNl5uLTNcrpeJP3cjDz81GnFEgIJu5sMiTwCsM_R1xMJ5M1HhnIAprrdMsGqo3JnPtwfUW_wr9EQGpeRRk3zoxwrgXgOpTqlwyB04KtABy7sO5wmrcnlvE2hmR5vF1Q9tGTBOMGy4Pk2xe2RlBr2eFSu5ef96fOBxfpE_XWbC4czzyQM_6fCsZ2C3JKiOAr0jJFU5IHZNsOut4Lc6m0FUHnpUJdhkXatssjbqgvAUmvXQIbd7Wq-AK92VLkb8iwCL61GzvyfjX2jkMwMUAmOOIRg8ScVA_NRpvCkL5qolE9ISjucBv8syCeTU7uWGkcr79ya9y5Cnzs1UhZpmXkgDyvL_-NwsG0go8q1tEORplQZIgKfm_FVeMhnxEWuk8dh__yU7iQmFKtb6UFptU7FcIYUJQG6VqnQRixfwYQ0eEnx9AnwIabukbhQbvBP0H13B_GUArZE0EnJR_SGQ_jPYk16qU6VIWIg4-R9DUNTmvHmCkT9vb_Usxgxp25zTyx0TmLLzUKuN5-2kYp0g6kK1W9fQbus4c3kVzGCrYQ3GzBFipx9zT-eqm3TJ2ZRuwj8Gj29xkhgnuLfjiKNXB-DkRxjnUvvlR88DZqQKOJxMT7nyvv1UX5UUNBTP-l-p21UYZAoPoL_HVL7N_68cL2FnmDvHnPS4Ds-REcVVj7E_AcZLA66LHoSglpwUmcIk5ixAJD2J2yJQzfPCT3v_6FFctIM8mS3cdKivyXv5hZAbqAiaBn_FBfc4G7r8rZ2eF344jgoIJP_-ctChlWn5T5jMEwexm1-Qys9Z7MuZLswO7D0BeFvoZ89lAFTHKYudnu-aIwSSJSTM2_yJowTAti_6PWXkkCZ6tbwo7CfUZNxACCqOlm2EkskdEahEeTPp8ChF3RiMxwR0_HKiL1enn_lNapK8_9uCnP1ZAeAzBWZE6hE9l1xTuPHYlmfy5NYOLrRxsEzAOcP0ETWitc5BN1He8bcm1ADtg0wyZM9sN6YD8O1Wr9QXVHNRv0y7Z65lv1x_87lHz9rFm1MEs9FGbVIVhbbvdYw9VyJdtZfoghdUsxEdyY8wPUN2y57W2XscWZNvbq_ZgZXumK-K9ArvfsKpA0B3KJe_Q4Oh0ddKhr99sBE9g10Aie12Espc6jSo_4ohEIEv5GKbgVNhZElIDDPjPjaHoHOT1NRhrUIftOW48EJDh940If24b3nd4_njXCUp2hrFtyp6s4x2jQ5ju-TT4e40DK_ZY3MMMa_TF0bO6RBI0C5d-wCDxSP0rMXqTJtohAhRT4OLdokQomPRD_SqmUH87UzbbjRBCkBF_6WPdUKrlDTsmv05GDZ-an3apwHlT",
  "id": "rs_09335d39bb264a4d016aac9d749f5087d0a9dbcb8c66c52c3b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1,\"right_x\":0.465,\"right_y\":0.095,\"right_z\":0.10,\"right_pitch\":0.3},\"note\":\"The jaws closed completely, so the grasp was empty. I’m reopening and lifting clear while reaching farther forward with a modest forward tilt, since the previous low pose did not reach its commanded position.\"}",
  "call_id": "call_3n1HlhgDn2aYsL43V8NqZatf",
  "id": "fc_09335d39bb264a4d016aac9d75cfa887d0a6c1e9f928cc7e43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_3n1HlhgDn2aYsL43V8NqZatf",
  "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, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.2905, 1.8236, 0.6655, 0.8173, 0.2276, -0.0029, 0.9969]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0047 left_pitch=-0.0385 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4585 right_y=0.0992 right_z=0.0865 right_yaw=0.0892 right_pitch=0.2297 right_roll=-0.0643 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.4017, 7.0085, 1.7363, -0.0611, -0.0659, -0.0073, -0.7043, -6.8718, 5.135, 2.2979, 0.1929, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2022db0c09ce5690de056d64bd48ce3d9bcc2c30088544a9731339c0b1d510b5",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac9bef350d7a64ef9f78e6a234883b30a2bf796d8671a90c0cbb3caa4c2bcdee",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 43):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b5a6595f4ee66048acccb29552013ef5822aee2ca7106ef6267b863ec7a036e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 6 attempt 0 · /responses · status 200 · 3.35 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, 0.8051, 0.6075, -0.4053, -0.0227, -0.0498, 0.9995, 0.3187, 1.7248, 0.738, 0.2371, 0.2226, 0.112, 0.0086]\nstate[eef_state]: left_x=0.2925 left_y=0.0019 left_z=0.1733 left_yaw=0.0047 left_pitch=-0.0347 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4129 right_y=0.099 right_z=0.0365 right_yaw=0.0622 right_pitch=-0.1656 right_roll=-0.0549 right_gripper=0.0086\nstate[joint_eff]: [-0.0205, -1.1966, 7.1179, 1.8339, -0.0415, -0.0366, -0.0073, -0.1983, -7.6376, 5.6684, 1.663, 0.1685, 0.0366, 0.6569]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ19C9sfWi-nMPfcupIMUUBzGGlox_GqS0cr82y1iIvQZTtUPOqqe4bDtkKncn3HRdLu8KAagTJ6Iqg1ZSyxEOK7u1Z9HstqE1y2t8-at3Hm1abdM29Q7bQuAJWaycK2eCk6VdqcUQxHKIXFy3_k58kQYnEIV5Thiz0L6cbeAZdzriJ4hQeTn0dB9vFMKJ6Tg0eRr4MuNldvZen1xv8SYWCT6uB2hvch_SFWhE4jsh7TTwtM5WKicGTGq80kNion-jFi1ZyKiOL43-BZ2GXuR-SkONy3w41n4d_Dilz5DuypzZuP2Rjx_XGQrVNRrZfRtxuOIg7ehIiI1CG4CnzP-1BiXR9gxxtBHj3ErLLbdOFvHI9V3NWlCQWw5g6UUB42tqqRwr-glL3-4yU_XQb-JDmKR-56lRlkbejqdRpuqKKVTZhzLB3x3o_8eTiiY5qEEOpkFW4sVXXhguyLQkvStdGn4alp2UagIL2WEXO1nv1PYUiBXaECFNA9ZiIhaifALHosCDiH5eXptySzA9SOZpNkxB32_dimYzH0weNTJzSrtQDpSOmlldRU_ThcwISgLX4DJtLug6Qg3zfET3kiVE_anynBpVMFozEdzY4V6PnU72DuSMFZTNZ5GsSz_kqmQZFRUjE8F_V4bC1ToH7djKlBtvKrkvFMV-GXAEs66-8YqSH_7p637o1NunPnIyRDflkbSfLCZcpqHkMhIWViT5tOng7fdDr3C2SfR5EXRO3GcbswgI-XfKyF_htOC-M0HcGvitf2pTElyNfPPYIlPSsjoooIXTqsNwuNYdv70mMzGL0jJhn8QodaFdHLigw3qF0IpLct8PrDVg92WqGoI0CszqN4vOrVDiuYYZ8gZ1Q7TAc--d-b5S5pnnS0KfvgrIevLeeJ1zLzJlJ0gRrAEwDc7xyB65nuVhozYociU4NtI8GhA9pWYaOnAY9YX2v6EMqjNshW9-0LWv3nOBDppK-YMaH2YVqbApSWTZ9dY2zRKtBTiunzOrecTazIt6WgYRUZ__QqzVQZ-u5ybEIAx3ctdfqJiGcEYmI3ZphFa04TiXph9MsPgRAFDViQ1xdVxOlVueogar2Bo6nWSO7SXTRkAwP_RKDGY-_U4m3OWhEtFrcFQP0jo2QIWMtvu2-Du85IZ0uJwCv8Z7Wlm1NRpFv_vgaVYaJVE_nJ0vXXPxVx7oPg1HkknEWpSh5SWWI6RuygDq3kYc6dqOp9wTx7HX3XM_czlKoVlMgwMxzXX8S1X1i9UsecTT_R1EVkxEZQZCS_xqAbjgw_81Dcc4DVpQE-mQ==",
  "id": "rs_09335d39bb264a4d016aac9d7acf1487d0806779a5cbc26068",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.475,\"right_y\":0.09,\"right_z\":0.015,\"right_pitch\":0.3},\"note\":\"The forward-tilted pose now reaches properly, and the brick is centered between the open fingers. I’m lowering around its middle while keeping that reachable orientation.\"}",
  "call_id": "call_2cBcYpY5U57VXWA5S3FPcIGu",
  "id": "fc_09335d39bb264a4d016aac9d7b936c87d0968920b47e5a323e",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_2cBcYpY5U57VXWA5S3FPcIGu",
  "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, 0.8089, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2565, 2.1731, 0.6697, 1.2125, 0.215, -0.0391, 0.9973]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1715 left_yaw=0.0047 left_pitch=-0.0423 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4716 right_y=0.0885 right_z=0.0198 right_yaw=0.0837 right_pitch=0.2765 right_roll=-0.0864 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -0.9641, 7.1179, 1.7509, -0.0562, -0.0513, -0.0073, -0.7863, -7.6103, 4.3145, 0.9499, -0.2711, 0.3101, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbe824c28d168014381f962c3b4c3226ef6656f4479622769b165d848732aecf",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:6e448c215e9aba24f1f3e8d2d19b5aecd829b03b0c419cece81ff9318246dfe9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 48):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:aa083002573d95ccd81f4b4c4e995313d4b8e36b86e514ea6dc5f05afd0cc005",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 7 attempt 0 · /responses · status 200 · 5.349 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, 0.6075, -0.408, -0.0227, -0.0498, 0.9995, 0.2905, 1.8236, 0.6655, 0.8173, 0.2276, -0.0029, 0.9969]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1725 left_yaw=0.0047 left_pitch=-0.0385 left_roll=-0.0065 left_gripper=0.9995 right_x=0.4585 right_y=0.0992 right_z=0.0865 right_yaw=0.0892 right_pitch=0.2297 right_roll=-0.0643 right_gripper=0.9969\nstate[joint_eff]: [-0.0205, -1.4017, 7.0085, 1.7363, -0.0611, -0.0659, -0.0073, -0.7043, -6.8718, 5.135, 2.2979, 0.1929, 0.105, 0.105]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ2BtpfS4Am_EWaRHg9xNcFGjsraYkcHfrv9NB_IyzCDmv0bcPw-5Bt85AYzUE96v78YrsENkqt0VFuEMIcKmdKao3Q6QDLF6RT0Btu-zSHdNbkxK06VF_p40RK9e9SpMqfH4AtRVvQ0IfxMbPQlwxDVbibjKTw8bbJRoWYg-kKutwX0bwDZ1O1ltF5JS9CcWsxHwz-NaQUdXXIJ16HIuxjJXLsWxu1Mg0lSue_PSsQ1nfJI0AUCMYQC0FZcLEHywKIcLR9CbPsKaCkyo3ZehMKkBYW28VfE2Ysy5KhDzRU8CIJ3MjXTZ8E_nvlOlse1VY2EHFrGHasv0-AJpZP64Q9T4TdahSIcXnZ6bAGGOSOKc03oW2zCPZY5fPa2JFgd_TtMBDICqzhypNnczJIDZzQ1pyWzC4vG7lPEgN8JElQei10xkMOC7tCPLbciCCQZ4LR2jL7og1AE8jqcDI1ejhftorus_0p8810HTX4A1Qi4mllv4mTVuMJdG8qj3tkFi5hqAqztnykgl2Rc3HQb_6902GD9qmUkDY6HedLR3aLQVPz2Giyms6OgskJCkYQhtaReU2vH-ycEUc596enoyUJEwDq46I20-gixLvwlSr4mR1xMq2D32KxfBtvSJJwtOlTJ4K794epHgcl1YesGdAqtPMWxq7ly0IlJuONWo16LOaaOFsZOORIO8j01ZYOLPy5t8fOoiQ3xegTUHz-QNSfnyBIJEPVWYZbBR6HOrn4yaXNcQFhYXtP5IRqzrFvvptUt8pJ-Rt2R3WebbmJmkQTMLJUaQYToVayMEqRrZB_WasnOPYDYKsX4s8SGJbUMqp80r7uxIc2n9sCYfImvdoblohhop49xh5_zwqRW0tdIb3rfAqcYXiqEjgd2LoKqAng9IMA_64VSsHtz68mKa5kPTSddXNfpCicfAC4eG9FLNrayxB6vO18rVfve3KRNjdITNTQ1hDaQs7R3IDI8cJ1-oP1_5UKmfW22i4UteM-n1zbAJmXoQeYpZi6NiZfaFuFOEraLngiDomeGKGk1uSJeY4nXTcyFtMw4FbjcH3X9n1bJFdNMnbUrt0pZoiASt0A7Yl57rwqrTCqLjprf7UAJGXwlrSgF899ShMVcRcpGQv8aWV3lO6BGIQXx-wPngg4RBLl-wzRD1ZIdPldbz2NHcnd2jKXRbTANJkQaHemND4M8KTyc1jOrWTlpCBFMX2IHyWCFYKgvHWSDeZIlN_Sx8w==",
  "id": "rs_09335d39bb264a4d016aac9d7f78c487d08adcb5a8aa280ee5",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The grasp point is now about 2 cm above the table with the brick between the fingers. I’m closing the jaws for the second grasp attempt.\"}",
  "call_id": "call_jMloKgqIYrZbZqC8g69uXti2",
  "id": "fc_09335d39bb264a4d016aac9d7fc27087d0b92bc339f9717ed1",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_jMloKgqIYrZbZqC8g69uXti2",
  "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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9995, 0.2604, 2.1777, 0.6727, 1.2552, 0.2001, -0.0456, 0.0087]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0047 left_pitch=-0.0427 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4743 right_y=0.0937 right_z=0.0285 right_yaw=0.1022 right_pitch=0.3162 right_roll=-0.0817 right_gripper=0.0087\nstate[joint_eff]: [-0.0479, -1.4154, 7.0632, 1.663, -0.0855, -0.0855, -0.0073, -0.1299, -9.7299, 3.2205, 1.5165, 0.1587, 0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:79257baf0e782b650070eb01fb2bda76f78b0c048e285daed0e137b2448c2c47",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e4ac91d5dacd830ed516e7ac7f0ed07eb13b8f1ee3b46026e5c3ddbd4f46b191",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 58):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bbdfa9439f5a75e5c165b724c251133d4ddeac145ce9657e6e560db9fc7432e9",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 8 attempt 0 · /responses · status 200 · 8.338 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, 0.8089, 0.6075, -0.4091, -0.0227, -0.0498, 0.9995, 0.2565, 2.1731, 0.6697, 1.2125, 0.215, -0.0391, 0.9973]\nstate[eef_state]: left_x=0.2922 left_y=0.0019 left_z=0.1715 left_yaw=0.0047 left_pitch=-0.0423 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4716 right_y=0.0885 right_z=0.0198 right_yaw=0.0837 right_pitch=0.2765 right_roll=-0.0864 right_gripper=0.9973\nstate[joint_eff]: [-0.0205, -0.9641, 7.1179, 1.7509, -0.0562, -0.0513, -0.0073, -0.7863, -7.6103, 4.3145, 0.9499, -0.2711, 0.3101, 0.0269]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ2Hn-gnFRACfArzdJjfP0EcdL58WtPo7T192oweQZCJeHdmq2I4K923Kmf5U7cOXmJZDxdqKwjO8YlLZbpMMCXYimXn0D8ZvBgKvEcmQy0gCe7ZKvTUy9OxAAl-0348axRDA8v0cqJdtEakGof0Jb-nG5Jb2d4TbDDLjTx9JWahdPvUUd7trYcQ93nKPqjf5ZzR2anOu9iKsQbiQfqfngl7UjMkVXf9hh6Gw2VXs48esTcGiRRzOewVIrIQTiIXpc0hmNmj7g1K-tq1m3_GLwiCDybkaKjIUKnryT9r77OOSjXjdS709RrqpD9oqi4JQSVJleyiIB0cCfITLnGsbb6vK6c1mUFhBds_i9m1rSY71lU78DaRexC68b21JSxAbM1gb6PI54pOgloPIucTE2XIrTLxBHOPxXgMbV2obhApU23C1MbHu7M2pPJKiY40XMdGHwE1mxt_2kkBEhGNgH5qPd9ihyJOyQ6ODq_WPWlmK_tutLpMvyx3hCqayl0FQAOJIsUi-ifSRpmmYdnNdxz3ELPhrG0s6zyetdLE1zkvHFCblXsbeei0TvVO0Lj-q6jUczmP2x3GSrsHcnU1heqIHQoF5x8F3ZASSMf1xF9shJXGbB_ZEl5Ty3L_ub74dIRbryA9NSdQbO8HOtKCWLBhm6qsay4S02AQc8ibDOzIqiccjsv6AXQOg9Qmw5SV0o2h7kd4KvEzzs3zzrw9u2lHra_yk-P3r8ygCxmM3b9dJUH_ke8VzzBaWbTIO_xSCtXiLQS6x5qgif-751xMAhQjOVp1z5xrmOvX5JBJKFqTu9UIB9HdHRtRSiBapU9L6Zgdu-UEiFIWdIw31S_PZBiA9_GSBJlnw7XSlxJgAuCyURr4H0fqAbB9aYTDHQHfCIW1hHokBqhi7ROycIjbkJTsm3M_4t-df76Rbqs8ag5x4OTnjKE-O0F_QCk2Z03rA79rAdtIP964WBubnTE_PNI5Ia1sGqX5sRaILqb01fdNUO_2BbXFw5qefS6chJMcR87OyFUhBmNneKIKSXeXQLri308ewPNqMrkk3jKasQnfsa6F89RJAtINuFFVg8e56DHEeDXD8jNkyRJOLUN_oK12iP8e2IE59ScJo9ONjXDgOYdykJuMnGEK3LxAmog6q6hZyBu5WI815kNYXDpiyIUSqqTRhDfl7gPML9rQSQY3lzsqBVNiQK0xY-bOgiiD_vheRBW_920ULwBrg2wTl_qbBmtO7SY9Ks1wAv5PjO-d4o37IQDw4_Wu65bAks_uGkhL2moQ41-EJZQ1L2JwL3XD4wlobJzs4Y7JWiku5PYdu1d4MLnHuovJG9ZditsOmyYF6o73pB5mk_bpo9PiJn0-G2Cnm2uk3lyrXnvQEnPtv_SEXVQGF34pnP1k4jzzi0MaXqIB2bpIkokP3VmFwvt-Ffw5ZyoWyvIg787bAWZbpFHY5Z7l-6pcYIACCis4HlijftescBISNNeAlbhmOaHAdFUW50bjExI7QvWrOiCk3Zgv_D6bvxnc0RRbEghjW125rZP5iXddRfPbUklskpRPeA==",
  "id": "rs_09335d39bb264a4d016aac9d83608087d08c451e3370918406",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.34,\"right_y\":-0.015,\"right_z\":0.2,\"right_pitch\":0,\"right_gripper\":1,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The second close is also empty, so I won’t repeat the same approach. I’m moving the right arm aside to expose the brick in the overhead view and reassess its position.\"}",
  "call_id": "call_MvY544ckE5knNbbaJSpFWC6i",
  "id": "fc_09335d39bb264a4d016aac9d85a51487d0aecc2fc5af46f0c9",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MvY544ckE5knNbbaJSpFWC6i",
  "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]: [-0.0265, 0.8249, 0.6098, -0.4343, -0.0265, -0.0528, 0.9995, -0.1181, 1.034, 0.7059, -0.1673, -0.1074, -0.1864, 0.9969]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0811 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3528 right_y=-0.0192 right_z=0.2001 right_yaw=0.0669 right_pitch=0.0673 right_roll=-0.0984 right_gripper=0.9969\nstate[joint_eff]: [-0.6632, -1.0051, 9.9077, 1.6679, -0.1099, -0.0855, -0.0073, 0.0068, -2.9333, 9.1282, 1.7656, -0.105, -0.1343, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d9661d167c3aede6168b355c246192d79b6fc1423b57cba5fd2275a63fe51384",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:31899f101aa5c0cd3024baa5f07fe1e52855d566fc77a5ed1057f3a05227fc34",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 70):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7273ffb2164a5daaee38405b28ee9251e786005dd6286ee9decd695a5e0eb048",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 9 attempt 0 · /responses · status 200 · 3.32 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, 0.8101, 0.6075, -0.4084, -0.0227, -0.0498, 0.9995, 0.2604, 2.1777, 0.6727, 1.2552, 0.2001, -0.0456, 0.0087]\nstate[eef_state]: left_x=0.2923 left_y=0.0019 left_z=0.1714 left_yaw=0.0047 left_pitch=-0.0427 left_roll=-0.0064 left_gripper=0.9995 right_x=0.4743 right_y=0.0937 right_z=0.0285 right_yaw=0.1022 right_pitch=0.3162 right_roll=-0.0817 right_gripper=0.0087\nstate[joint_eff]: [-0.0479, -1.4154, 7.0632, 1.663, -0.0855, -0.0855, -0.0073, -0.1299, -9.7299, 3.2205, 1.5165, 0.1587, 0.0024, 0.6178]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ2Q17832ZCnZoNxCGxS41avPh39-yCsgSlnbx6a4rjpNDsEsQaGUalzVvhjVvmurd8zbg8R_nWbhKH9S1cXH1IT5VqHKYmKSrPEe5fHTTH3_gaZpTqWLaNHdyNZuX9sE-BrJgoRb2VVPbjEmyf0-7Q8tMHEN3MHIrSSrBosxOKvv1f_8__nRdcIHbmq0dxnLJcIeS7YPixVGLzPa5_sF8xWqPMcai0CZAhm_JMRhbXiR0XjA_TXJX9LUccQdvBwiyU2Cjzcsd5qRMZ_dR531YEfvKxI3A0UewQZHyW3JcribOYnV3SYwYzO5v0A3ZFXKldlP06hEQN1coYrFIYgGQJnXuwGliBVgxhAPuDuLi61qs4SXXxuJmoyDnnAZ0IkgPnKy38bOgOmEwO_CO5o_QdyVTd-YbWT_1mPD9Tz9TgHfwTaktojoWZFon5LCf9OlKmFNE5kZZssNHkw-7E3rLmN7QOPvqXCOV6Bp3MOJ0JGdQ7SuHF8UOcIazzrEMeuUZyTjGVJZojaoIflyemfp8LPh_GFn5eMr72kYMlS98y1RHHZ4tV5r_px1w2W41RrF5AUJGL-2X20pB8QivAUyqWrFBk0xqQmq2ejSX8ezXTsl0KSeIo0ifvOUogBq7yNNhgYdj-O3_SQumRBlZefbVlumNAGJv7b3xtxwHnxU8c4vu4p6kkzA_VdOzb2SxCwW0pRMv4iHzTFe5qndRAJzpoDCY2CFQ8mpZUpn_4nZisjeiEFCmDGAO_kCaN7gQDvRe-3aN61zxoTJWAVQmdXNL-SrSADOkCRmb9nTrtQrjP-k68NCj3J4oYs1J8uWQkvCj4v0N8xfHLaC-pvzk3n6KMyZh3jmKfyvHlk4ulc_lngpg-H9HPuLOik2MD3citFsDuiec6hlSDXNKCWfFRcf8yRJFpnoGhzsj3v9jG3vlqydW55uSXlf0bvRjjUe8vs5YyidqRLRn8EiHntNsf_jr8jcFjnmnf4VEDxqHJzbHcrz5a_UgWAG0MmfhB0KBnu_L5od2HntOovaY1j6hfzapFo9D5RrcigQ6wasDx_i1ZsZ-M_9Tc1SzI9_7IAuvfhLq8lJFxc9FSpJpfljATCeClTJ8831uHe6zR9Ipl2y3Su-tMGzGjkrTapHSphbyj_CWq0sEX6-vTvuHoXUsN50oblURy3EaVV_Qgs8gTVw3RN4JeBTva9FanqjlI_SzF5nF_4xAob6bS7dkxNk2mEjdulfxV3b2tAy3G4eBwlPnrtzmOAUGUJP0l1p9YKaRPf4JkyIpbDU4T1QB0SrRuTtQSPVOEGC_s-5wbMbE6H2Kn095I-P_JrBUmXLBTfSG0cA3r6zlhT7hhFbm9q2Q53-AQuBH_ak6JIRF6DN4oCwtkxvYXlEo-VM6yW3DFRGBmFgg_CmsMR3WGsZ0gMhi1KbrOhp2yiUAskj4bXOGHZFRvyMJ9nFN2tSlCx9mF-qS2x3xobH4Ah_yIZpZjhVuso7xoO3ho4KNFQD-nKVOeDbycXQOL6KLLvQeqxNFlWaLWgMm0p-amP8fKBuw6rV3W1SFBTdiK72lwC-PpjVRdFgToo2ADoY0BtchuKqeyE-vfdn_IbajHKsp0jmrpP1SVd_tKuAK7yQY5rrzRrxkrD3kfl6P5xa_f3ImFo5DB6g354_TvAVBLY7rtO6yWY7-d1ws18OtDcc3n3VIxOsUYdXZ82U0RMyLIZmmwrfLszsCmN1x8rUcApcGhbIZ3Qh1vX95axi2cIlP6F4igHu1v17kHK1Zkka0DzYn22rozRDct1IpXPs3im-hQGs3J5V9LzBPiRZ8qaPUy6j2RydoJSIdbJBX9tSvj2llpjU5ihO9rc-XoxsJESzEMZ0BzQDAj02uweh2TgQeBThHYypfVqLV7i8C9CZdTtL0Cu_pfqwHa6z8ue",
  "id": "rs_09335d39bb264a4d016aac9d8ac24887d08643df981eb93d9f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.515,\"right_y\":0.095,\"right_z\":0.12,\"right_pitch\":0.5},\"note\":\"With the arm out of the way, the brick is visibly farther forward than the previous grasp points; both attempts were behind its near end. I’m approaching that near end with more forward tilt to improve reach.\"}",
  "call_id": "call_nfDKJkeoXq736gZHv4JUnKnx",
  "id": "fc_09335d39bb264a4d016aac9d8ee59887d093a7ed535a7238b5",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nfDKJkeoXq736gZHv4JUnKnx",
  "output": "executing move_to over 15 steps (1.5s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8303, 0.6094, -0.4419, -0.0265, -0.0528, 0.9995, 0.2535, 2.0327, 0.7895, 1.063, 0.2089, -0.0971, 0.9973]\nstate[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1601 left_yaw=0.0032 left_pitch=-0.0945 left_roll=-0.0051 left_gripper=0.9995 right_x=0.5044 right_y=0.0965 right_z=0.0924 right_yaw=0.1127 right_pitch=0.3821 right_roll=-0.1262 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.7021, -0.0464, -0.0513, -0.0122, 0.1162, -10.2769, 5.8872, 2.2833, 0.232, 0.0904, 0.0269]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:184d74d5410bd17ad33812469b6292fbbacf5c74c1b704ec57720b29005ba11d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:16a36ae33f364350660482098fa2e5fc606537dcc523617a0a35a7e670301ea3",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 85):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:cab496fa49706b568e4c4b0a135c63c3efc350d4298abf80d8de9621292c31e5",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 10 attempt 0 · /responses · status 200 · 4.145 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 34 changed as sent

message 34 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8249, 0.6098, -0.4343, -0.0265, -0.0528, 0.9995, -0.1181, 1.034, 0.7059, -0.1673, -0.1074, -0.1864, 0.9969]\nstate[eef_state]: left_x=0.2897 left_y=0.0006 left_z=0.1632 left_yaw=0.0028 left_pitch=-0.0811 left_roll=-0.0055 left_gripper=0.9995 right_x=0.3528 right_y=-0.0192 right_z=0.2001 right_yaw=0.0669 right_pitch=0.0673 right_roll=-0.0984 right_gripper=0.9969\nstate[joint_eff]: [-0.6632, -1.0051, 9.9077, 1.6679, -0.1099, -0.0855, -0.0073, 0.0068, -2.9333, 9.1282, 1.7656, -0.105, -0.1343, -0.0904]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ2VCvMQdFoQjHGXZKmXnTIsstjNoTEala3-wbpV04eeEs3CtJrJqtWGE4IWK0E3FrcTv4Zk2wt7-Gm9duz2ofK8rrReihZ8DIpovIamVJef4OfRJhTEnDWRAH6wVmz3LNlz0UQg3_naKnDVsbEe4y_dl1bnqylRHLYPa_URgNG5lhFYKMJ7ILC-hIL6J6uJS3nNvYEd6fcQDgIFY2qp-req-0wlaVfCmwwflkR33snW8Ir7udfj8_WCgudCEHTnMHlvXdO4HYbxGA1cWxTs2ThU5zbXg96tn1uIUIWThuQ6kc75k0v56cH2HKShn_GsuZH-FHxM91xIn9J6jw14qy6_6JfW2kkbT2AZRw1TQ4mSW5uaEMwdvJ0PnuPmVmDnfs7fubOKjSkoj6uIav7P61rWF1ByVDpL283jnsTl_qSVOW7z-_YgxFYWoTgzisWKOQ7FLUhoyvjSZnrO3x0CR3ypDBtrCcszAvLBv2CtV1KxWPPxAH8NS54Im1gfM_CoUeUaUCgegaiW802FtT7bq3tjOcWnHTniVUYrbhbSQT3NCtKifk2NCKpnr3IGxsrKWp_s7KHSLyA27M0Xki15Q8k01725Euj8wzLIxUtdb_MficYNpa_O8LoFy7db1Gev6OBtW11VcfOduhGiSbcYNBGt-NJYPZs8D3jmRbVJ0OvO_bJ1odGdbI_646k8zYuoOKsLOgwOmrfCuZN9wOCNS24-AgLNJO_7OwUzA_ywUSMmtnbLhNJaOhpg9Nxu6Vvy-yO7y_bdONTQUlBTIgiJ00UG7LQwwIreqMRrA4hN4HF-WRwHFdOj_t3cbr_6bA40bSuMZGxuXP-OpzVevAGmHnLU1d5Z4qROoKgvVBRwdDlUJzDkt9P9REtrU7Tc9dNB8EkVlQBgV4vPUP32JYQIKLASV4EGK-kpNGo9e5gHjXo-bd_GR8MnETuMnX0URfvM55HUUV7quHj0DNyoV9YAMfDehefUZu2mgeZOFMX6YXeglvHiak7074bAflQoUdM8Et3afxVYnGZHeRKhbwsj3QpDiiOSCoVb1eYbhAYBkESauuLVxx_Q_3UO-fEd43jF9rz4lh6xTLgYpfNL3Gh9-LJvaRz82K11RgXrE7evlBjCOxpwdZwZND5XREp-LeRnTCyG5YU3C-kljPgILb97fdJXP-aBHcHnjL6PkjWLaFfSyLu0iLGfqXToPgmg4zlfC4T9EjYpM0gAJj8IDB1uY6DXHo3C-KGkSPpa74Y7EWrR9iIjinOuMJtVYSBNEA42wn4ODavuhHDfLprl07stw0YsjH9KGNiZGRIuD19OYPaYc0iLb7lx-BHnvbgo-68RU2tJ",
  "id": "rs_09335d39bb264a4d016aac9d9376a887d0b518aee754e93a4a",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.525,\"right_y\":0.085,\"right_z\":0.025,\"right_pitch\":0.5},\"note\":\"The brick now extends into the fingertip region of the wrist image. I’m lowering onto its near end and shifting slightly right to center the jaws across its width.\"}",
  "call_id": "call_9gjKxPpkKSg0GNaW6rJACSnM",
  "id": "fc_09335d39bb264a4d016aac9d947a7087d08011b1296450bd43",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9gjKxPpkKSg0GNaW6rJACSnM",
  "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]: [-0.0261, 0.8333, 0.6094, -0.4431, -0.0265, -0.0525, 0.9995, 0.2157, 2.3798, 0.8799, 1.4574, 0.1757, -0.1169, 0.9969]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1591 left_yaw=0.003 left_pitch=-0.0987 left_roll=-0.0047 left_gripper=0.9995 right_x=0.5258 right_y=0.0873 right_z=0.044 right_yaw=0.1098 right_pitch=0.5169 right_roll=-0.1252 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6386, -0.0562, -0.0611, -0.0073, -0.5675, -8.3214, 3.0427, 0.7546, -0.0171, -0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:44c4a8621c7a39c148faa99cd45c2abb7dac37f7c3df6c38cae1b0d20ac549bd",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e0fed32de58b4b0432db53ec9a71ad011ba65ce2b5ecde37f813cd9395bcdce9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 90):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:49cb39aa56f75567f1e8fa067e21d94690a4c00bb50f59ffad4c0c7e77d02064",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 11 attempt 0 · /responses · status 200 · 10.13 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 38 changed as sent

message 38 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8303, 0.6094, -0.4419, -0.0265, -0.0528, 0.9995, 0.2535, 2.0327, 0.7895, 1.063, 0.2089, -0.0971, 0.9973]\nstate[eef_state]: left_x=0.2888 left_y=0.0007 left_z=0.1601 left_yaw=0.0032 left_pitch=-0.0945 left_roll=-0.0051 left_gripper=0.9995 right_x=0.5044 right_y=0.0965 right_z=0.0924 right_yaw=0.1127 right_pitch=0.3821 right_roll=-0.1262 right_gripper=0.9973\nstate[joint_eff]: [-0.1846, -1.7846, 7.0359, 1.7021, -0.0464, -0.0513, -0.0122, 0.1162, -10.2769, 5.8872, 2.2833, 0.232, 0.0904, 0.0269]\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": "gAAAAABqrJ2aQB_ywE8tkInzutGVQ-yVUmoXJCiMATIB6O-C4ulJ6cxn7VU-fAQm_5qJ6caDBN49FG9HhnEcOWH0QZgYxodauc0X17F8Fh_zetAD4hRXoyEA-e4R0v_WdXj4GNjJOte_R-9Rw6SP-973xJB9Xwom0IxpZY0cAUZ6C9T1-v_y3YazfceWw2vPs94UiJPXIWocYrmh68rnbBcJppl8CKX6fhM_1QyX2kSI8mKsW1iToVK4iBwavcXNjZ7NIWajSk5zfxUG2pa-3Diz4gZAXu5QwvGBiVZmF1sy_RnSrdYfCQYlbVthfxNdH_gt5sUKWAks5A-eMR-_GRnZhU72ctgepJMPe1XhjLI00d6Of6reE4_ocDYS9uA5pir3ccElKo0D-wmDbQPqK07Hb1NM8nwlEhQG4nmxw67gXMJatrfk0-6y_Gd7rwEHxlg-SQVGltNc_obUpN-9LkeHyVV6Ukk6l0J_ay9lccyB-5_h3pI5DfeywU_Sm2rqEUy8z3sO7cx5F4x3rcERBzt5sLUTqsGcBAiOG8MCqwLL50sJ8NujF0SMU4eoPQp1Fs2pQ1CwD9j3SnrY582SPxWmq8qwPVsm2Utts1pulYObNjqf-sMta_4GziK0dg8y3rJ_9zc68AMkOOgBhsdWMTZqNQ_192ZKIMQlsUZZ9ntdCrE-6p2mfEBnjWiMyoDo7hdbgGbGxN79ulHzHrz6yTuyvSQfJ0hmVwNxnKHqT5cl8L_CPQhc-XW0g7tYbRVAAscP1D3ZEjYbI4t6XGyIXbveUgYQu1IONtazM0F5AWXkpssYept4VhA0VSef3yWGGJGIu7UlFz4eJuI6Zc01FiFC9_834C6jYi8kd5ARg2LrQ7jp0gWV_L6slxagDmLjjicOwNHp0SGseYn6Dc0qf3YehTJT-oIk3DmmMtPSyAEbuTFCZHeRB5HzqZhd1PH_qDN4g27pQ0LsJLdcRbbLw4p2RQ7PjoSpu0LiuI89Jn5R0LCsyB_Qpv480W4yK7U63WPDmnAXkb06dPZFR3kV0UkFM9-JCIC30plmWfkpyt4FYpO5FtxUROkaJcPq90TPYJ0SokzXXShaPVrK7LIGWkL1MsMf91RJQ1sz3kClq52-iiausdaPqEAZhZMK0DPw9D4b4W6GNwZsbTlyDFHzxt2yYbP8DjTqIGpR2cPsWBgbTKpfnOwz3PkynCqblZOmsOQD5TXpZ0IB_OJOhMh2aaLmEf4m67TI1pmlbFFyh-_mon8hWNU3vQfytONn5_mBwyP9onqrQKsdXL1AQT5QJ6WfEBvUSx-_2FRVFqFs-MqQ9RelggYr8dU=",
  "id": "rs_09335d39bb264a4d016aac9d97c5d887d0a793f3e03a6b481c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The gripper has reached the brick’s near end, and the descent stopped above the target height. I’ll close here and check whether the jaws retain a nonzero opening.\"}",
  "call_id": "call_9cnt1C9RYa0AxqyGU4C1DGWo",
  "id": "fc_09335d39bb264a4d016aac9d98eee087d09e8202bc973e42ed",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9cnt1C9RYa0AxqyGU4C1DGWo",
  "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]: [-0.0261, 0.8341, 0.6094, -0.4465, -0.0261, -0.0528, 0.9995, 0.2119, 2.413, 0.8951, 1.5276, 0.1627, -0.1234, 0.008]\nstate[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1582 left_yaw=0.0029 left_pitch=-0.1029 left_roll=-0.0051 left_gripper=0.9995 right_x=0.5278 right_y=0.088 right_z=0.049 right_yaw=0.1197 right_pitch=0.5685 right_roll=-0.1264 right_gripper=0.008\nstate[joint_eff]: [-0.0615, -1.5521, 6.9538, 1.6532, -0.0464, -0.0806, -0.0122, -0.335, -8.9094, 2.9607, 1.4188, 0.0171, 0.0757, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:60df37664542d683703b9faf0209a717af1173f4b6118a272778824be5d6a3a6",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:92e750da31820f901e3175f11372e70797dd8292f6d7439f2719826d9e800df9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 100):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ded4d38f152f07eba2ff1733ba06a742edbbfeced29848a14586c2a5082ed229",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 12 attempt 0 · /responses · status 200 · 8.837 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 42 changed as sent

message 42 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8333, 0.6094, -0.4431, -0.0265, -0.0525, 0.9995, 0.2157, 2.3798, 0.8799, 1.4574, 0.1757, -0.1169, 0.9969]\nstate[eef_state]: left_x=0.2887 left_y=0.0007 left_z=0.1591 left_yaw=0.003 left_pitch=-0.0987 left_roll=-0.0047 left_gripper=0.9995 right_x=0.5258 right_y=0.0873 right_z=0.044 right_yaw=0.1098 right_pitch=0.5169 right_roll=-0.1252 right_gripper=0.9969\nstate[joint_eff]: [-0.1983, -1.388, 6.9402, 1.6386, -0.0562, -0.0611, -0.0073, -0.5675, -8.3214, 3.0427, 0.7546, -0.0171, -0.0415, -0.0513]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ2lOmu4gUaZ6ReavSAz0_ModIPNE91YVXzplQXniizP-3gr5fcJUt7Plo8DoaHUbwSTQ065lyCJwiGI-8dUknZPSB16Xie-4kBjDXT-W8dUZ0IWqdJ7WK5JVRNgsPKQwpZ3SW0s0YV2ZaYPLW957MPrnRA_TYMia8zgSgMlPB6drRidAmN2cykzCf9iWeAB6v2oPL-rDWrhRFkL_cySWEXewOv9nFr3Cy6BW6UaE1I4aF-CR2mzH4vM2LB14ewdjkug_fkxpINhrIqrVjFKrz0SnfZd_-okb1KF9cSQtUmoX3_9e442jCoiAHbs9xG5-wMwkyfr0NdJEkGqyR0YFPFUrl1A3OBCojoGyDlFpVhl7REAjXDbt0M1SCQU20yjuossvhWXo7YQxO-KLFjvcF1g07nCvoPj7rfmGggLM-1TXAg0STVZlGjJCxx4Pn5iem1sZhSzQqYVi9PHy_gch8RBeZWobdJ8AKB9AaE1DmfBD36V-eqbPrmAkDGNm1ZnreFSRl3LVdcKdMF48eA9sObBgdp2tm-YU4xmcoQXMiv622wwwKb04u1LANNs5vEP0Gfh6BSAosZ0kMwCqTl56lU-OU77rbgTtKGUgHJm2-OlVX_y8xAZYs2Y2031L9R0rPes66Sjw3K3YvNZP-g7JAN6XYwWPExpoJzj_HjP5OcMyxDtyZ1kyo05_U54jvtmm52xDroUyK-SvIW0M9NNzPmT41ze05OnCYcyIm6mo8hrHZEIP4H1f3techT_Z9GzNQv_17uXv1fFSNgZoIRLXlr35sWe4VknjaR6iGkjUxkc-bBAnnbP7GXGIgEoc3YX0jXPFJPLBD78Px6So8wahfzjmfWllXd5OKbVjCaPXZu83FJxFYQeEm3NcvXW4mwbqSNLF2dIOsxiuDTe8DNSMxYtmml2B7uMz9q58ckY8LA4hBmXfUh1Zt_EH9MU2bpZ0b64PjsBefVlr77uq_UyGVwlGOFaN3eXM6ro7lfhsh7YaTo_avCAItMAmjacsQvVcqvC1rDgRcUMejlnULXL9ez-ZhUV3_oM81XDinwJFf7FQHCQJpLG62S9-ACDXf9-JiSezsm_jGcmP6kK-SR-n2PseHh838LlVjrr_dJ8rVZPltpTGEb7xWJzRrXikmxS2kKi5dX9UKqEaMsT81PKKjdC3s0q2BRhGwXoSRUZAB0Zix1doDb8bA9OYq4JpwrIIj7nDskOmM9EHBWTA6QlGmfL_kuXNXL0iaZ3TDe-nmDp7yUzZDtw41jgDVSKDBQSfws7MJq5jfpGviai5yjXIHQvCAh3NOBmvFwFKUkjnCtjVGd0BINJpNvnvak9s89Qvb9ZtK0CBrFGQgHYfUj0cRH8F8swd2j7nBPo_ZGBSuRX72iOupM1Y5-pNjzYj7u78p3Cvi6ckK73UtF-UtRnBaopdqEUnfPif4zCbwUX9AX20fG-SeF_L08ugoNzPclsSaxGHf2X1Yd_k5lRM9Tp9O-y7BPoPPzFtwpMbBStwX3RMxgTtDpLu-_mKqWxvGzs_Af3LcRd4Zpm2hu59CEteztISP0zFzgsolVAvxu0-6Ov01zO9a2z98RoQ-O6_jAhztS-_vQQQM4GEUOBoIA-dkM2oTl2230AFQUUyVdwCgfpeDVYHdlvZ33CnFc-6cFCdIgM4vbLy8Mc7JjpRBfSoRRZQ7Uq4RYzeg7clp-qdentHsw0HNQvU3VrB2A1DX-0v97l-4eqY5t1WYDRitDXgmOy6TyzLsVjbBHALTKwx5UlmXYvCxE7F4Avzlw3ev65bo1PlSKwciTxqyUYIcD9dBsV9diq5C0OuxDYcf8VH9PlRIH0XxjwNrIuLPxozVQfuIVLLFOX8eBcyZXsWtmFNblUzOSlsB4OsXPriFzy-6q9PKmiKyD7nnh5P-WMxlikGxDFvSeIk3NQYgcI-PDfdvlrNq4FZ-483VDt9FZrfE2w4Ne1iU5X75dzAYyh0kv8Mokq-xwrwiyooWEywxTwVaHhDCYoDaTxd-dU8LP0_ijD8M2xOg6O4M3gdRyFvC3X9aBzdlPB_tpOcp9T48Rn9JcNls1iJsDqOAhCusAZewwILmrn8Fwl7ZFGu39zssnY6XXK33ZLZUHAc0In8x7OKIm3iRvZdBm3TfTpL2pGG0ZzCEMAG8LoKeZnyD73D3zTUFzIP7QNfrVxjDpWGpuzgdDgVAvJlJP1qpYqcAt06BRnjkbNBeMhIx9SJg4ASzKfrrdJycFNSwFFGHYUK6HaqhR-ZUfa84TsYsuxrKvqYVtxQ1n135E5wgWglO4GzIS_rVQm95K-9pdPcjfcMkkf1iXKKrPebYcqRLV0eAuerTcwMgU6jSIlPmxu8Qx9HUWiTX-b",
  "id": "rs_09335d39bb264a4d016aac9d9cffd887d09589b69a7011f542",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.41,\"right_y\":0.22,\"right_z\":0.19,\"right_gripper\":1,\"right_pitch\":0.3},\"note\":\"The jaws are still empty; the last wrist view suggests the brick may have been beside the fingers rather than between them. I’m lifting and moving left of it so I can check the lateral alignment without pushing it again.\"}",
  "call_id": "call_OXxijYdH6nui0UtChvmEGgPf",
  "id": "fc_09335d39bb264a4d016aac9da24c7887d09ec205c1400fed07",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_OXxijYdH6nui0UtChvmEGgPf",
  "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]: [-0.0261, 0.8379, 0.6094, -0.453, -0.0261, -0.0525, 0.9995, 0.6971, 1.6432, 0.836, 0.5289, 0.5781, 0.0124, 0.996]\nstate[eef_state]: left_x=0.2874 left_y=0.0007 left_z=0.1559 left_yaw=0.0028 left_pitch=-0.1132 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4137 right_y=0.2252 right_z=0.1802 right_yaw=0.1752 right_pitch=0.3259 right_roll=-0.1298 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.7983, 7.1863, 1.7265, -0.0562, -0.0171, -0.0122, 0.1162, -8.8, 8.5128, 1.9023, 0.3394, 0.2027, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7c852c78f33b56be8972681008fa00ef02d3dee3f0b8d8ac2a88753f75db0593",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:7f9a6fb323bc73b5fb80661e5c6fe664f8917e6beeaf75114c5112ede6d3c4ea",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 112):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2cc94a7d2b65bc3fee86a819051d9d2e91b0a02c19e759bc07091ef4520e9378",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 13 attempt 0 · /responses · status 200 · 4.308 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 46 changed as sent

message 46 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8341, 0.6094, -0.4465, -0.0261, -0.0528, 0.9995, 0.2119, 2.413, 0.8951, 1.5276, 0.1627, -0.1234, 0.008]\nstate[eef_state]: left_x=0.2882 left_y=0.0007 left_z=0.1582 left_yaw=0.0029 left_pitch=-0.1029 left_roll=-0.0051 left_gripper=0.9995 right_x=0.5278 right_y=0.088 right_z=0.049 right_yaw=0.1197 right_pitch=0.5685 right_roll=-0.1264 right_gripper=0.008\nstate[joint_eff]: [-0.0615, -1.5521, 6.9538, 1.6532, -0.0464, -0.0806, -0.0122, -0.335, -8.9094, 2.9607, 1.4188, 0.0171, 0.0757, 0.6178]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ2vOCZ4GXy5o3hz_hFMv4_6N9Kudu1JZMPxg15Fer57uKduYo6F6rAndYTwJ6Lgo8-tN3WuBFbMlw8BCmx7Jfi5bdbWuPtjkPvs60_upIyIzSKWdlzTjD-Za7RUKhGao2V7daDBj5kffJPPjlpZ6eWBujSh-WI6ASRGplJyWcsdX7PwZ13hv5QljG7kdjpu041H2ypp7eI_m1-Iv_MfzSd3IHOcBCIcczdruYeanZNgFK7_KR-clCIW55fytpJacuwAzd2ZPAhfPa_Gs9ZaYOxs7PS2nLydeHBVwC7Gc2XfMEuWznU71H6gnX7TlOGG_OY0SS3ibZZ_s67DI2gXzDK1dzF51u6X2Eoj9gF2pfUm_TvFFenpYEBrmdC91aQbcNpuWCcXl2dHb0PICcKrEzkmFyHl8xKRGGJnKAIe3Gmd3pXcBkS5tRn3h2H_BhCvpklzW5YaNI6MxgssTgM0sm5L3JEaUPN-kUgsvM3_8rLgUkfZ2KsJRPicMd3X-_sGrQg9XqsvO6RiRgCNhreRupwlL4OJ8znlXfyu1RptQ8RGJeyzmtpYNVzri0vEc07SgBJf1p0sX74aNlTfYYsKAGtx7pUiCevMSIojcHijQox2h3BCPSbhThEkDgQuKSliSAH3tMj3oQsf5L96mbD0bcQ6_f7O6EFiWViTugepaTN32HLS5_VD5a6OzUvQVzIRDrl8Hf1eta4duV7TnLcGPgIdaza1qo0_1JLaqKVEepwmgi7bmN9NABdLHB971IR_yhRQu3krbJLmseYbUI4kOz39L0JA4N7bbzCQW1Dw9Qc5CXaM0yNu4Fsf36J3QvjzhSQk5H5miO7ZgDwBSGJGbCKy3nV27bvVnmbIeuBhHuSSV8DykyPEG8EwPRQhaVw9kPnLGqDCSuMb0lgkvf5lD32mxvRkZ8nWb5cMFs9ieX0h40AaTsLxfdjuLG0hJ_KATwGmV1Fni_NnI3IDwqHHEdV6Nu0s18AQCJ90uQ3O8GPpL4IZA_x0U9iibROHV-3jCUZTVj7FK1tb1Woddcc8j2qGMYjKiJYptnPkO3TYpJe64HoxtN0yCknI7AMsVcQ_Q9f4NfTrT_4BWuHCIy1dFYPDi0PE51AWLBpEdoGZDgQqoFHj_ovPDfA8mcihfWiO0IIzMaSOVQkYmVrv92mUhAFzhwGhqsLBiozODYhcfst57-h7D8CSwEqTB_N5dsFUXS6e092CWR8QxGgcT1ABHr3emeOaQiPgPb1u-3yz4y7ENhrZwZuyvskH-RHU3zasdtRQFDbrj5ZZUsVGWMnxVRXWmjRCZnF_9yQzA5QYmaiJ5lGPMxPJ5LeqWJUOon-VZ_C9nqnkp2ohvExtm5mufGdgqf8eJaJaz2H9eNOL-TrPK4oBK-jaNl9OIla-yT9zDgcXZAFHIEOQwxj3gb6VMcXyV8KF2ezzP8Qh_Wy07BLZbdGyF_KEl3v1b1nhn5ViLhXz6seE8x4Hhrj1j3QZzErk3bQBt9gnY65sdGi8alfqn6WQWbBdujf2F-0jcXWqRwxHGI6ouunxZvE57rmOc56FwWNik3kLc23PbmZhcii2v9lcuQwOntlEpVdGnMnmpmc1mYAoiqoiWjWqSgU-NYiy380SX4ZQDxmyJGMMJTnHaUAKNf7vbCDbb5vvLlcUEBKUog_i09J11D0tnvbvUtMDvnK-dw_Z54FOATXoqDNj-sDkeBfpM3lg7x7h8OA6n_BXYo-AvrgjOwKEIxmmSWOvoqvIsvhzAVLCpDpw4nw-ANzBOz24bR5FYSbmfq3FUTL-c9pgemiUahV-I_Up4zGmc3DXB986sHQlWaaIkCPnx2BH9yR4rD512kwMvDBzGiTCycOB-t5eIh4EZP7FCcePlvzlV10oZJHqevZ4KTLiqc138guiNO8jGwRQhidGILMb13r08R5l26eNj_9U01IhNyCMM-gdi9W63hYn19R-094f0rIKaZjgMiM7PECAqtUb7YpH--uvd7o5w91xvjO26TV3zaWdV--26NLgRbkrVJNE5ZxZkEZS4C6wedY_VAnMIhQbgWAEklUTVT1tJBiTe7H6AQtILmNJaJOaZvfb-mSq46lj-GOXLmOOlVNqMwsxXja-H0UscagpFxpHZOargR2uYSZm5GAazvISR2X2v74=",
  "id": "rs_09335d39bb264a4d016aac9da7adb087d093e3f90362e73379",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.045,\"right_z\":0.085,\"right_pitch\":0.5},\"note\":\"The brick is clearly visible beside the parked gripper, and the previous approach was too far to its left. I’m correcting to the right and approaching its near end again, staying above the table.\"}",
  "call_id": "call_nKKtb4ulcMB62HOOcEAZVsrc",
  "id": "fc_09335d39bb264a4d016aac9dad7ad887d0b60a2ea88b47ad59",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_nKKtb4ulcMB62HOOcEAZVsrc",
  "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]: [-0.0265, 0.8398, 0.6094, -0.4603, -0.0265, -0.0528, 0.9995, 0.0757, 2.2181, 0.8982, 1.1885, -0.0074, -0.1326, 0.9967]\nstate[eef_state]: left_x=0.2863 left_y=0.0007 left_z=0.154 left_yaw=0.0029 left_pitch=-0.1223 left_roll=-0.0043 left_gripper=0.9995 right_x=0.5411 right_y=0.046 right_z=0.0681 right_yaw=0.1542 right_pitch=0.4271 right_roll=-0.1262 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -1.6068, 7.1453, 1.6923, -0.0757, -0.0562, -0.0073, -0.2393, -10.4547, 6.2701, 2.3077, 0.0073, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1d30c3a0eb68d01df4788819899ed13afcd17b23e920e56617dcf78e834ae951",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:81930edc0092702c0ebab71e84bf2687612c1b52c84940b6787129eea030bda9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 128):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ba6f2ba02a55656de692d25d04f1a0c6853d7170964a979be645783349dd3d40",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 14 attempt 0 · /responses · status 200 · 5.129 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 50 changed as sent

message 50 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8379, 0.6094, -0.453, -0.0261, -0.0525, 0.9995, 0.6971, 1.6432, 0.836, 0.5289, 0.5781, 0.0124, 0.996]\nstate[eef_state]: left_x=0.2874 left_y=0.0007 left_z=0.1559 left_yaw=0.0028 left_pitch=-0.1132 left_roll=-0.0045 left_gripper=0.9995 right_x=0.4137 right_y=0.2252 right_z=0.1802 right_yaw=0.1752 right_pitch=0.3259 right_roll=-0.1298 right_gripper=0.996\nstate[joint_eff]: [-0.0479, -1.7983, 7.1863, 1.7265, -0.0562, -0.0171, -0.0122, 0.1162, -8.8, 8.5128, 1.9023, 0.3394, 0.2027, -0.0952]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ21Eh0W_EcFMYWYw5AHWCiisbBZt_Q9EzwNYAlpiyK9RVZUxHrS47oWxupAYbHCvEqG3DX8reU5RavdCffrpkdZgP0LVkIjSYdh_BEiS7mFbs68KgVfhf7ZSQc-Nc-M6QSH8xVea_H1x2dlMhiqfGVJGm4qqG0luFW_vXbiUToaepcgUn0yP3Z-i6e6B7iEf6wajKL6DLmSQ2zOPP-o9sFb9z6YAoplCitGPfrF3MTnF6yfLL-1d_tcePe21GxTsjZjGoqSfbHL1j4tRntM3CpgGcAsHy2rXFuHywQcHYjqASoKxtMfzDZH6kbNmLnWoFmAnAMgk8y_ZUEU7J1l9Eae1CLTFeEuhAAwHNMN9qXOK6GDGirHHlfw2mL68_KOAMQ5Jdni1GOOt2gL-9iWj2oyUXCkkA-9ddr5BUsORuG43hLEEpTo1xfJfRlWRI44V9Jb8xXhof62DlfWV3CJ7xR2fVU421TnePVC3HNvAm-87MBDSYDXIlR6tp0L9HWBWowSI0u490uPJktsyScKEDYPoZZUF7IBGUR07HLI12wHLLcXNxik5ie05QkLfzOkIrhu5UHFhAqP4nBnPDTBQ7Rrfr8UcnxxrAxYt21J1fcTHK0s84rHqa6fc0_OnO_JYRlQPf-w0pBx-sG7rUjh5RkYTNYfjNJaYyHpWPnVjziiteIPfwr8d6k2p0c2xWrAQmiudlu2itKjQPxx1rvZYRZN0U_-PxbOiZrtEy3Ek8lvt455agyXLWtHFqSAaWgxJTUqdouzXGoCtGwi3LeD99XketlWtEXYBiWToos92ZgASw13N0ZdK4hUm20mzNPXmoy2TXYIMOxp-HjE3bJ6xsisLbBNpXPeucVBt0NP2SQ0yL1fit8zPlrZqLhFDNhSn23XaQ3mvUYsuHtX72jbU9rdPPKVz5ybFDSvw8h7IIiKjhHdd7DSrl-EMRg6AJv2pGYe9HR78JvlEKc8zaWxBZdaJIrLQVIZ24msCckYHFfxu4ZbBewa6G8IyE7TPaKByZxS5XhvHG1bEme0cbvxhOcpCL-JUBUx1Z923z0zCWUACGIBO0ci66QnC8z6hpH5CifCeQmU5D-yjzdP_LP4Gz7kyukOzFuiJHTdj8P4KZInhuwerSvXJVqMoNeIMyzjzsJGv-gxMAWO9LrfIjjRV5n3w0sDWPddgjthglHAIYJsCm79_Wfkc_9hS_6qvkejKNXOhS5MZgDtRg0cPjVJwVVFsYfWimj2WcfmuiWIzjQXGkkiOxGK462WDWZV6mW4A51tA-K_PlxVbtH5yuJQaJli4yqQsSyWQA1eeEePrQ7AnM3QedOu_Cm97Y1kuGWp0Mev",
  "id": "rs_09335d39bb264a4d016aac9db1fcac87d08a980ef4e5028416",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.55,\"right_y\":0.045,\"right_z\":0.012,\"right_pitch\":0.5},\"note\":\"The lateral correction has brought the brick under the gripper, out of the forward-looking wrist view. I’m descending straight down at this alignment.\"}",
  "call_id": "call_9cQwFrU7nbs15ugqOQZXcYWN",
  "id": "fc_09335d39bb264a4d016aac9db3792887d0854c3eaea068f8eb",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_9cQwFrU7nbs15ugqOQZXcYWN",
  "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]: [-0.0261, 0.8433, 0.6094, -0.4603, -0.0261, -0.0528, 0.9995, 0.0704, 2.4462, 0.9916, 1.4837, -0.0326, -0.1059, 0.9968]\nstate[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1531 left_yaw=0.003 left_pitch=-0.1257 left_roll=-0.0045 left_gripper=0.9995 right_x=0.5555 right_y=0.0485 right_z=0.0523 right_yaw=0.1648 right_pitch=0.589 right_roll=-0.1101 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.7709, 6.9538, 1.6435, -0.0415, -0.0611, -0.0073, -0.1709, -7.8427, 2.6051, 0.3834, 0.1099, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:68f06c81602e5f9843afb6fb5e6c89703f706c09a63698ed5107dda9e99a6b3c",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b02161d7b48e05ab26885dcfb0c9de0d014e82d6960d07b320284b539b4556ec",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 132):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0cce67870cfff5b79c4be07d60a8fdac627d0bed93aa0423ebca0f29690412fe",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 15 attempt 0 · /responses · status 200 · 10.55 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 54 changed as sent

message 54 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.8398, 0.6094, -0.4603, -0.0265, -0.0528, 0.9995, 0.0757, 2.2181, 0.8982, 1.1885, -0.0074, -0.1326, 0.9967]\nstate[eef_state]: left_x=0.2863 left_y=0.0007 left_z=0.154 left_yaw=0.0029 left_pitch=-0.1223 left_roll=-0.0043 left_gripper=0.9995 right_x=0.5411 right_y=0.046 right_z=0.0681 right_yaw=0.1542 right_pitch=0.4271 right_roll=-0.1262 right_gripper=0.9967\nstate[joint_eff]: [-0.1573, -1.6068, 7.1453, 1.6923, -0.0757, -0.0562, -0.0073, -0.2393, -10.4547, 6.2701, 2.3077, 0.0073, -0.0806, 0.0611]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ26WhtYIr1q_YHDiow438d27icioRG6fjBNaAVuMQUnE3HRbsjepBYhTwcwLS6bC9QlkZmDUHSN-yls-A-zBdC2W5QX1Nk8D6bdF1swnYgOTtyPTWQqYJasHT1yuRuV14LVyvxhD7hRqHjrzhVsOlAHWVraEc42QvNXAXTRXUUFfYCw7ng38l3ylxSR1Wt_mfJGSDU2cc2dhrFAtaGRBHXm2wy6sO16WFoK-OZQ2dWo2xpyRHbxQlBXDISEpkHjSMpG18tkJEUYgLBp50mvCT_NsC-o82FkyrntJxsiJP0P6O8LxktmtrepDv_Vg5b3cPV4W-bmIImXpGs6lCiASZDK_IUNyAL8wntTucfEV_py_vnYmDcj0W_OeN5wda3oBE5H-Clt8oQIt7bPOGZwyyQMsZUuJ74ofmovaKTKRf6yRzIsUOBPbARR1Y3n5R7YIj5XlwUVIG_PyVfKxBCm_f9nR-Vgkj1drYRl9o6DdJSHBMcrFvjBNUu5iK985axq2MlWiSh9MBQFFXWWsU3N3vgoKyeXMl6Uz4Q3ONuV0GIRdw-0qnP2x9yJVbEUwY8z0oyokeT7WNUeLgpwqCIA2cGDeeBXqK-8rYCxmuZ_uTLSHIM0YYPzCNzvXzI0XJ85XOFIZcl8c7y0QvG4lO4cUVQfYfET6FpR7rVNq7o9wLt64r9iwjgj79rbgQubgf-tfA4icg3IYz8yjTaH2E6RADA6HCtkBG8WZbERCM31WCrgj-lV2poiU0Tp_h2xuvWifNsKLnZTba-l1LZY3OPnlqmXmUJdUKB_n9BbO_mgpZfXuz2W8xXdUpDLIa-K4OfzBWvULJ0T8rUQpTkL_eOpLW4iQfPlSVrE7FIE4fmMrSqvt8viYAPMzjfGf_uTKhrko7m5OXfGJB3NbORQBDuGMz9yDEV6Ko46UykEBINP7OSxHohZ4tJfTCHS41gOcKZxYCQUEIcGykNMPh4yFbZ5x68JHxPrpiTlSx8T_gbG62F9eoZV3UdIJsFpPsgJ9VS4Ru1Epy9UW2E7lWJ8vzcEq5OOfUFtRKmdV71XK7fX5ZSSLl-LqNr61VjzDtdspU0J0-CvqWsQlCxhmhXditZz55b5Y9qU18rANjp1NUr4XkbzmeVg9pvFx-pvRJh-bLgYR8LHWp48obVlA_VZlPWUbONSrhZRbio2ovUup3L1RHnaIVUdNVL30Rp0ByjSAwItk2Trp6o3FDdgl-6g5D0bdUXVkt5Sv0kQZ8_DKDRV7fgvqpzLsrnh4J8IT4H-sHnHh22id7WiMlnIjMTp50djTj7xTcKi47nWvwpFxPZ94BxHabA=",
  "id": "rs_09335d39bb264a4d016aac9db83a3087d093f4af70b29ce110",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The descent stopped at contact while the brick remained beneath the gripper. I’ll close and check the measured jaw spacing before attempting any transport.\"}",
  "call_id": "call_J8nXtvHEwxlBSL8F0XVU87Pk",
  "id": "fc_09335d39bb264a4d016aac9db8e56087d0ad89f50969fe20b6",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_J8nXtvHEwxlBSL8F0XVU87Pk",
  "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]: [-0.0261, 0.8436, 0.6094, -0.4606, -0.0261, -0.0528, 0.9995, 0.0719, 2.4577, 0.9974, 1.5238, -0.0357, -0.1062, 0.0083]\nstate[eef_state]: left_x=0.2864 left_y=0.0007 left_z=0.1529 left_yaw=0.003 left_pitch=-0.1265 left_roll=-0.0044 left_gripper=0.9995 right_x=0.5556 right_y=0.0499 right_z=0.0579 right_yaw=0.1721 right_pitch=0.6231 right_roll=-0.1148 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.5385, 7.0222, 1.5995, -0.0122, -0.0757, -0.0122, -0.1299, -12.3009, 3.2479, 1.4383, 0.0366, 0.0171, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef8cc30fccdd38d22a40277546d704beeba35ce89825b97e73d49fcd04ffa596",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:a60865272e944fd39d8db33fdeec68062ac92bc44d221e9320377071240e6f44",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 142):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f04d0c0eb36ce991d3b2e93b6fd1344550eb0c5f549bbe677d8798082f3b10c",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 16 attempt 0 · /responses · status 200 · 10.36 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 58 changed as sent

message 58 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8433, 0.6094, -0.4603, -0.0261, -0.0528, 0.9995, 0.0704, 2.4462, 0.9916, 1.4837, -0.0326, -0.1059, 0.9968]\nstate[eef_state]: left_x=0.2865 left_y=0.0007 left_z=0.1531 left_yaw=0.003 left_pitch=-0.1257 left_roll=-0.0045 left_gripper=0.9995 right_x=0.5555 right_y=0.0485 right_z=0.0523 right_yaw=0.1648 right_pitch=0.589 right_roll=-0.1101 right_gripper=0.9968\nstate[joint_eff]: [-0.1299, -1.7709, 6.9538, 1.6435, -0.0415, -0.0611, -0.0073, -0.1709, -7.8427, 2.6051, 0.3834, 0.1099, -0.0366, -0.0024]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ3FKnWqA5kMZK-KwCpAxpqojt5W_ArizU__mZ7aC0XP2R0JcFGVFGD_Zy9kTE6c-dl1E86OVWp6ITOCRojo0ZT_Uw44uaVIHn4esERPB8u6ZA6IdGsC0VQdN16FMvMxjeEDnkoZZpe7MSJm502E6fmXhT8RVVvjjiKmOAUDGiu5stzAkQCIJc9w6qcuRDLnF-19MBmSZBuRlcBeEujn2G4bHuq1UXfk0MFfdzF4rUeRjb_wI64xjPKkBabYRLVz81om-Pj8YBFIeCwkK96J9q7cl_uogQiEV7mizuo4nu2Xl-8cCCfsqZO-zRzUE7aJa3zxF_9u7vpgkA4A0C0H802BhpEa9gCiTnp3POQo7hNMJC7CJPXFD2dwL6S4JgoM3hCnTB0ojtD7LV8sF4WHLe5NR_geyoH9GcKgD4ssah56PnnerlscBGPMBoRawkvD8BIsOF9Xs2OxPpzq1oaEl_7yNU1wTW2whLsp0LkfTYaSF_wBhJiFgW9t0bQ-OH0H1mY9MxDS5RUVYe49negrjccKtzktC3IL7jbaSUfBaZsOTSaZBLGITNwAQ041KaKJqfc-DbjnAqhO0EmlHbnddmVIry9cGg6gM_o7ZUgY16fjKsGUu-g8c0cv-GUJPQSEuJicjx3BxxhFERnIkpj-c5Fpb7WxDHxWf2wYEWnyjqufBNbt9EIO6VAEfjCwCikPWm-dxYDLIp1CCOigsFVu-1vzj4qmmgsEn9bzKVDScu1hSGm-AN-63sT1ZJP4mHt5opT83ShPoYld_E6hOTAtLrrIl0xAhuAb7Cl0h1HQiXjrQBAdQqUvYJ_iiAeASMvCJ9RbwKUNh82JtcMgCl3Y__eSWYIDgYmb6fzDn0Wyc9P7pSWM1NCUIN6u6G0f-HXGBCm3NCDyBadEl3dVlQSUh3TDGCPc0QI3Uh8w29hsjVjuOD2Nt1rRTgj4KJWF2_6TGf9cgp6ElZNwOh6Mz31oWL22DcaIpMsR7bd9Q_i3lKkU3ScGIPS_fpWrbVHqhPcerHVnzGsSGzvCHof5-_FHZU8rVsivwRA9wdXTli9qaa1tZ4jpNcqE_ga_-e3Nt9ET2HI2ODPOHo1qRpkAf5bol4Oo8IRV-YIy0G9kZIdfNx200SFYG2NqozaDKDbrnaNH6ozT03r7Iry32ATiHlJm4znHs9oOzojKt4LuBtZeiZOUelQBoxbXnf94kORf9FOS1npP6nGv67ehmXGP-skODJOs5EDsCL70wxi6Yy5BmiNfpymIoDDYqqkbPbJtbr_pEOTlis60-Kh5RijD7U0E3rKiWGeq_cVlb8NHXWm7z7V873ZLJpPro_8TTBte33LYIU_QrFsfMF29HX2_cBAJtHuvSBe7SvB_Jp-cBJZ5gW2ZY8Dm4GjlDiNS_mExbekCn2AAY_wCw2iIxdYt7aSSshbtlEDBaZ_2_lDvefny9G5sOTCN5x5qiP26tkVELnpR5yRvBFBzEjbmxXPyTqwUXTE0N4eJL9KgJD_bf4TQzSw6Rp-aEvtmYJ23IYT2hYjTS-Tbq7VCJ8tzVnCx49NjPB0Yq7Eoa3FYkMbqiFZfuOjh5epOskz7FJ0R-m74KLeKQSrJ_18PRXEtbtPbXIgqkYI_EO343XcSESYK3hGxIFTmaPWqSO_odBF3HzYCkB-LnqL0G_3yfrvey2botX2Hyo2nqw1Iu9S7d9fYK-cMBkMXCd3BoWWc8BO11JDDeo2ZZs6X2LheF9xlXzdzk8yGy9m1PVw3Mcz9vpRaZ3FMefaUCaC0lleg8uB4cg7QBxLmIOnxFHOj6V3y0va7WbFyAY3fLbktPXOZt423wvKBKJTt3JiekytLkWoSIXV6Llg_PHTUiUlOG1TFsLQoWIga-kigA0VCt1ppqdisj_XgrOm_HKxW10wIdHeq-EGWiErCvUunEOxDzgJgvGLRBeebNUABRF9H70zNAY5wwPq48VlSSYmE1jgOfoOyg8b30lu89tNQP1Bk3DV5FgdKKxU3nr_eq1aBK1KFmkVkaDz_sh_P48xQv_eNkCxIpk5fZdIUnx5bOLqPUhb54iCgXlKS26Qm_X2qnyPDV8KCSYXbqnKh8JJuRbK_yNOo5Ew3JZS0Hbg1WDnY14M64ec7VB7tionU6ec4igg_V6p9QVqcov5AWD8vGDLq3h2trwL5iusk5qCQ9mMCLcKhDgIUzSYhGdkq7AbmuEIyCyF0djbDJI4sHDbL0Y91S-X_JGKjiAdIhkgnQGKfXEsZfn_WrWSuWqRsp5jp5OnXj5OQ_Uht2cw-BN9WM3l7cvQIBSQyPkS7p01a",
  "id": "rs_09335d39bb264a4d016aac9dbd8d7887d095053f9ec9990638",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0,\"right_z\":0.19,\"right_pitch\":0,\"right_gripper\":1},\"note\":\"This close was empty too, and the far-forward low pose is not tracking its height target. I’m lifting away to avoid dragging the table and to check whether the brick is actually nearer than that reach-limited pose.\"}",
  "call_id": "call_oBjAOqd96yRiVdfFAvnfbPxc",
  "id": "fc_09335d39bb264a4d016aac9dc3d5a087d0910658453bea3a79",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oBjAOqd96yRiVdfFAvnfbPxc",
  "output": "executing move_to over 21 steps (2.1s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8474, 0.6094, -0.4675, -0.0261, -0.0525, 0.9995, -0.0792, 1.1255, 0.7158, -0.1127, -0.1406, -0.2436, 0.9971]\nstate[eef_state]: left_x=0.2855 left_y=0.0007 left_z=0.1506 left_yaw=0.0028 left_pitch=-0.1372 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3685 right_y=-0.0008 right_z=0.1856 right_yaw=0.164 right_pitch=0.0406 right_roll=-0.1268 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -1.6342, 6.9402, 1.6972, -0.0269, -0.0513, -0.0122, -0.3761, -3.9863, 9.5932, 1.7851, -0.2173, 0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d3501d8e67507dca8a9ec179715f0763d9d9d1e987cd93ed1e87100718229b93",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:70cf52a581456cdaa9deaf415de8601e99d2e165ac7ac97c7a97c805f3fe1000",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 163):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0157841c834381248c2e1bd4cc7cfccc1e3cbfe55194ac8f7c605cfd8fa22ff7",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 17 attempt 0 · /responses · status 200 · 3.768 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 62 changed as sent

message 62 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8436, 0.6094, -0.4606, -0.0261, -0.0528, 0.9995, 0.0719, 2.4577, 0.9974, 1.5238, -0.0357, -0.1062, 0.0083]\nstate[eef_state]: left_x=0.2864 left_y=0.0007 left_z=0.1529 left_yaw=0.003 left_pitch=-0.1265 left_roll=-0.0044 left_gripper=0.9995 right_x=0.5556 right_y=0.0499 right_z=0.0579 right_yaw=0.1721 right_pitch=0.6231 right_roll=-0.1148 right_gripper=0.0083\nstate[joint_eff]: [-0.0479, -1.5385, 7.0222, 1.5995, -0.0122, -0.0757, -0.0122, -0.1299, -12.3009, 3.2479, 1.4383, 0.0366, 0.0171, 0.6032]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ3SPlyBMiiWYrSkfmiYnA3PgelTStScCsWFZkOO7jKKlhOcdgETKyntSD9dNiPWlkBlUBPhb3YGwZuLECO7tYmqE9-NRIsaR_qzePhRqRKumkRvREG_XUskCvJZd2e6BEcZ0OT4sRGCkLlFwTdid-lwUKIlUaLhVLY7Nov-LzYZWK1SWPO4ALSmcSU0qhHaZyTlBC8iPNxEEob2k-3VKFY8x1fbJkanBfhO1u6FGQF3cYcDw6Elu0trOjXf4k_5-q5szTHX4xn8PtXuktqdl81Qk3GOi98rEnXf7tmQtYgz82YhT6Q1FAbYZZ19vceBCdo2n2omVxPVdxftaoUDLWbhnhNAd0hHyUiSUcH4XKc2_3wuZ-ZkxcZ5xwk5EPLdZ8ilzUTqR2at4fOq0zJr89ib1rgvf7Pt8zT0vp20aMOw89dVPc9S6cM7Aw6wptCTkuzlUTI1vOzJv7-emv84QDpjiIOiDRQg_heEpZVL7LccsugCo9JlnfwtWDYWSZjgdReA_rEqSyvcqus4A32vinh7xlYZT-q9QxLvoPQkKBmoocbe16QpQo6N57-3ENEyg7mFgiQ3nG-7QOfOsVqSnRQjp2pCoWFekFbCCrs6vLN8em8DGAzhZnGuf7u7yCuqXScNvuQmeegZZ5Ny1jZDQzEGc044r7rJcry7YFiYnQBGA59j8B2ae0tMySqTJo6hBfYDv3mFcyO2cTWBQkPLihWRWn9WfRSfo1FkxLn94ECfILeL3XSqtbgb9FoLOTQRZKym_Jilni4w9XByja3pGk8LAOu9mQ0qBCun_30pAGmX70bG5UapT4ySc5kPTSdwPhYkbmb9GxKCE_s-x2_lHymwRY4Ae6ZGNxO1d0tjOa-35EjOLX2KQnLKLsktubwcgCicCKxgFtEGfjjbJYdbFk-H_8IwzT9KIlAp0DSo2DRAWaWQY2RGb61dndUT5600OAHywq36WhXxpSq2QvtBjVzjbQSCqKy6zDXTxR8isvD9oaBMUHZXiQxoav_VaiYDmNqEjIVXg-XU_Hrx7wJ3WTKxgmoe7tYRmn_h85ZuEh9DWUJB8NUDAijMSN--PqkAHPj8kdPK1UohGc6MC-PC4AMe01jAilpICfbcEtCI9i_Kx84NxNe0nRX3W5rNaPuQNUBhmueIGPHQyywby1TDFuEr4AIB2kmDehP6p29BaeOflX2wV8Xc69JGNe4KTREjzJ1ytuaYFofjGQ5MDtQP-8b9gi1vBTCAmTkWGu5QUNF6ezICRkS-RbTgFdnt85x72UuE74xgfUszjFqPWBrqjq_lB1CCz1uOs6HPzt-ydC4a2YgpeaAyypgveuINYACtp30kXLH4KymFZXjrG0bYwfYsLEAj6zu6OAKGdQ6N1J-xIrJ3das98jDGupBukrZuCy2bkYtxLKFUgL2FycPMLkfbU3O15or5XsMxwOFxLqEi1G4SLfhr08vVslBZEDDi2IxHxZaPqEP4nVH6YAG_0aLfZiEx-vjyIHsxxgFaNpggQfUmIjjCWt41iBlax-ZYty8orMy-_1R6TLs0Tbs7Nq9xmHcKofWsJlWXTtTQjubUUcELjD5DMA3Bgf43Sbt4GZbdsIPY7gWU56L1d-VuoDR5vObHNZQ2gMvaNmh-ybVwARe3WQR-3aaRrA-6zSqqN0emQSB7GEjZ06iGIU2DHFk4sw4h0GD_fBDYjYRvtOqHQiVG2MOgpWk6XNn1p3iEP1A_CSN9B1QROnMqfy--vQYFX8Qsvj5emd9vq0QeM4faqk0JwYIAADzIMPaQs4WHRSBDlywfX0B2bVYNsNxoa0CdPPcAhO3VM6hXOhCnnLU05sVfH6YqVoFipHIBaMrGjPtiIUsIMXI7mkwZadW7qzEqDNbZuSFmJuMo9BGV0APsWhjnQu0Tm4WUzRdo_ltXqbZl4YwojPHE_ROfVPrA-Xvz4S0Kq5RThqzLtAT-anXJ-JDWvzlPIAczYctpQO6OZO_bUsw0jqrKWEpgua28VpDCN8uWh3FENwOzs45lqkCEGihVyzz5yOE8_GZZifke53qv3wrYTNTA7gd7v2I5wTyDb6rEazQQkCOfqkj2C4b0E6pP0Wn8C2TPtxit5jX-fBpbVd091sAXoPk6Ms_O9lZG4Fw5U7Pg9S2BG-XycWuAVr5EvoP5mrBcafzyv7pj2lHE",
  "id": "rs_09335d39bb264a4d016aac9dc981e087d0a52244192a8c0200",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.065,\"right_z\":0.09,\"right_pitch\":0.1,\"right_yaw\":-0.1,\"right_roll\":0.1},\"note\":\"The brick is undisturbed and fully visible. I’m returning to a shorter-reach, more upright approach, centered farther right than the initial attempts so the jaws can descend along both sides.\"}",
  "call_id": "call_FyC5c9v1SQzrt9Sa3tXQLcTv",
  "id": "fc_09335d39bb264a4d016aac9dcfd59487d0aa6f9223f3c1c9cc",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_FyC5c9v1SQzrt9Sa3tXQLcTv",
  "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]: [-0.0261, 0.8509, 0.6094, -0.469, -0.0265, -0.0528, 0.9995, 0.2138, 1.7161, 0.7071, 0.408, 0.1757, 0.141, 0.9974]\nstate[eef_state]: left_x=0.2854 left_y=0.0008 left_z=0.1494 left_yaw=0.0034 left_pitch=-0.1421 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4366 right_y=0.0669 right_z=0.06 right_yaw=-0.0153 right_pitch=-0.0279 right_roll=0.0326 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -1.7573, 6.9402, 1.5946, -0.0659, -0.0562, -0.0122, 0.1436, -8.9094, 8.1026, 2.083, 0.1734, 0.1099, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:187deb752a95e9ba0fbe874ef5c7e28a4c43317d52a579b1b6c30cf39d4e9637",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b2f6de8ad5de0da42f997531964ae13f0de0c232ed42178bb3399f6ad19207fa",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 171):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3f4764dc6efead89506b92487b9fac25a91b555d6fcb5534e189fba5d9c4a8ee",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 18 attempt 0 · /responses · status 200 · 3.574 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 66 changed as sent

message 66 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8474, 0.6094, -0.4675, -0.0261, -0.0525, 0.9995, -0.0792, 1.1255, 0.7158, -0.1127, -0.1406, -0.2436, 0.9971]\nstate[eef_state]: left_x=0.2855 left_y=0.0007 left_z=0.1506 left_yaw=0.0028 left_pitch=-0.1372 left_roll=-0.0038 left_gripper=0.9995 right_x=0.3685 right_y=-0.0008 right_z=0.1856 right_yaw=0.164 right_pitch=0.0406 right_roll=-0.1268 right_gripper=0.9971\nstate[joint_eff]: [-0.0889, -1.6342, 6.9402, 1.6972, -0.0269, -0.0513, -0.0122, -0.3761, -3.9863, 9.5932, 1.7851, -0.2173, 0.0611, -0.1734]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ3WWJUx2mFNkG1cFP_xv-zZ1Vf2Lou4O7ZV2iq-lLexMM2Ts1E1aYYICVba1GdlyBnLSsugHPhyq4-GD3X2MIzMyyOIZfnsF63Lg8JFmI5bHFafKVd-FKtYVsoTu2bG8ZMepPgdo70mEcDkSCuJTlY84mbTveB1iBtwMdKZJvwWIEuLqCsAUDyo3IV05K91f1-6XwC6ofkIJApwmsH7jeXHtCBCoCoG_qcoCZxXssFz6IMFFW225I4KBPRhgkBIpnjTaa4Ci7Q3M1up62gPwPo6Umsl3dEO4Cal3qY3xGkyJw0X_zOiQ4nWA4AjYA-RT17-PEfNXRR5YnV-5Ahlcdo_3CoTluyYplcyEakwSr7TcOOKmZpdCznMCb5ADT6usB33As1V9HQcsfbfY1wQ0Eo8beIjG3BRGKNl9rIrfWkiUYy5t0uNR0cuowx0Y-VLduNB4tMRjuE9MM__MZ2Qrugp9iSev8SwCN4VRu9PM4YUxKa9ZqVh_slRG-FbXna7haNWx7bVIDSRgZacBCeEnZhJ325_ci7YSyhyOhDcSkbh280LpEHhU7QqSXKUnJ5CuCR1xc7BLpVTfBZ3GzEKfVqe5cwp_RGw6lGYIOXl_cS2jK0maAi1MS0JDgKi1vxA-U1sKLr7o3blqAKQsrfMDKdBxJdgogxDT65hnGIW4YhAd8wou_jXaZ4kPYhkXJCVH48qqGTL_UBSg6jCKje0ozEzpv3lpPHLxerMV3j7UObTswS9xOTeGcyTUowA8Sld0ifH4RQMPE2iBjnRRTxvYCJSMpVLFgyQ2FcKPqJgxrVB3oeYzLnmJQDKzZ3p_cL_koJmZwIo1Yx9Ye1P3Glp5vWmNcIPVpgdgeg1jTC3PPmaZwsU7OM9fYwUqCdAr2HOFDwPeJ3Q2sAlqeLampinzvTYCaCbbwTnXG7GDmvNKqFTMk8aolFFHpAPSaDTyBvilGhOOMD82nbJYdbVqvVoyhoQG_aBwCh5CdsNL9-K0EE_4G3WUdYp5f1dPY6rsgMKaxu1LzwW_NiW6kMOkoxinbDzlhGvWtiYJ-6z1Jt4HPNJP-oTyw1ojl-F-9obMo57Z_L3DUZHSkxMBpeJrn_bVvBTSv8G2xULidvO7KOBa--RHoUYiXyPhHnBiYDcvg3Xasz2mhrmwd3HajEcOBqe9TrQgLACGsjSqqOfzPYhy8_xF39e8oujCFnL6laIpKLgxK1ztN_eehHoVE103zlkUU6D4n2i3e1hj7CXC4N2W9C2b7_b2vNOYhhBv_qyultWDr3IXm-PG4VuEsgcFmBN1DT0s-6QRspm4x42R7lEA0u0vUhF4OHUWX-I9owkCnmGY1-uphDdX6nOV-VNH1iaZud8cg==",
  "id": "rs_09335d39bb264a4d016aac9dd497ec87d08bc895860256a99b",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.065,\"right_z\":-0.01,\"right_pitch\":0.1},\"note\":\"The brick is now centered on the jaw column, with open fingers visible on both sides. I’m lowering without advancing so the fingers reach its low side walls.\"}",
  "call_id": "call_Z9Cgpj5vhR67hhm59xZolbFW",
  "id": "fc_09335d39bb264a4d016aac9dd5701087d098e489f6a1c658c7",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_Z9Cgpj5vhR67hhm59xZolbFW",
  "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]: [-0.0261, 0.8543, 0.6094, -0.4686, -0.0261, -0.0525, 0.9995, 0.2062, 2.0712, 0.6655, 0.9062, 0.1997, 0.1005, 0.9969]\nstate[eef_state]: left_x=0.2856 left_y=0.0007 left_z=0.1486 left_yaw=0.0029 left_pitch=-0.1452 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4565 right_y=0.0633 right_z=-0.0045 right_yaw=-0.0221 right_pitch=0.0741 right_roll=0.0086 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -1.8256, 6.9538, 1.5897, -0.0562, -0.022, -0.0073, -0.6769, -7.241, 4.1504, 0.735, -0.2613, 0.3101, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:5ca05c477ed2ed6aa92dcf8a404bf7554247d202b94beea6cb8571db9a6b7dbe",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:bef737a77cac915e0e155922442753c7147a8a18da1fb8311af6d82696082273",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 176):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:8133fc33c5f673505217c781a9ed1614ec87ff3faccd370ec0c978a8db722a91",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 19 attempt 0 · /responses · status 200 · 3.292 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 70 changed as sent

message 70 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8509, 0.6094, -0.469, -0.0265, -0.0528, 0.9995, 0.2138, 1.7161, 0.7071, 0.408, 0.1757, 0.141, 0.9974]\nstate[eef_state]: left_x=0.2854 left_y=0.0008 left_z=0.1494 left_yaw=0.0034 left_pitch=-0.1421 left_roll=-0.0037 left_gripper=0.9995 right_x=0.4366 right_y=0.0669 right_z=0.06 right_yaw=-0.0153 right_pitch=-0.0279 right_roll=0.0326 right_gripper=0.9974\nstate[joint_eff]: [-0.3487, -1.7573, 6.9402, 1.5946, -0.0659, -0.0562, -0.0122, 0.1436, -8.9094, 8.1026, 2.083, 0.1734, 0.1099, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ3arLos5yLJFCPOCqHNw35Z5biUTewCIOZgl7ng9d3Ip0-Iu8vsVM0I8iDd1QoF-c8hlBTq_6faJd3IpwMRyhQAFFPFzifbb5eMGJHyagNijGCxKAf2UlzOMdy_YYRdKoNQXdyNsc2e3QN3R9GIiF0OPxaouExLnWc1F8AHsMP8qkSedOBrKCQ89wGBC9GkcgLs2s_nibX5PHRZL1CxAKdRK_-WViWesyp3n4F4xpQ7b8GG-TEjODkbxB9WYuTj313DxOXsTQINNuIX1LnTFBZ9uymxNW1V9rXORyeJ0gYv5Pqn3KzOZGEbE1Z3kkmfqRutbUdXlW3hKTeTF4dlJndwm9OSTWFr6BAzUUoUc9FtIGVxEHT977osZf4drIqGvFixNPuieRcry3OM1wHSqUDNvFm_ES3M8gtHhdUoSaAQR53HuXc9EcT2swVobxNzzrHDuMq3s-j0DdAH6-tJ41wc9XHZz2Ak0xgmX0sk1tohcHSUERu0UuK-vVEXtMjrMMtKPFIiA4INLHSln8Ph5Bt45rDIxkaUlrAKvM2tusephVPoV7b_DbT06cUHzROSfn52-CLvM0vpwDvzC8HCOuudbce53TEUJ_0BeSGDZ7WInJCpCkmtNsx0mezhukM3i_C2Os3NP2JUcewLr4o9Tgy1qeqxSWPSVwyzQzPs4wg9WGHYNoY739Z3rpaJeMRSFxooRi-UherAPh_nU3Zj7jgEpqQdnTtw6eOrrTrMAOrCuhtosQWrGMbNethsErcSkriK990kfnjeGd4c285ZJL7yFUQKBnc7oTAr44G-chDzrQk5aHau27J1lVijSrpphKJ6F0INDAHwnUMTmmNCUA5cicDJ919u2FNL-bU62Hw2N_ZQX4xXfBC6eLzRa-yDLq3NWoWRqdR9HCuwuFTLI3y2Ypo1q8xLeuTGJygZ56Jy-HwRuCs4w6n2ZFprHG6eepwhV5_fAG81LTT4RUEwcG_ljrczNkSMT34xpnZrI9WvpG-9PpBX3cops2VZ92fV5-9uuuKbDEYezBj3wIaxMWurtqWW7FkU8VVib167ITjq803TpmHsmEdnzpkoOG9joPFHY0iWCk1oeEQIdybWqhXWmCVfnyc6kdX0ab03C4LLR2-gSnBwvDfZUehi3m6oPeBP84ZFNGMJ3Pwj1TlX1Cc5zamL4xVAltx-9k08ZuxNu2BITm1v50I0qhMc3z1zz53hk-8-V-JBINm-gbcwOLZPcZdw_XNM11NQM2VkgGq5yrUWD0fX1LO-ojtTFbSw63B7",
  "id": "rs_09335d39bb264a4d016aac9dd8d7f087d0a3c7e6971da006db",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":0},\"note\":\"The grasp point has reached table level, unlike the earlier tilted attempts, and the brick is centered between the fingers. I’m closing around its near end.\"}",
  "call_id": "call_MP9XLW9Dx29BbXQ3ow9CdJ57",
  "id": "fc_09335d39bb264a4d016aac9dd9522487d099b5ed33e096f64b",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_MP9XLW9Dx29BbXQ3ow9CdJ57",
  "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]: [-0.0261, 0.8551, 0.6094, -0.4683, -0.0261, -0.0525, 0.9995, 0.2028, 2.0869, 0.6674, 0.9428, 0.1982, 0.0891, 0.7453]\nstate[eef_state]: left_x=0.2857 left_y=0.0007 left_z=0.1485 left_yaw=0.0029 left_pitch=-0.1456 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4597 right_y=0.0626 right_z=-0.003 right_yaw=-0.0185 right_pitch=0.0962 right_roll=0.0043 right_gripper=0.7453\nstate[joint_eff]: [-0.1709, -1.6342, 7.1453, 1.5995, -0.0269, -0.0366, -0.0073, 0.1846, -10.3043, 3.7949, 1.4335, 0.0366, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:e6425998ac758f4ba5811bb4e606db0ed31e4884c1a3717e5a19dd6487a1654d",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f48130f3f0ad3bbb13594b4fea0fd790f8fb36030bdf450419d5aa313c61b781",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 186):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:05f54c7abb2ca7f3d812c9f52f9bc392efb87f9d232ac8d40aa3cb8f1f723ecc",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 20 attempt 0 · /responses · status 200 · 3.925 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 74 changed as sent

message 74 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8543, 0.6094, -0.4686, -0.0261, -0.0525, 0.9995, 0.2062, 2.0712, 0.6655, 0.9062, 0.1997, 0.1005, 0.9969]\nstate[eef_state]: left_x=0.2856 left_y=0.0007 left_z=0.1486 left_yaw=0.0029 left_pitch=-0.1452 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4565 right_y=0.0633 right_z=-0.0045 right_yaw=-0.0221 right_pitch=0.0741 right_roll=0.0086 right_gripper=0.9969\nstate[joint_eff]: [-0.1709, -1.8256, 6.9538, 1.5897, -0.0562, -0.022, -0.0073, -0.6769, -7.241, 4.1504, 0.735, -0.2613, 0.3101, -0.0611]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ3fIs7U_KCay3tgghA5a_l-IZzTQrnk-imeNvRyWLjjMfwP2Psc5O-9DZdjmwdZVvR0ExnwuJFK8Qq27x5Pyo7PtxwlARt9ACU918PoW4LZe3cE0_5ljqs1Bp55YvGONOVeCNDlcDDH7dmqLcVpIEf6UZThdGdJLQIfr2oLgk1M3OZSXIpFhobsZfU3ipzszQUE8X7ifGyMKN1yqg29Oq4DUMxnp4ljUFpR9epcJz02-jSXjxKYIC_2zTbNTSKAHmjixKzcv1qsJR7McdpW5UxCzhNbBakQ6l8XF-rsoIZFsp-9jjXmkynlWnvZCWyJdc7nB2Yh_Fm6fzn-2C77hL72BLMIynsgMmntDQZvDuKvDecCbuiYnIewEsj5HjMfs-XlxVzV-BkwOCzJmNYgxYSo-xsKOuxWZz4pvKvO7qD1AZqf5eSMO25mld9yZ4EuFelFYBAMCrqEA90o-w3_hqPvgLlwRTzQieXMB09jfB7dLSbAhPxk_hZlhb9ugfChwBqFZ68tzJrSLDn1S1JrBNaRADuDVUMHyrbdXxjsOtuKTdPmxLw7-BrpYoC6nQoU98v_gK7nn34kxY6tH57Qqm2v0GXofEsV0hQq5hMWQcHq75y2D_dCk5xLxEeuNhbtOdaSJEHSktTTFGAoMJxESIqiinu29Y6saggZMDWe9IUkvZFyF3fS_kiB6zrXrllDgrqpzfdbHzHfnhtFc7W0fSVCbrpN_5K0NlxRCaGchM-kkiYwz6IHiZzTy3GkAPKSW05LGpxQXETMKpoonwEjvE5JJx752VPmXcKxV3AkD2hmn6Hli1IwebSN7Rk6DBIKx5GRFSVK1c2U0KJfqPr5xWqJCjeS7So8wkTEo1b16XRprTy7uzruDANdUpG05Gpptzza9shXs4t9zXz5jcqF8A4mAHdpFmZDBinBcAwxAebfDlwe6w2jk7nUvLARBnpr3sX_TrHiGEpyYqchQ-5AOP3Bt3sg6v1g7uigP80ESiyVty_fFQ22BjeCMhEFa18L6vPzOrkA72CvtKGN9zOvc40IEmNi37K3jGPZusIa9a_BoAAG2Qit173ZYCN8xTHHDIUK09-MEL4rTcePIzxKJ-M03bA97Zcsn5rIcrO6CtDKO-6RW7n9xlyFIMDgJYntScSn_cjRp6UNYVZuwUoJMUdkYqyTzEg-1Pn9wUfU0bTSaWrvDPhtJ-fiei1JDobxAqXB",
  "id": "rs_09335d39bb264a4d016aac9ddd363487d0bb61eb579ba86315",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.46,\"right_y\":0.065,\"right_z\":0.065},\"note\":\"The jaws stopped at about 7 cm apart, consistent with holding the brick. I’m lifting it a few centimeters to confirm that it moves with the gripper.\"}",
  "call_id": "call_StHikcjq0IaWaKHI0sYoQmso",
  "id": "fc_09335d39bb264a4d016aac9ddd820887d0983c2f3754d5116d",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_StHikcjq0IaWaKHI0sYoQmso",
  "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]: [-0.0261, 0.857, 0.6094, -0.4679, -0.0261, -0.0525, 0.9995, 0.2028, 1.8809, 0.6693, 0.6128, 0.194, 0.086, 0.7453]\nstate[eef_state]: left_x=0.2858 left_y=0.0007 left_z=0.148 left_yaw=0.0029 left_pitch=-0.1471 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4411 right_y=0.0596 right_z=0.0181 right_yaw=-0.0124 right_pitch=-0.0234 right_roll=-0.0227 right_gripper=0.7453\nstate[joint_eff]: [-0.0342, -1.306, 7.0085, 1.6288, -0.0415, -0.0757, -0.0073, 0.5265, -11.5487, 7.9385, 2.7766, 0.1636, 0.0611, 1.033]\napprover: 5 step(s) modified (delta_clamped ×5).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b24509b29171027a55783e1b736dc79814150fa9794c53c53894a4413da3116",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25f86570c96d3d7bf54e93ae30f166510fbe515de71e782bd2eae6b2b1d838a5",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 191):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:57b8682705c08bd28c5cea34551691c4679876ac771473f09131a28d0e969a7a",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
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call 21 attempt 0 · /responses · status 200 · 7.235 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 78 changed as sent

message 78 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.8551, 0.6094, -0.4683, -0.0261, -0.0525, 0.9995, 0.2028, 2.0869, 0.6674, 0.9428, 0.1982, 0.0891, 0.7453]\nstate[eef_state]: left_x=0.2857 left_y=0.0007 left_z=0.1485 left_yaw=0.0029 left_pitch=-0.1456 left_roll=-0.0036 left_gripper=0.9995 right_x=0.4597 right_y=0.0626 right_z=-0.003 right_yaw=-0.0185 right_pitch=0.0962 right_roll=0.0043 right_gripper=0.7453\nstate[joint_eff]: [-0.1709, -1.6342, 7.1453, 1.5995, -0.0269, -0.0366, -0.0073, 0.1846, -10.3043, 3.7949, 1.4335, 0.0366, 0.0757, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ3jgLc-uXP0bKm_5_P53TKrFyFavGvUj366RF0FGN3GS_cQsuHllpV8gUL08XT1FOp0gGc8ZxIYMRQdufLtSNVzNU8Ju_lnpZA1VuRXWINUtvJcxilPmmcRPkN1eCctcuqp56_jEM5K32rY0Ar4cSiJv60n2y-N3lhYt51x5BXQ3cuA8RS1GWpZm6ho4EV7NeFw937WxSRlwXONIVtJFoAX4ywMOyfz2qyN00nWamPN8RJNN11FB08h1Ji_jXfRfa-MpmGfkT9Hy3k0uWh13_Odacd0XiK-yoGK83soltIoAisLnMRw6fYzHHIAmiapGBPzoU3jMC02PFIdZtGdWELamjmFTGv_nvM7Jp1w4zHqDOVsEnLR7oYxMkd4QJKZEc3SvLooIzxghh6ED0Vw5qZnUbF7WOK4_JEv8uBLHCcSd8SzaReYLaakGW6EevaplMPEefnGZf7GtRjqZMvC7wPrVHAKZp1bZkEnuJmS0jbLEuc42r6CDaABeO-DQGzz6AeIyes-H7oC_c9F5Wsvn66owVmUE1QFylP1TfMBV0A06t76OZrD32Ma7GVvvND-im4SEnsIE0qlzIidbRfWWrL4tMHnGnjLmk-UC97bVgObF1asboO_AsJywsaX001snG8cV3Mg6y_hR3lH1ktcxcQczRZQRp7wB4u4-HNMg6779ktIXkq2hUhbC4ICRX3oqAEl406Mb_bXTWX1N-cVjtU7JfmJUsGUmOrpUnWCxzMGT9xNBUpo7YrItEN4BkOMcMbvGM6QM08wToPbez8WoluPjRiRM00a109xLojutHBdKvkLoeaSDeNz5ws7fjFmZ2UvGDW1xsAR5sbAycBQ092sD2bQCwH4FF_J1g1wpLEdKcRp1kzPk2Dhuq1Cwe8CBsNcWLqynuet7OJgVn4YXoMIgxjj9FgvHzKVfsG3WnJGofmdYqcoCgKJh6_dZXULuH1UnvsGnkzDlYiIKwS9tz8tkbvlRmlfznIeNF0Zj6v3xWtEiXh8gzhO_4tAY3VRjMAvQ1pAMtbn96M-e8w4kYDc5Rk9BW9OVvR6CWXW5QaOvqk5o3q2WAJWliwnMjPBGw5zrqsGG_wUqB7yadA-H9Gn9u3l5Weqx6pZmEoIHKekUOJZjMshBKWx7wWv5jTsonqajAatV6lfAJ_pCLarA8DSvlFPeuNUESqrYXZotZOHzRLKcYIzYNuQ3fETfzDsr2J4U3eerWk_8v4Si8mKoK1-KA==",
  "id": "rs_09335d39bb264a4d016aac9de19fe887d0ba73829399c299fd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.43,\"right_y\":0.065,\"right_z\":0.21,\"right_pitch\":0.2},\"note\":\"The brick remains held at the same jaw spacing and has begun lifting, though the loaded arm is sagging. I’m raising it higher and drawing it slightly inward before crossing toward the pot.\"}",
  "call_id": "call_rHnjzanUtt4t2CzXNyDA3iXG",
  "id": "fc_09335d39bb264a4d016aac9de203b087d0a1656c1b47ed5cef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_rHnjzanUtt4t2CzXNyDA3iXG",
  "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]: [-0.0261, 0.857, 0.6094, -0.4679, -0.0261, -0.0528, 0.9995, 0.2424, 1.4181, 0.7677, 0.0906, 0.2237, 0.0551, 0.7453]\nstate[eef_state]: left_x=0.2858 left_y=0.0007 left_z=0.148 left_yaw=0.0031 left_pitch=-0.1471 left_roll=-0.0038 left_gripper=0.9995 right_x=0.413 right_y=0.0655 right_z=0.1438 right_yaw=0.0188 right_pitch=0.0173 right_roll=-0.0562 right_gripper=0.7453\nstate[joint_eff]: [-0.1983, -1.5248, 6.9538, 1.5946, -0.0513, -0.0659, -0.0122, 0.2667, -8.9094, 11.6171, 2.7131, 0.2857, 0.0757, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ef1efb6769e61e733ef1bc2382b75b4edc6c90b1436a1259336f6d941d71f9bc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:370108babbb8e915cee91e284f5ecc8815c3ca42abe46250ba739ff36e85c6f6",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 204):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0f9f2a28377e0c6df58f703227b1cdec7be0f97df094ceb8c3426858484fa57",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 22 attempt 0 · /responses · status 200 · 6.54 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 82 changed as sent

message 82 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.857, 0.6094, -0.4679, -0.0261, -0.0525, 0.9995, 0.2028, 1.8809, 0.6693, 0.6128, 0.194, 0.086, 0.7453]\nstate[eef_state]: left_x=0.2858 left_y=0.0007 left_z=0.148 left_yaw=0.0029 left_pitch=-0.1471 left_roll=-0.0035 left_gripper=0.9995 right_x=0.4411 right_y=0.0596 right_z=0.0181 right_yaw=-0.0124 right_pitch=-0.0234 right_roll=-0.0227 right_gripper=0.7453\nstate[joint_eff]: [-0.0342, -1.306, 7.0085, 1.6288, -0.0415, -0.0757, -0.0073, 0.5265, -11.5487, 7.9385, 2.7766, 0.1636, 0.0611, 1.033]\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": "gAAAAABqrJ3rvMD7N9i9PFr7hPbdSPSnF-0tptt3u18a23IV9Se7q05gROoVWq1B2-oSa_NqUWfTkglpMvBxiGqwq-TNnPUyV2XQprHVib51-OFu0wh6j_AkRgrh8fpcMluFq5bNTT87_w30seXQEG5ItgRg-1h1J7WGTRYMGh9BL3uWZ3c_f5I-SoGwlnP9OyTwKq_ZZeUAEhVYchQsXkQ8acfPf1o_OyOF5a3PAxmvrLyXwKckDJ7SpT9y0WIf_zsy1GD1JgQ_clCHxZAJ17kel8al1EZcn-z1Lx5fnYdM5Dc4DYdCmxBxS4Unl2dNfUKwiD5U59aXB6DoReJ-PFKLD7VFbbg7j9URi-bq7aARLf473Qj5zuIjloX_OjFZ-cb3e31peD9lnaSxh7VKAHYi0o1m1FW5PNegdJsGh8YZ5RNEnLIQbjRS5QFpSjkI67Mz8cdR7lryRHrG8n28S_9P1Jc9tO_V_XVgHwYOH0Of3Qn_R5yeensUJVMlvttyUNd7FjXm_eLBJVNJd3owaiFvkHkiDmDJQPOajcWuQmJU7HIl5S33gdFILYs2cutRWLpA345KM55MxQGtn_baEmCYSKAdjYwS0zzdaS-pmeauOuGxFCXXxMJIPcmupoRvJJOTNVs-sQ5ngaQzcWqw_12seCKjwtGRW-fas5hYPLgZem141AR6LMV3wOO9LriwGFQt228cp4yvo-uMQKVTCloI2UVDD2bSF4KwXgE9RQGp2P-dE7aPmoQdIvcYHcDyfWhFVuLvcoW0AFfWK5_Y6BCeYxWStvBIONjf1ERk1IrdBsGjnrOshsZWMvbhtlO4tnP88lk9I1sSgFvtBFQ4OyNva3qU3JB-tIHjylAnEDxb1LyBYzEKXI3LApHNpbtUcfekjkJSt4rW9qW1kABrv9jgzIzAdZzvxcZ4nFAjCMFUuTiMTmIUXaDASEPTdRQ5yOQQ8Drsj15Jru5e5X8sv_D2j9eijlUQREPfrlqWDuGQORnHqcv3slqu4pJCu3_rqBjrpHdq0nprKBVPJOJNj0Gg8nvspHLWNRnqyJY1X4_umOy2b3eO573Y88R6AS-w-l9ZnhIRqkf11RZSuLHG5tqQEQsSpBheQ5mN6SnHZq_XYZBW8pz1oV3Rh4AIo6K1ojbW-taEjRnGV3AGg0vqbWPtCHpBJw4DmOPNRBpAvm3F-QoxkU8RP_YuDriLsrzZQmPBGLGJNym0FTyf1-9epew4ACQiYbqAhoMakBhZvZ35J3nl9ph1HfrGZ_JLzs781aoYolox1FDrtWuzwI3fowD2CIuWnHNH7o7-B9GSsV6SBBGXIR_bTVP-NMgNZHhBR_A_K9lmDy4N6231k81ZSPvUZCBjzurXfwzTf67iA9-HXpDIvaHWiANOeurML9eRScSvkG09iSyaeTcJbmC_mYR7fV94cTLx6zyrHcXcSe8sEBYgHm8KC-sKXzf4yGtblM7OsU96td3t9X1LbD8lN4FHLUys84K2HPq3_EYfsNXi-Awl4KgCSSMTwZ8v6ql_N2m6LtfCqXczUz78V7bxT2oEe0wlzbRB6sq8IWHzja0ikA4slcZrXXgK8oXv6aa11-CNNv8Q-Q4eRmLVGPG6Q-fwkMmP8YihKgUmHlQaTvOgBUIq-5NcRgIeZ4sd_vvrfAZDwvz0QlJaBQPsCNA7X5AW9YEB3CVih6I8vs0w7w2fYfu5CTE2Q2DsNbvLQu9huQiQdKvlxXn4VZX6yt0S9eZD8oinOODPGw_lIfU8mEK3lI2dnCJiGdlI3F1RgZQKP5y7PZhy78wDDRyslDiWJdXHBnb2PyN78ZfuDNQ2Srzqb1js06ZWuzi_80KipBAWkTOT0JAtValc",
  "id": "rs_09335d39bb264a4d016aac9de5f67c87d090febfd312247408",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.33,\"right_z\":0.32,\"right_pitch\":0.2,\"left_x\":0.295,\"left_y\":0,\"left_z\":0.18},\"note\":\"The brick has lifted off the table and is held by its near end. I’m carrying it above the pot, keeping extra height because the long brick projects forward from the jaws and the loaded arm sags.\"}",
  "call_id": "call_XC46lP5J5yhyWb6QLeZkdp5F",
  "id": "fc_09335d39bb264a4d016aac9de9e7d487d0a831b6cd72b65fef",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XC46lP5J5yhyWb6QLeZkdp5F",
  "output": "executing move_to over 23 steps (2.3s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.9092, 0.712, -0.5652, -0.0265, -0.0528, 0.9995, 1.0241, 1.8217, 1.7229, -0.664, 0.8532, 0.4412, 0.7492]\nstate[eef_state]: left_x=0.2884 left_y=0.0006 left_z=0.1609 left_yaw=0.0033 left_pitch=-0.194 left_roll=-0.0022 left_gripper=0.9995 right_x=0.355 right_y=0.3342 right_z=0.2747 right_yaw=0.1082 right_pitch=0.0841 right_roll=-0.1481 right_gripper=0.7492\nstate[joint_eff]: [-0.4308, -1.7983, 10.5231, 1.6239, -0.0659, -0.0415, -0.0073, 0.2256, -10.9333, 11.0154, 1.6923, 0.9011, 0.2369, 1.033]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b0467d2905109454add0a61371057545497de9bfa3e178a23528d6c1f03043b2",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:c2c730824c3aa83eedfdde5002464b05cb6395175f528510a6322af4d555b311",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 227):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d0f2455833fdf298aec2d3efcc6ab62f7f62ef5324ab453562510743b90732eb",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 23 attempt 0 · /responses · status 200 · 8.233 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 86 changed as sent

message 86 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.857, 0.6094, -0.4679, -0.0261, -0.0528, 0.9995, 0.2424, 1.4181, 0.7677, 0.0906, 0.2237, 0.0551, 0.7453]\nstate[eef_state]: left_x=0.2858 left_y=0.0007 left_z=0.148 left_yaw=0.0031 left_pitch=-0.1471 left_roll=-0.0038 left_gripper=0.9995 right_x=0.413 right_y=0.0655 right_z=0.1438 right_yaw=0.0188 right_pitch=0.0173 right_roll=-0.0562 right_gripper=0.7453\nstate[joint_eff]: [-0.1983, -1.5248, 6.9538, 1.5946, -0.0513, -0.0659, -0.0122, 0.2667, -8.9094, 11.6171, 2.7131, 0.2857, 0.0757, 1.033]\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": "gAAAAABqrJ30LxOC35JjX4qOGGFp6TtFlUCFTOnwt3Wuuyu0AZk49DiLoNrRCxPWQkVSh4ABuYc4_XrO2ZfMeXZMEsf9goukrXEsk3GVpdiKY_hTDju4d8DHcHkkLwGH5mqMKGecq4ovxzBz4N4PmwRWhE_JhkEbRMPWfL67aN_DtQU5aXn70x9El1IKcMl5D1c69GNqnLpVh-n3poQSAoPeche_QsiEtD3aeyCVaVPfSZHdc7biypzR1oXDVsvb9mA15ivrWdLTEqAd9WTV9Oo7gTyNgpsBobrI4_gkwIpIIpqTpMluxW35MpP91Q53W4tNV6302-rRjIrskTWmxYxfGuSQsd293OncDbGPbd0uduKxfzabYTu4C7I5YL3wM9CXCoZrBNO3BgunGPV963GTkrE3L1yyaglv6oV254uClZfJfFmp351Dc5NF1ZcBipCNUikUkEDUIraRHskYYdVrE17BTXwAGFD3czYIJxzTaPtUJsJgvfY2LyPe0BEfKc2YGKJMsOyYwskc_m9cdMNmPdqj85pF-SvVESjo6dR8ipeOlieOVvVTKm52oFuL89xBXXZPW7gTXtTXf_xjAdru69WdmfdpljSnA5ZSJ3T36WBsOe-TdSvkQF2fVGK9z4Vr-Te_jH2tcisvuBxRW2y_LYihjPX_R3w-8iLFUblFqdw1IZ8ElrRFx7d9xvdIjDXmB2-bWOd4R8L1wFOKFZSGR9e92bQLAIpnVqlSRAEBei4XDnxeegsPCAVlHXHrMzgZGTIPbHglTwvJs6w_BQHG9WaSuFKuUZigXs5b9IcSf8eH0In_qf14az9eTRm1XCq3kzX8qN-fDWF9ly6gwv9sR3QU6_A04gjGFnbWaf4RI7rcbQK7wc3EBC-cFshNXuXlBGHXvyQ9gli9-pxwC847KzYQXY5Er7he_o8doiclV5Pl9G3Ef3VEjYwHv2Ny6rcNNGmcXtv0xFmF4JjRkZd8fmlVBVdgYQFCqLUizTxXjJsrWT1VbtoRGbLt4mzVA-EO61zDJ_rx1SoXA_EVWfPKcFDyGE_rzDeC7ghLkTEQrQn_k6L3SYtCEfYW22U7BBUtSLnOGOmGb1s-0k5OnM7bwY88BBmW70p-BmqV92OrmPAAkjD4Hb77eXn3biacnHAnEKSA44kfZyLmNOgwjm5pKh_q7jjk6Log1TCAlfRVoQu09rEMgdVmzFWOwJRUV-cRqrXw1N-oOiwwd97A_enKDdQ5GZcnAAN0y4eEypH5QAWmO3DUrK8G_4fquLLrY7AJNx4u0Iw4JdYnJ6v1-X6JczXTQRCdeeHhM8Pyk-1zSfepbWPOLr0SqtqD4j8PVMPwh3Ec_l2JgGxD-CMVGz1iDwFtEvg7NX19mdxMW9EMPtNfZCIk8aKNgat9x901RtJWhag5GVQGpc50lmDnoHFj2XfpaOj0qqVwgzJ0H0mpaRx0VqSRB_jd5P4CNLpFEhLJuuc3L7NwPA-DiX6rS9HUCHdCUnp7eYAd_SniBhvgIeRZBM04wlDYZXuLoyJI8aTjvVtYdM8d4W-Rpsfx9wDOMqTp-VVje1UU5UfqLsAcYt44YOH-yOOHlHPgfx6vNtmD8fZtQYPbiTk1nDenRluBGVJqmFGQQsb1eAr0qfRMWpoQ2ZmGEVFo8Wa4xHHZvusgtp7B2Nyqj-ly0HKk0m4fZcTNWXrSUkHyzezSBzMPz9y-zb9nQo4RZs1qfWLTqXdl6XRoww4C",
  "id": "rs_09335d39bb264a4d016aac9defd07487d0829df6deeabe831c",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.36,\"right_y\":0.39,\"right_z\":0.28,\"right_pitch\":0.2},\"note\":\"The brick is above the pot but offset toward its right rim. I’m shifting left to center it over the opening before lowering.\"}",
  "call_id": "call_iP1O18D0Jk1SSV94ErFZPCE3",
  "id": "fc_09335d39bb264a4d016aac9df3261c87d085f2a0c5e0e60f44",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_iP1O18D0Jk1SSV94ErFZPCE3",
  "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]: [-0.0261, 0.91, 0.7143, -0.5663, -0.0261, -0.0532, 0.9995, 1.0573, 1.9282, 1.7466, -0.6907, 0.8394, 0.4267, 0.7507]\nstate[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1615 left_yaw=0.0035 left_pitch=-0.1936 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3497 right_y=0.3597 right_z=0.2302 right_yaw=0.1621 right_pitch=0.007 right_roll=-0.2407 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.7983, 6.7077, 1.536, -0.0562, -0.0757, -0.0122, -0.4855, -13.9282, 9.3607, 1.9658, 0.8864, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:25ad72a31bf9e73a11aa63268551a708883686eacdc2a64eac4696d89c7e3411",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:726e698e63cbc5925307982e8ae5df74196599affc91a12206df4907ed750217",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 232):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:3db46a2a02b94a9990fcf4b78bd59d8dbbe2bf1710b3344881ed696a94cfe96e",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 24 attempt 0 · /responses · status 200 · 9.359 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 90 changed as sent

message 90 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.9092, 0.712, -0.5652, -0.0265, -0.0528, 0.9995, 1.0241, 1.8217, 1.7229, -0.664, 0.8532, 0.4412, 0.7492]\nstate[eef_state]: left_x=0.2884 left_y=0.0006 left_z=0.1609 left_yaw=0.0033 left_pitch=-0.194 left_roll=-0.0022 left_gripper=0.9995 right_x=0.355 right_y=0.3342 right_z=0.2747 right_yaw=0.1082 right_pitch=0.0841 right_roll=-0.1481 right_gripper=0.7492\nstate[joint_eff]: [-0.4308, -1.7983, 10.5231, 1.6239, -0.0659, -0.0415, -0.0073, 0.2256, -10.9333, 11.0154, 1.6923, 0.9011, 0.2369, 1.033]\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": "gAAAAABqrJ39d3VMwd0lAcKs9_iw_zHvCimul0cBebe7leZpIK4q6nPzthBi-85fMPomRJz2bMLH8llQh68UhRop2xJvKBjDGFNSQecU8ex-rSOPXTwontmLpChN2M0rCfvu92-jjDKay2X3wtsUSV3gk6JxGi3qZnSZBEGeYSiSNTY3CSNp2kv48u6UjwJRPsiqVGKFQR14Ib4_0t_yhGirp_KKvu9ATiV5R9aE34DS9BxCSp7gXLkO6jm-qsKfhCz-II-DLsVKnwUskKydfWuNnosg4AoEQHI2aelFokyYSIM_yKHGMU6b2d-pSSjdZ2Ld8M5oTNlRHv45OcERozuno8OOOuRa5Vxx5ZHl-AXwLb8aWCq0D5I0CS4Weo2tguhOVvs9XNXvswmu-HZMV7ebzA92FIHiZ3_BBQ-D7nXf2OogYzs5LL3XBxJUzlO8ssPfQRUw6VAemgAGzhDku1GbLH7A7iMWDxHmsTdxM7N5if7yglcVyyfdfpFpxEQions8pSnZ3afLB_-rX3sYI5Ez0LLoRKxKlU1tRpiBtjBaJCY_SXS5y04dqtZyC9FnuReUXfGWuDCwEwou89fNMcySUVhSZAaa7CkLaz5OcgGUg1ziizcrzEgZHwSdNkAd99rkBXY73vPZT6V8td1DoYouASYYGfX_-sKmg3-T5kF1OLCWpORJxLayh57uWm2ME7vtMXcEiae52JZHin33l4XBx3c56ogI0BWYtKHpAhc0cjneSUVRseoli_jlhZ4FfxXAajMDhqZ0uy-YH99NjGppQ6waKH-ulFxFS2u7w67iYbpBBO3IzDq_6XhXFMesf6gk6xCcxcFFDv4N3yQlBLK0s9JWHJLN0TAvD5ctbs8cH6nk0gvvyxEf43HZGlG9gruHzUyuFWt4f-kTlVF-BWBTm55p_l7k53oFEnaj3YdQlmQ3vBkrL5A3YkIDyXJ_kERWV8NpZChscoaw8Z9p0WCz9q9rKnOYcm2IlltvWBKYxaxengcr0DPvui9dlVeNPTpnKjQM_JwQbnR8osvzcgADXiZtfVhuV8zcv8fa4wpRXrcrXo7uGIqemPiuX9JZuYoPYao8GjxQlPf4IpJdg00Nb71fH2WePHtIs7KesKloKgJbicTuoIJYNYCm5-oU2QivvzTI7bOxn9482wZEeZJrwcKFh8uWayqp0cjeXbiywTQi60qYVz84gQK3X9ZNVOHBC6cNYWxw2Q-9A8NuxplIel9OoEcmKIP5_FQmThUS9hHjSAP4trUNzm08ov97fo9ddCBQOHzGoWaxQz3NalkSiqT8Cg82TwqsfolRvlPZn0ZrD5MNlcaVug_6uYnKSn-zLA7JgiReaGYLBjX8Z9JClqI4OB4jfLgcxyOdWGYxDHWpZ99qiOvcAUBY-6C_veMtHaIElpljsHdeiWqsh9RwJnpVdKSzWyDUfa0fBddoYzEqOsG1aDb5i5fj7nNIl-NdtxpTxaw7zZUBa8YrndycvBkPkKApfM3-M2qIMqSXwFXWZqVNQqrgo-bArgSraRcLe9Rgg9EIGW0GtyXGO9Rw2jUE88K4GPfQQ2f6QG2S6UZp147FJh55PVuaCAv_nvdhRv89OBSMN4vCRS8pIFsot4bQkcaYwiicX-hKBHURzYDsxAALQrqzWzYJNsYx8EanyqV-iolD20ONCLL9add0jnIfukZo5_GKza0dryTX51B6vLazH1vLINjrnnURnRnFnjKLZEkd0gynHk_4ZUoYIm5BFVulpmXtasVyjUC7LTNZguayNVnZjVkP92vS3OtFjTdsYxaZ214RZoTXTvRfme5QDnm5g8IfbppPk7TDAInmHOKp4gP1kRaV4Sa36NAL0s1feVAvmnKekYdoOQ7t7Knr1Pip1YnYYXUCCOrfM5DvSa8L4-hONtvEHcjzqHgiojraZQCAbA2nTcuAlqT3y3kcdAXhD5Oo4cXIfVI2UfXC_Uci1kls1WPP1mEEE-1NsYQPEGPH-bDUzg763gOa3vx8ORG0Rw==",
  "id": "rs_09335d39bb264a4d016aac9df7147887d09992cc7bf085ff9d",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.35,\"right_y\":0.4,\"right_z\":0.18,\"right_pitch\":0.3,\"right_roll\":0.3},\"note\":\"The brick is now over the opening, though still slightly right of center. I’m making a final small leftward correction and lowering toward the water, with tilt compensation for the loaded wrist.\"}",
  "call_id": "call_SuNIPdaoGgakyvXevtuCXACY",
  "id": "fc_09335d39bb264a4d016aac9dfb260887d0b2e72fb55f30e83f",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_SuNIPdaoGgakyvXevtuCXACY",
  "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]: [-0.0261, 0.9127, 0.7143, -0.5724, -0.0261, -0.0528, 0.9995, 1.0615, 1.8877, 1.4498, -0.4107, 0.741, 0.4671, 0.7518]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1597 left_yaw=0.0034 left_pitch=-0.2024 left_roll=-0.0022 left_gripper=0.9995 right_x=0.3361 right_y=0.3645 right_z=0.1631 right_yaw=0.2101 right_pitch=-0.0308 right_roll=-0.1407 right_gripper=0.7518\nstate[joint_eff]: [-0.2803, -1.5932, 6.9949, 1.6093, -0.0806, -0.0708, -0.0122, 0.5128, -10.1812, 8.1436, 1.8584, 0.5836, 0.1197, 0.9402]\napprover: 2 step(s) modified (delta_clamped ×2).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:2fbc63385b07f59a925364fcb745f9c3e912824ea3b446c60a5775fcd3dc6fdb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:b47bdfa4efc4b69c5f7c4f343045e8dd8d54b6d6af1ec0629021a2f3ea516fce",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 242):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:65a8b762cd1ebd8168892c855f4e9f80720691ddb68e090f29e8aba372b40809",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 25 attempt 0 · /responses · status 200 · 7.785 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 94 changed as sent

message 94 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.91, 0.7143, -0.5663, -0.0261, -0.0532, 0.9995, 1.0573, 1.9282, 1.7466, -0.6907, 0.8394, 0.4267, 0.7507]\nstate[eef_state]: left_x=0.2886 left_y=0.0007 left_z=0.1615 left_yaw=0.0035 left_pitch=-0.1936 left_roll=-0.0027 left_gripper=0.9995 right_x=0.3497 right_y=0.3597 right_z=0.2302 right_yaw=0.1621 right_pitch=0.007 right_roll=-0.2407 right_gripper=0.7507\nstate[joint_eff]: [-0.0615, -1.7983, 6.7077, 1.536, -0.0562, -0.0757, -0.0122, -0.4855, -13.9282, 9.3607, 1.9658, 0.8864, -0.0024, 1.0281]\napprover: 1 step(s) modified (delta_clamped).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ4HcAZZU8Ywf9yeSDHDHCETzlfa9mXDWka0r4NLkAbnWKWJ3MMuXwmtui4AdUm2DSvKWNY4Gd4BbZn_ypMB8W-3FD-lXbyDd9t1zMgyenXk3q02WUfht-ziKA7-m6mxXa8Mq6Y8AW94htSfScRvef_amYHUIyj7gBP35si1NYspC1drpsIE6J5VaUgPW8W6H_pXr1vzc7ChRJNEV7UqOlie88llRlI2GMV-vrwnd-jtJE2PZ6b6JvElxvarl6Otp73yyokk1I4p6YLlXPpriKrlIOLzAdjd0by5_pa__nRJpUr4ksbESo4YacqFJ4-KvHXaxsusqJSDq72FQ2tQIotv1xuinveciFJVhiT6uPfwDZO_ysOcI2n3CN863TOlXchUMlK2-xgxRDWELcekelClPVg3Cfcdrh5HhS1mbJer2EL_GcDoEdwdJGqgBNyj139oGvbPH3GngkWcmb91rQIdBJ9nrKOhgX2NfpQksiPVAiVWvzcRniCCzEmUTHDspC3VGjlKrMrSgPyEH9bfuB_fTtOounNy3Z1SX1A6knjHze2G1I6BWBocUROln5L-5tGQW168yZupdalLC3x3CbSbDLLrJD-1driXMbhPUyZ6LCfif9qHh7ewQYq0n12fNm9kqJrowdS4nAXxJCenq1iBfSr-eeFFpD8BcpGgWz4wSGWoTugdD6mVBlm2zWOiWaqwyil8X6fLBe_7NM2a2eVwCO5XoMqRbJhIacryb5MbsBR_rzc7ZysKaP-_TIQjN9_QeZVzyfvYwpXN5H5RrVDBrj7F-08SptXT9D-lyHwHxfnVmUF_Yy8G61A6LsfxVfuC0uqVsqWkrz0BM7YdPuIT5NzEvyjXf7Pp34R2a6emSPmB1UQhAp4tkzVVP4XeIgxl72bkbLp-qnEj-sJsw0WUb-vJX01ApNeAffgBLimLAbHCNZZfhvrrBd8WmvKFf0NGuDcFtUdYH2o1L3exZH5XwcI5CMgvdqEG5g7nZKU2RMXe4F8bD0JQrAhuF5YPB9yR5aZB_uFfBNbJATvX-SPsJs-PextDYt-9TOupsgLqJ24PaFTAtV9bua72sXRFjwojmAqkhWMc1eJ3Sxqw5tUz-x2Y_WXmflGP2itnfq-fdQ_HSWTqpv3G4Jwf6wWHIcRd7Ovq_MvRiEpUt6U8q24e62U7q0VmKXCI3x46eN08UvIQSRjxymqVlNcVCeRlRdXv7ZoDM8AiqkB626bmfA8HgnUC8Fk2-KNNxZVLtdlLHmP9eBNW3nXNjM13_GFAd621u46MG_BHwNmGw34ZtzO6oPR-PeyHjZekk40Y9gnTajk43rZ23bq-GpJj2PdS7oHeyId4jIKsb8ScsM1V6_MCX4LciYyY3OUXwMd9OPgAYr9zMXFsVhylch9PG8ulhP4DWevzah9nARp57-GkTJzPkingqCuoOe57AcRqnY6SpQzrxxRlll1Z4U3n-ZEbZUH0FZmFJ-jHt4umuv4nVA-QCWo_HSDPXSbIGyDv9tJNsPT0z0o0Ean2tRwxXyQ4ZpAf3rMb0TLOMz-3qM4XLYjnXhA9pR6RxOAfqPopIj5eUXvuJdeGXy4Kp_MRVrnZLr0AwCVTfZdi_5Y1qADqmuLFC1MWYFUQpgpN_fK-w-gYv8fZdFDgiDzn0DF3JIWsN0KuYElJQ0KA27GHHqhCMgMUJUgzMJI4D6YHSHaX2i2HG2G-GYxJiGIY2iLD3lj4EwdLlZMCon-lFG1BPPBFBqpsPvjVaWM9yshD6NWHJ386EuaLf1meptya8brjdhcuQ-cuQMzNjGM6pwYYwTvIG0yLd4kv1HOaUomSNwLLXsQB3A0uoUKSP-1xFyu7fSKhbtoSdtAycQQKuGXyuym83n3SERQ8lqpLXnog0x6BAs8iB0rUCZqm81jLdJUVaJM8CEUNU4f-mJTwZBklj5ZJ8OjEZG-1KRzZzxHr5M7bunL8YvZQ83Exdh37or6NT38hvCnvRAKeToQEmSWNM0C2prhZ28cqKnfrk_OlVTUvjW6ovBmvy8q8-97NQTiWXmJ9V2XJeG_nOBWgHW-Tnv14ES9KsQ==",
  "id": "rs_09335d39bb264a4d016aac9e0003fc87d090afa0b309473cdd",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.385,\"right_y\":0.4,\"right_z\":0.13,\"right_pitch\":0.3,\"right_roll\":0.3},\"note\":\"The far end is inside the pot’s outline, but the grasped near end is close to the near rim. I’m advancing a few centimeters over the opening and lowering gently before release.\"}",
  "call_id": "call_mzl5MuqXWJtt9Eul13u2klEn",
  "id": "fc_09335d39bb264a4d016aac9e056e7087d080339f6ca091ca33",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_mzl5MuqXWJtt9Eul13u2klEn",
  "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]: [-0.0261, 0.9165, 0.7143, -0.5728, -0.0261, -0.0528, 0.9995, 1.0622, 1.8626, 1.1736, -0.07, 0.6975, 0.4267, 0.7521]\nstate[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1586 left_yaw=0.0034 left_pitch=-0.2066 left_roll=-0.0021 left_gripper=0.9995 right_x=0.326 right_y=0.3591 right_z=0.1142 right_yaw=0.2636 right_pitch=0.0045 right_roll=-0.0876 right_gripper=0.7521\nstate[joint_eff]: [-0.1573, -2.2222, 6.8444, 1.5507, -0.0415, -0.0562, -0.0073, -0.0615, -11.6718, 6.6667, 1.9121, 0.5104, -0.0513, 0.862]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f057c06cc060934bdf611a6bba595173dfc388b463ad0d7145d7b901db0308fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:d6f9af0ad6083b9a4a192a0186f8a216e078bffbd933ace73f48002eb9c9a7c0",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 254):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:973687c0bf143a411a3031b2b2661b128ba7600747a9e80cb67b3682e848bd43",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 26 attempt 0 · /responses · status 200 · 4.101 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 98 changed as sent

message 98 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9127, 0.7143, -0.5724, -0.0261, -0.0528, 0.9995, 1.0615, 1.8877, 1.4498, -0.4107, 0.741, 0.4671, 0.7518]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1597 left_yaw=0.0034 left_pitch=-0.2024 left_roll=-0.0022 left_gripper=0.9995 right_x=0.3361 right_y=0.3645 right_z=0.1631 right_yaw=0.2101 right_pitch=-0.0308 right_roll=-0.1407 right_gripper=0.7518\nstate[joint_eff]: [-0.2803, -1.5932, 6.9949, 1.6093, -0.0806, -0.0708, -0.0122, 0.5128, -10.1812, 8.1436, 1.8584, 0.5836, 0.1197, 0.9402]\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": "gAAAAABqrJ4QbjHPIGQ7X1UIKfahxiBwtLWUJpnYlGD82o_ALzG9KsCZ3qeeZMlXmd6SwiMuZo3MemwqF_OKxOMXgfIsJDT5BOrwEHibT0dPnZIkv3ZLET5NfdP322tBV1aB9qCs72VVrDk3qoG3mn7P_bj-iW3Aqc9eZ7ixPbhP7vPw17PSkDUwnw1j3pzkBLBGjAdcPKPS7L6Rh0U3atuw5ZjzdxFJd4CIhEZ_uDZmpdcJPzFdOuIskvaWPkqop4usGEfM90ZUUs3Ue8oYsGVAmlGTlQFdQStyOOeBNWg_9cY_USrvwViteXVw0DE9F21UH62PBWAqyndRqWowB1i07nNQrYVXOKlblsTn1woX9217RjwWTgf09Sfw_1f04QWROr2YRXLQUgrSP5XjTnYfJiIcJrVJF6BCMrM7UfU2xu74JY0RGrB8ZcYck6iKkM47PJ1llrAZrE-ASvwy0vHrKs5Z9kAVxdHl6969mg0PqjXzow74AxNfvo33ryqxCYqZ6Gj9OV5mkD7CtXZijH0rryFX6c2Yr0Phqc6HszYJplWgf6cQH-76BpPFlI1eErNxvKwqEZSjiw-B0DBMZgc43iNWmU-8NSaE0uUBrPLXFYhP49XwTVHaSZ0wi8V2KpnJZ91q-uvr_7QHW_3nfGOmCvXyWKfLLz9TMs-Pc7y--XIW7hxmPT4zq1a3v2XAfrh2GDHfdgiqbcTo-8M7ExHmiNT3noqAwVNkFMKYwiBKboYKtTmkKxrVoX8Wydvdv-pcreFh1bGELlTih-eC8xGMMDFUPhLQOA1MTGGcDHvJtWjbw49U4QQF4eImpn1D3f2OcwCr73Wi9CK_uIGrgK2r9_5IDfXvwu2wSzyesnz4HuIZWYewwWW_fMeOdMQhQ9DApogtbDYSpajdJdauAv1bhqk5Ht6-8AqjKSKZKIpamygdZq02Bn9Pk6jMbTFrhCWgPk6hzu0hIsu-2FcW32I9qD4Bj6Napza8Zkg_hoAWPB1xBJmtiAzFNmjkvtiqGq4xSwUQY4ldGL8G3FluwrpAgin_J-_kCRUbN68thsEeyJmGh9pz90kSpajlYe0iwCR8bRoXrKYmPpMREbPfH96ere4c3PxO7ZaZUvho3ANI0Yvyzcwwu1ZOcjo0nMfUNhUXJpfQjgi-AizttrKvmTf5ItqB_jVU_-_eRZG_EMJGl2X4QRtYUvUbvNNDhXO38VjcaDEOo7aDtgzBQ9ilYykIhsImlqkhoA7bc7Q0tGCWqRpnxYuVq8NhFPkv1mjKgySOcOX8o8wZnfOg4Txbe_-ovWAWEsUEzQgOlFgdkhUl0VtiNyQaIE-f6Pu7tTZi8P73KG36erXMP9OPA8j99qaRFAyWS_zDddSKP7Mza1pDLj7u_nuINfw3hU8_Kaog_6Saf-5QaXNt8oERsbj9PzIbLHb-2JM55OXojNTCpIYrX9CM4nW4tvVDzJzcCCzoeFx09UDSg1w6m8czFth_MdWLPzcTG7br0fx3HRzS6z7YaYxdqRDLOigjGNSYWorEsBXuospWWd2jL7iNm09gg2cStm_UM91sUCdybESmKehQ_30Udf4bqlIxkZtqtPdZMp_ZNkFdG2P315I1o6uovsZYAy_Q-ea8_nyPnVj7ua-JQtfCLh85knGi9ZwwfbSrAGzYTQL-PLKmDou5ZRyJraXH14qVjg4DOKW7QFfCZcE2j9U-vWUhDenPdXDM7kmDxgRTHTeVBa9xnwa9-1YwGbVrBZQ5uhGZhQQUXms_uwd4fH2K4AnfCoblySckmR6tKG1oEIA1OqXAb6MB_jlwiI3UhGtZmACl54sni5niLdOK25J9_7zjhf_H7pMGAf5pLyWt1gR7TCcaPFZL6cnkeCn7v87X1aRAZIWN9uwClNJAw6ACSKVTrWLEJzdtNRegwjqcIoMkYulG0Zy1tSpStYkiGmYLYVg5obi2CweNV5EWg7r4OUilZjI=",
  "id": "rs_09335d39bb264a4d016aac9e0a2ef087d081ba573c0bfdf91f",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_x\":0.4,\"right_y\":0.38,\"right_z\":0.21,\"right_pitch\":0.6,\"right_roll\":0.45},\"note\":\"The arm did not advance as commanded, and the brick’s near end is still at the rim. I’m lifting clear and increasing the forward tilt to reach farther into the pot rather than forcing it against the edge.\"}",
  "call_id": "call_pN7dbbETwh33Z3AMmup9h2Kr",
  "id": "fc_09335d39bb264a4d016aac9e0e87e487d0b377bce6cf395455",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_pN7dbbETwh33Z3AMmup9h2Kr",
  "output": "executing move_to over 20 steps (2.0s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.9165, 0.7143, -0.5728, -0.0261, -0.0528, 0.9995, 0.8776, 1.9816, 0.9787, 0.8474, 0.3912, 0.3176, 0.7558]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1586 left_yaw=0.003 left_pitch=-0.2066 left_roll=-0.0021 left_gripper=0.9995 right_x=0.3932 right_y=0.3736 right_z=0.1439 right_yaw=0.328 right_pitch=0.3986 right_roll=0.2946 right_gripper=0.7558\nstate[joint_eff]: [-0.1709, -1.9487, 7.0496, 1.5116, -0.0708, -0.0415, -0.0122, -0.3487, -10.3726, 9.0462, 3.2943, 0.0366, 0.0122, 0.7448]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b0c5e908faa7800117bd32be8327594a4cc063ed1b9ad32bca77696e63a8468",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:0b37c03f92ba37321e7f18cad81272b0d5ba2b8017b02d002f4d14a8b5f5da7d",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 274):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:f6b05110ba031bdcbe7d504f29c461c86d987ef69c4e64d4b9e9428ed1d91638",
      "type": "input_image"
    }
  ],
  "role": "user"
}
[blob elided: media budget]
[blob elided: media budget]
[blob elided: media budget]
call 27 attempt 0 · /responses · status 200 · 2.948 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 102 changed as sent

message 102 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9165, 0.7143, -0.5728, -0.0261, -0.0528, 0.9995, 1.0622, 1.8626, 1.1736, -0.07, 0.6975, 0.4267, 0.7521]\nstate[eef_state]: left_x=0.2878 left_y=0.0007 left_z=0.1586 left_yaw=0.0034 left_pitch=-0.2066 left_roll=-0.0021 left_gripper=0.9995 right_x=0.326 right_y=0.3591 right_z=0.1142 right_yaw=0.2636 right_pitch=0.0045 right_roll=-0.0876 right_gripper=0.7521\nstate[joint_eff]: [-0.1573, -2.2222, 6.8444, 1.5507, -0.0415, -0.0562, -0.0073, -0.0615, -11.6718, 6.6667, 1.9121, 0.5104, -0.0513, 0.862]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "[3 camera frame(s) elided]",
      "type": "input_text"
    }
  ],
  "role": "user"
}
{
  "content": [],
  "encrypted_content": "gAAAAABqrJ4WupG0KinrkDN1QeBKXRY51dFiXkodojetDDl0FcYsBA_rJIrIBD-HcR70MhPXIZixW1IWt-P4rc7h4UhgGyDFJpxraijVw3fVXEZKbs5DocCmYCZevld2w-nzn8Zjpn4FSZr4mhkCUWy1Hk8uDhOC98VmEXfn7u44thLKIeP-JX8Z83f_cXERSfoUiEz1QZt5TX9ojNwyI_Lov-tCKEzwN5evq5_OIq0C12EWxkn7rmfHARziwM-mzWcZ6uoTjipv93r8gaEOjgd9B-hb4ghqhRImMuW8Lg77h2seyXMLqzFkVuRmNAFuyxRA885C7QTGFy6wvNzWiqvspoeRoH2PP1k0ZMKx5DQPRnNy8D5yJo5c-s3TUdxRnrT2qZOo9nd1JUtVTwM_SILdOgkJ-zjg5EGgHE8op_4WK8ANrD-xABE5kGfBayHQE1eHyJRF_VOAU-0gKBrJd-tlkEVYAoW-K2Bam8D0L_A1Qo8Dyz934eTfswP-0AxoBJtKFj2poq0MgR7E-_FAkE8jR5fLYfzLFcgcZpxn37UcbkphBWltl59LKRBSdUB6k2JBlk25XHqbN3_q6hLyVMDjP8Tjh3JwxcahqkN4XnjUdeslgSQz8lpGbtDhhHgWWqBnjC_kOK_iYLocYYtjwG0pGcJv4Hoq4WTy2nf5_MPXbagwMvLiVkf2SOj1CZw5ajMy3NBULkrrSYLp8kz73biJlijOZq1scaJ-9JHwpsr6V7THsCWLirIAzkXhqPc639YLg7HQbLnwgfirq8wr6YRRytZMe8OQ0QZ_8RobJ-yioBEsesHIzL90d9IhhXT4ceQLMWB-3o9w-PYDWH8Spr2BEq4kq-297VrPLvTkOogG4mzhs3EByufnG-FIbLA9vc8EY1qMiZI65Haounaim3YsExyXjHgtBgHAFFjrcAABFaXcLC5g5aDFoRBpisNcmZGVtTdc-4OTPRn0wFKw98gQjG1nSQnnNhfX77n_S933yC1Lfhl8Ap0HkOD7-EglzDUegSON3cpNQ5i5w8GP42c5baXVCs_ama-7DSaMQNu72z8LuT3BuuR7ut8ccUnOnWIKzKW96aVYAkOFaAWLRts0-tz1Wb6J-HZp1WiAUpAAkNoYJYIOI9LvGxUAtZGQ4ulvzmtPZ_VZT-KnSoVlhN4PIz0hERS4Hhrq6ud4M9tHTNTYSI43zor-C9jyaZQL0YuE1xI-82k7l6QMoeP_9m9_DbuX-2NO5nH_e8Hc8uE7a26fgbLFmlXplSnkpXCt1uLh05uv-FqfFVnvVm82m-5a49O6X_k_oalqBIBuJ6G__OBmkBEH5gidpAUntCJg7hVB5vv3oGKIoZsjkzCeLqAiU4sw7riAIsJdW8AzpkuNGja8wgEodiFX7ZSzI-Zu1HD6ZFj-ww3VkDlL_R3v0FfssWmzASftcuBq02MWE5p6Nh211q7d7ml_Pe5Ke_FP8OzZFQQ2sBKvYu7KRUadmFmLssd2vMiBN_9fjLibIUEuuRF1S9XazOQ=",
  "id": "rs_09335d39bb264a4d016aac9e13bd9c87d0829518e7d124f1b2",
  "summary": [],
  "type": "reasoning"
}
{
  "arguments": "{\"targets\":{\"right_gripper\":1},\"note\":\"The forward-tilted reach has moved the entire brick over the pot opening. I’m opening the jaws to let it settle into the water.\"}",
  "call_id": "call_XDAHvngnAOAuSEzRqDdtb7d3",
  "id": "fc_09335d39bb264a4d016aac9e1568b487d0b71a6bc767c382b3",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_XDAHvngnAOAuSEzRqDdtb7d3",
  "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]: [-0.0261, 0.9165, 0.7143, -0.5732, -0.0261, -0.0525, 0.9995, 0.8757, 2.0029, 0.9649, 0.9123, 0.3836, 0.2947, 0.9966]\nstate[eef_state]: left_x=0.2877 left_y=0.0007 left_z=0.1585 left_yaw=0.0032 left_pitch=-0.207 left_roll=-0.0018 left_gripper=0.9995 right_x=0.3932 right_y=0.3739 right_z=0.1421 right_yaw=0.3393 right_pitch=0.427 right_roll=0.2879 right_gripper=0.9966\nstate[joint_eff]: [-0.0752, -1.5932, 6.8581, 1.5214, -0.0757, -0.0562, -0.0122, 0.1299, -10.8513, 6.0923, 1.7998, 0.0952, 0.0659, -0.1001]\napprover: 3 step(s) modified (delta_clamped ×3).",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:764369057ec6f9efdb7a36f7aff41d7c6f6fb985f96da1160f989f58c33eb0fb",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:514d0b2edbb82ab47ca2f33459c6c21664b364b1ab257f51683d93b05de2ed5b",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 277):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:136c04756d767762f3ab3b92a7d44cb1f63f6d11ce25213aa988c719a86f8818",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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call 28 attempt 0 · /responses · status 200 · 6.753 s
model
gpt-6-astra
effort
medium
temperature
n/a
tool count
3

message 106 changed as sent

message 106 current as-sent form
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0265, 0.9165, 0.7143, -0.5728, -0.0261, -0.0528, 0.9995, 0.8776, 1.9816, 0.9787, 0.8474, 0.3912, 0.3176, 0.7558]\nstate[eef_state]: left_x=0.2878 left_y=0.0006 left_z=0.1586 left_yaw=0.003 left_pitch=-0.2066 left_roll=-0.0021 left_gripper=0.9995 right_x=0.3932 right_y=0.3736 right_z=0.1439 right_yaw=0.328 right_pitch=0.3986 right_roll=0.2946 right_gripper=0.7558\nstate[joint_eff]: [-0.1709, -1.9487, 7.0496, 1.5116, -0.0708, -0.0415, -0.0122, -0.3487, -10.3726, 9.0462, 3.2943, 0.0366, 0.0122, 0.7448]\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\":0.32,\"right_y\":0.17,\"right_z\":0.28,\"right_pitch\":0.2,\"right_roll\":0.1},\"note\":\"The brick has dropped inside the pot. I’m lifting the empty gripper away so the overhead camera can verify its final position.\"}",
  "call_id": "call_oy0hsL9p1GGTjKv9VbHUJHpr",
  "id": "fc_09335d39bb264a4d016aac9e18627887d0ae81172549489572",
  "name": "move_to",
  "status": "completed",
  "type": "function_call"
}
{
  "call_id": "call_oy0hsL9p1GGTjKv9VbHUJHpr",
  "output": "executing move_to over 17 steps (1.7s)",
  "type": "function_call_output"
}
{
  "content": [
    {
      "text": "Current observation.\nInstruction: put the black brick into the pot of water\nstate[joint_pos]: [-0.0261, 0.9218, 0.7143, -0.5835, -0.0261, -0.0525, 0.9995, 0.5602, 0.9981, 0.8978, -0.0147, 0.1802, 0.1596, 0.9969]\nstate[eef_state]: left_x=0.2862 left_y=0.0007 left_z=0.1553 left_yaw=0.0033 left_pitch=-0.2226 left_roll=-0.0013 left_gripper=0.9995 right_x=0.3277 right_y=0.1724 right_z=0.3413 right_yaw=0.2908 right_pitch=0.4431 right_roll=0.1703 right_gripper=0.9969\nstate[joint_eff]: [-0.1026, -2.3863, 7.0359, 1.6532, -0.0317, -0.0269, -0.0073, -0.1573, 1.1692, 6.8171, 1.3162, -0.0708, -0.022, 0.0073]",
      "type": "input_text"
    },
    {
      "text": "camera 'top_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:9439bd9fca756a5313b366d42def5a8ecea63a78396a39486f8aeaa14ce2fddc",
      "type": "input_image"
    },
    {
      "text": "camera 'left_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:1b3a0568ffd3decb4e7160a0095e008bc78d3edd4ff2f449ecc8440df2eaf7d9",
      "type": "input_image"
    },
    {
      "text": "camera 'right_cam' (step 294):",
      "type": "input_text"
    },
    {
      "image_url": "data:image/png;base64,$blob:ac80fc368a0046d0c3182ae0b668a0c17dd242adf550cd2a3fd3e79403d8cc7d",
      "type": "input_image"
    }
  ],
  "role": "user"
}
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